Skip to content

net: socketcan: make socketcan_frame CAN FD capable #49907

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
fabiobaltieri merged 1 commit into from
Sep 5, 2022
Merged

net: socketcan: make socketcan_frame CAN FD capable #49907

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 16 additions & 8 deletions include/zephyr/net/socketcan.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,11 +39,20 @@ enum {
CAN_RAW_FILTER = 1,
};

/* SocketCAN max data payload length */
/* SocketCAN MTU size compatible with Linux */
#ifdef CONFIG_CAN_FD_MODE
#define SOCKETCAN_MAX_DLEN 64U
#define CANFD_MTU (sizeof(struct socketcan_frame))
#define CAN_MTU (CANFD_MTU - 56U)
#else /* CONFIG_CAN_FD_MODE */
#define SOCKETCAN_MAX_DLEN 8U
#define CAN_MTU (sizeof(struct socketcan_frame))
#endif /* !CONFIG_CAN_FD_MODE */

/* SocketCAN MTU size */
#define CAN_MTU sizeof(struct socketcan_frame)
/* CAN-FD specific flags from Linux Kernel (include/uapi/linux/can.h) */
#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
#define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */

/**
* struct sockaddr_can - The sockaddr structure for CAN sockets
Expand Down Expand Up @@ -92,12 +101,11 @@ typedef uint32_t socketcan_id_t;
struct socketcan_frame {
/** 32-bit CAN ID + EFF/RTR/ERR flags. */
socketcan_id_t can_id;

/** The data length code (DLC). */
uint8_t can_dlc;

/** Frame payload length in bytes. */
uint8_t len;
/** Additional flags for CAN FD. */
uint8_t flags;
/** @cond INTERNAL_HIDDEN */
uint8_t pad; /* padding. */
uint8_t res0; /* reserved/padding. */
uint8_t res1; /* reserved/padding. */
/** @endcond */
Expand Down
8 changes: 6 additions & 2 deletions include/zephyr/net/socketcan_utils.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,8 @@ static inline void socketcan_to_can_frame(const struct socketcan_frame *sframe,
zframe->id_type = (sframe->can_id & BIT(31)) >> 31;
zframe->rtr = (sframe->can_id & BIT(30)) >> 30;
zframe->id = sframe->can_id & BIT_MASK(29);
zframe->dlc = sframe->can_dlc;
zframe->dlc = can_bytes_to_dlc(sframe->len);
zframe->fd = !!(sframe->flags & CANFD_FDF);
memcpy(zframe->data, sframe->data, MIN(sizeof(sframe->data), sizeof(zframe->data)));
}

Expand All @@ -53,7 +54,10 @@ static inline void socketcan_from_can_frame(const struct can_frame *zframe,
struct socketcan_frame *sframe)
{
sframe->can_id = (zframe->id_type << 31) | (zframe->rtr << 30) | zframe->id;
sframe->can_dlc = zframe->dlc;
sframe->len = can_dlc_to_bytes(zframe->dlc);
if (zframe->fd) {
sframe->flags = CANFD_FDF;
}
memcpy(sframe->data, zframe->data, MIN(sizeof(zframe->data), sizeof(sframe->data)));
}

Expand Down
6 changes: 3 additions & 3 deletions tests/net/socket/can/src/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ ZTEST(socket_can, test_socketcan_frame_to_can_frame)
0x05, 0x06, 0x07, 0x08 };

sframe.can_id = BIT(31) | BIT(30) | 1234;
sframe.can_dlc = sizeof(data);
sframe.len = sizeof(data);
memcpy(sframe.data, data, sizeof(sframe.data));

expected.rtr = CAN_REMOTEREQUEST;
Expand Down Expand Up @@ -56,7 +56,7 @@ ZTEST(socket_can, test_can_frame_to_socketcan_frame)
0x05, 0x06, 0x07, 0x08 };

expected.can_id = BIT(31) | BIT(30) | 1234;
expected.can_dlc = sizeof(data);
expected.len = sizeof(data);
memcpy(expected.data, data, sizeof(expected.data));

zframe.rtr = CAN_REMOTEREQUEST;
Expand All @@ -74,7 +74,7 @@ ZTEST(socket_can, test_can_frame_to_socketcan_frame)
zassert_equal(sframe.can_id, expected.can_id, "CAN ID not same");
zassert_mem_equal(&sframe.data, &expected.data, sizeof(sframe.data),
"CAN data not same");
zassert_equal(sframe.can_dlc, expected.can_dlc,
zassert_equal(sframe.len, expected.len,
"CAN msg length not same");
}

Expand Down