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drivers: can: remove CAN_FILTER_FDF flag

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Remove the CAN_FILTER_FDF flag for filtering on classic CAN/CAN FD frames
as it is not supported natively by any known CAN controller.

Applications can still filter on classic CAN/CAN FD frames in their receive
callback functions as needed.

Fixes: #64554

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2023-11-10 14:17:56 +01:00 • committed by Henrik Brix Andersen
commit 75117a0deb
14 changed files with 18 additions and 133 deletions
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5
drivers/can/can_loopback.c
View file

@ -172,12 +172,7 @@ static int can_loopback_add_rx_filter(const struct device *dev, can_rx_callback_
LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->id, filter->mask);
#ifdef CONFIG_CAN_FD_MODE
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA |
CAN_FILTER_RTR | CAN_FILTER_FDF)) != 0) {
#else
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR)) != 0) {
#endif
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}

15
drivers/can/can_mcan.c
View file

@ -682,16 +682,6 @@ static void can_mcan_get_message(const struct device *dev, uint16_t fifo_offset,
goto ack;
}
if (((frame.flags & CAN_FRAME_FDF) != 0U && (flags & CAN_FILTER_FDF) == 0U) ||
((frame.flags & CAN_FRAME_FDF) == 0U && (flags & CAN_FILTER_FDF) != 0U)) {
/* FDF bit does not match filter, drop frame */
err = can_mcan_write_reg(dev, fifo_ack_reg, get_idx);
if (err != 0) {
return;
}
goto ack;
}
data_length = can_dlc_to_bytes(frame.dlc);
if (data_length <= sizeof(frame.data)) {
if ((frame.flags & CAN_FRAME_RTR) == 0U) {
@ -1121,12 +1111,7 @@ int can_mcan_add_rx_filter(const struct device *dev, can_rx_callback_t callback,
return -EINVAL;
}
#ifdef CONFIG_CAN_FD_MODE
if ((filter->flags &
~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR | CAN_FILTER_FDF)) != 0U) {
#else /* CONFIG_CAN_FD_MODE */
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR)) != 0U) {
#endif /* !CONFIG_CAN_FD_MODE */
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}

19
drivers/can/can_mcux_flexcan.c
View file

@ -115,9 +115,6 @@ struct mcux_flexcan_rx_callback {
flexcan_fd_frame_t fd;
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
} frame;
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
bool fdf;
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
can_rx_callback_t function;
void *arg;
};
@ -789,7 +786,7 @@ static int mcux_flexcan_add_rx_filter(const struct device *dev,
void *user_data,
const struct can_filter *filter)
{
uint8_t supported = CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR;
const uint8_t supported = CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR;
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
status_t status;
@ -799,10 +796,6 @@ static int mcux_flexcan_add_rx_filter(const struct device *dev,
__ASSERT_NO_MSG(callback);
if (UTIL_AND(IS_ENABLED(CONFIG_CAN_MCUX_FLEXCAN_FD), config->flexcan_fd)) {
supported |= CAN_FILTER_FDF;
}
if ((filter->flags & ~(supported)) != 0) {
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
@ -828,11 +821,6 @@ static int mcux_flexcan_add_rx_filter(const struct device *dev,
data->rx_cbs[alloc].arg = user_data;
data->rx_cbs[alloc].function = callback;
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
/* FDF filtering not supported in hardware, must be handled in driver */
data->rx_cbs[alloc].fdf = (filter->flags & CAN_FILTER_FDF) != 0;
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
/* The indidual RX mask registers can only be written in freeze mode */
FLEXCAN_EnterFreezeMode(config->base);
config->base->RXIMR[ALLOC_IDX_TO_RXMB_IDX(alloc)] = mask;
@ -1061,13 +1049,8 @@ static inline void mcux_flexcan_transfer_rx_idle(const struct device *dev,
mcux_flexcan_to_can_frame(&data->rx_cbs[alloc].frame.classic, &frame);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
if (!!(frame.flags & CAN_FRAME_FDF) == data->rx_cbs[alloc].fdf) {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
function(dev, &frame, arg);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
/* Setup RX message buffer to receive next message */
xfer.mbIdx = mb;

5
drivers/can/can_native_linux.c
View file

@ -197,12 +197,7 @@ static int can_native_linux_add_rx_filter(const struct device *dev, can_rx_callb
LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->id,
filter->mask);
#ifdef CONFIG_CAN_FD_MODE
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA |
CAN_FILTER_RTR | CAN_FILTER_FDF)) != 0) {
#else
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR)) != 0) {
#endif
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}

7
drivers/can/can_nxp_s32_canxl.c
View file

@ -506,11 +506,7 @@ static int can_nxp_s32_add_rx_filter(const struct device *dev,
uint32_t mask;
__ASSERT_NO_MSG(callback != NULL);
#if defined(CONFIG_CAN_FD_MODE)
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_FDF)) != 0) {
#else
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA)) != 0) {
#endif
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}
@ -560,8 +556,7 @@ static int can_nxp_s32_add_rx_filter(const struct device *dev,
can_nxp_s32_config_rx_fifo_filter(dev, mb_indx);
#else
data->rx_cbs[alloc].rx_info = (Canexcel_Ip_DataInfoType) {
.frame = !!(filter->flags & CAN_FILTER_FDF) ?
CANEXCEL_FD_FRAME : CANEXCEL_CLASIC_FRAME,
.frame = CANEXCEL_CLASIC_FRAME,
.idType = !!(filter->flags & CAN_FILTER_IDE) ?
CANEXCEL_MSG_ID_EXT : CANEXCEL_MSG_ID_STD,
.dataLength = CAN_NXP_S32_DATA_LENGTH,

13
drivers/can/can_shell.c
View file

@ -812,9 +812,6 @@ static int cmd_can_filter_add(const struct shell *sh, size_t argc, char **argv)
filter.flags |= CAN_FILTER_IDE;
max_id = CAN_MAX_EXT_ID;
argidx++;
} else if (strcmp(argv[argidx], "-f") == 0) {
filter.flags |= CAN_FILTER_FDF;
argidx++;
} else if (strcmp(argv[argidx], "-r") == 0) {
filter.flags |= CAN_FILTER_RTR;
argidx++;
@ -878,14 +875,13 @@ static int cmd_can_filter_add(const struct shell *sh, size_t argc, char **argv)
}
shell_print(sh, "adding filter with %s (%d-bit) CAN ID 0x%0*x, "
"CAN ID mask 0x%0*x, data frames %d, RTR frames %d, CAN FD frames %d",
"CAN ID mask 0x%0*x, data frames %d, RTR frames %d",
(filter.flags & CAN_FILTER_IDE) != 0 ? "extended" : "standard",
(filter.flags & CAN_FILTER_IDE) != 0 ? 29 : 11,
(filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3, filter.id,
(filter.flags & CAN_FILTER_IDE) != 0 ? 8 : 3, filter.mask,
(filter.flags & CAN_FILTER_DATA) != 0 ? 1 : 0,
(filter.flags & CAN_FILTER_RTR) != 0 ? 1 : 0,
(filter.flags & CAN_FILTER_FDF) != 0 ? 1 : 0);
(filter.flags & CAN_FILTER_RTR) != 0 ? 1 : 0);
err = can_add_rx_filter_msgq(dev, &can_shell_rx_msgq, &filter);
if (err < 0) {
@ -1003,12 +999,11 @@ SHELL_DYNAMIC_CMD_CREATE(dsub_can_device_name_mode, cmd_can_device_name_mode);
SHELL_STATIC_SUBCMD_SET_CREATE(sub_can_filter_cmds,
SHELL_CMD_ARG(add, &dsub_can_device_name,
"Add rx filter\n"
"Usage: can filter add <device> [-e] [-f] [-r] [-R] <CAN ID> [CAN ID mask]\n"
"Usage: can filter add <device> [-e] [-r] [-R] <CAN ID> [CAN ID mask]\n"
"-e use extended (29-bit) CAN ID/CAN ID mask\n"
"-f match CAN FD format frames\n"
"-r also match Remote Transmission Request (RTR) frames\n"
"-R only match Remote Transmission Request (RTR) frames",
cmd_can_filter_add, 3, 5),
cmd_can_filter_add, 3, 4),
SHELL_CMD_ARG(remove, &dsub_can_device_name,
"Remove rx filter\n"
"Usage: can filter remove <device> <filter_id>",

13
include/zephyr/drivers/can.h
View file

@ -209,9 +209,6 @@ struct can_frame {
/** Filter matches data frames */
#define CAN_FILTER_DATA BIT(2)
/** Filter matches CAN FD frames (FDF) */
#define CAN_FILTER_FDF BIT(3)
/** @} */
/**
@ -1696,16 +1693,6 @@ static inline bool can_frame_matches_filter(const struct can_frame *frame,
return false;
}
if ((frame->flags & CAN_FRAME_FDF) != 0 && (filter->flags & CAN_FILTER_FDF) == 0) {
/* CAN FD format frame, classic format filter */
return false;
}
if ((frame->flags & CAN_FRAME_FDF) == 0 && (filter->flags & CAN_FILTER_FDF) != 0) {
/* Classic frame, CAN FD format filter */
return false;
}
if ((frame->id ^ filter->id) & filter->mask) {
/* Masked ID mismatch */
return false;

5
include/zephyr/net/socketcan_utils.h
View file

@ -95,7 +95,6 @@ static inline void socketcan_to_can_filter(const struct socketcan_filter *sfilte
zfilter->flags |= (sfilter->can_id & BIT(31)) != 0 ? CAN_FILTER_IDE : 0;
zfilter->id = sfilter->can_id & BIT_MASK(29);
zfilter->mask = sfilter->can_mask & BIT_MASK(29);
zfilter->flags |= (sfilter->flags & CANFD_FDF) != 0 ? CAN_FILTER_FDF : 0;
if ((sfilter->can_mask & BIT(30)) == 0) {
zfilter->flags |= CAN_FILTER_DATA | CAN_FILTER_RTR;
@ -128,10 +127,6 @@ static inline void socketcan_from_can_filter(const struct can_filter *zfilter,
(CAN_FILTER_DATA | CAN_FILTER_RTR)) {
sfilter->can_mask |= BIT(30);
}
if ((zfilter->flags & CAN_FILTER_FDF) != 0) {
sfilter->flags |= CANFD_FDF;
}
}
/**

4
subsys/canbus/isotp/isotp.c
View file

@ -54,9 +54,7 @@ static inline void prepare_filter(struct can_filter *filter, struct isotp_msg_id
{
filter->id = addr->ext_id;
filter->mask = mask;
filter->flags = CAN_FILTER_DATA |
((addr->flags & ISOTP_MSG_IDE) != 0 ? CAN_FILTER_IDE : 0) |
((addr->flags & ISOTP_MSG_FDF) != 0 ? CAN_FILTER_FDF : 0);
filter->flags = CAN_FILTER_DATA | ((addr->flags & ISOTP_MSG_IDE) != 0 ? CAN_FILTER_IDE : 0);
}
/*

10
tests/drivers/can/api/src/canfd.c
View file

@ -66,7 +66,7 @@ static void rx_std_callback_fd_1(const struct device *dev, struct can_frame *fra
assert_frame_equal(frame, &test_std_fdf_frame_1, 0);
zassert_equal(dev, can_dev, "CAN device does not match");
zassert_equal_ptr(filter, &test_std_fdf_filter_1, "filter does not match");
zassert_equal_ptr(filter, &test_std_filter_1, "filter does not match");
k_sem_give(&rx_callback_sem);
}
@ -78,7 +78,7 @@ static void rx_std_callback_fd_2(const struct device *dev, struct can_frame *fra
assert_frame_equal(frame, &test_std_fdf_frame_2, 0);
zassert_equal(dev, can_dev, "CAN device does not match");
zassert_equal_ptr(filter, &test_std_fdf_filter_2, "filter does not match");
zassert_equal_ptr(filter, &test_std_filter_2, "filter does not match");
k_sem_give(&rx_callback_sem);
}
@ -252,7 +252,7 @@ ZTEST(canfd, test_send_receive_classic)
*/
ZTEST(canfd, test_send_receive_fd)
{
send_receive(&test_std_fdf_filter_1, &test_std_fdf_filter_2,
send_receive(&test_std_filter_1, &test_std_filter_2,
&test_std_fdf_frame_1, &test_std_fdf_frame_2);
}
@ -261,7 +261,7 @@ ZTEST(canfd, test_send_receive_fd)
*/
ZTEST(canfd, test_send_receive_mixed)
{
send_receive(&test_std_fdf_filter_1, &test_std_filter_2,
send_receive(&test_std_filter_1, &test_std_filter_2,
&test_std_fdf_frame_1, &test_std_frame_2);
}
@ -292,7 +292,7 @@ static void check_filters_preserved_between_modes(can_mode_t first, can_mode_t s
/* Add classic CAN and CAN FD filter */
filter_id_1 = add_rx_msgq(can_dev, &test_std_filter_1);
filter_id_2 = add_rx_msgq(can_dev, &test_std_fdf_filter_2);
filter_id_2 = add_rx_msgq(can_dev, &test_std_filter_2);
/* Verify classic filter in first mode */
send_test_frame(can_dev, &test_std_frame_1);

20
tests/drivers/can/api/src/common.c
View file

@ -218,26 +218,6 @@ const struct can_filter test_std_some_filter = {
.mask = CAN_STD_ID_MASK
};
/**
* @brief Standard (11-bit) CAN FD ID filter 1. This filter matches
* ``test_std_fdf_frame_1``.
*/
const struct can_filter test_std_fdf_filter_1 = {
.flags = CAN_FILTER_DATA | CAN_FILTER_FDF,
.id = TEST_CAN_STD_ID_1,
.mask = CAN_STD_ID_MASK
};
/**
* @brief Standard (11-bit) CAN FD ID filter 2. This filter matches
* ``test_std_fdf_frame_2``.
*/
const struct can_filter test_std_fdf_filter_2 = {
.flags = CAN_FILTER_DATA | CAN_FILTER_FDF,
.id = TEST_CAN_STD_ID_2,
.mask = CAN_STD_ID_MASK
};
/**
* @brief Assert that two CAN frames are equal given a CAN ID mask.
*

16
tests/drivers/can/api/src/common.h
View file

@ -98,13 +98,13 @@ extern const struct can_frame test_std_fdf_frame_2;
/**
* @brief Standard (11-bit) CAN ID filter 1. This filter matches
* ``test_std_frame_1``.
* ``test_std_frame_1`` and ``test_std_fdf_frame_1``.
*/
extern const struct can_filter test_std_filter_1;
/**
* @brief Standard (11-bit) CAN ID filter 2. This filter matches
* ``test_std_frame_2``.
* ``test_std_frame_2`` and ``test_std_fdf_frame_2``.
*/
extern const struct can_filter test_std_filter_2;
@ -162,18 +162,6 @@ extern const struct can_filter test_ext_rtr_filter_1;
*/
extern const struct can_filter test_std_some_filter;
/**
* @brief Standard (11-bit) CAN FD ID filter 1. This filter matches
* ``test_std_fdf_frame_1``.
*/
extern const struct can_filter test_std_fdf_filter_1;
/**
* @brief Standard (11-bit) CAN FD ID filter 2. This filter matches
* ``test_std_fdf_frame_2``.
*/
extern const struct can_filter test_std_fdf_filter_2;
/**
* @brief Assert that two CAN frames are equal given a CAN ID mask.
*

14
tests/drivers/can/api/src/utilities.c
View file

@ -120,18 +120,8 @@ ZTEST(can_utilities, test_can_frame_matches_filter)
zassert_false(can_frame_matches_filter(&test_ext_frame_1, &test_ext_rtr_filter_1));
/* CAN FD format frames and filters */
zassert_true(can_frame_matches_filter(&test_std_fdf_frame_1, &test_std_fdf_filter_1));
zassert_true(can_frame_matches_filter(&test_std_fdf_frame_2, &test_std_fdf_filter_2));
zassert_false(can_frame_matches_filter(&test_std_fdf_frame_1, &test_std_fdf_filter_2));
zassert_false(can_frame_matches_filter(&test_std_fdf_frame_2, &test_std_fdf_filter_1));
/* CAN FD format frames and classic filters */
zassert_false(can_frame_matches_filter(&test_std_fdf_frame_1, &test_std_filter_1));
zassert_false(can_frame_matches_filter(&test_std_fdf_frame_2, &test_std_filter_2));
/* Classic format frames and CAN FD format filters */
zassert_false(can_frame_matches_filter(&test_std_frame_1, &test_std_fdf_filter_1));
zassert_false(can_frame_matches_filter(&test_std_frame_2, &test_std_fdf_filter_2));
zassert_true(can_frame_matches_filter(&test_std_fdf_frame_1, &test_std_filter_1));
zassert_true(can_frame_matches_filter(&test_std_fdf_frame_2, &test_std_filter_2));
}
ZTEST_SUITE(can_utilities, NULL, NULL, NULL, NULL, NULL);

3
tests/subsys/canbus/isotp/conformance/src/main.c
View file

@ -306,8 +306,7 @@ static int add_rx_msgq(uint32_t id, uint32_t mask)
{
int filter_id;
struct can_filter filter = {
.flags = CAN_FILTER_DATA | ((id > 0x7FF) ? CAN_FILTER_IDE : 0) |
(IS_ENABLED(CONFIG_TEST_USE_CAN_FD_MODE) ? CAN_FILTER_FDF : 0),
.flags = CAN_FILTER_DATA | ((id > 0x7FF) ? CAN_FILTER_IDE : 0),
.id = id,
.mask = mask
};