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Fix CAN filtering: extended CAN IDs can smaller than 0x800 and still be an extended CAN ID #28

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Merged
merged 2 commits into from
Oct 13, 2023
Merged

Fix CAN filtering: extended CAN IDs can smaller than 0x800 and still be an extended CAN ID #28

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4bd1af7
Use the same struct ("x8h7_can_filter_message") for both linux kernel…
aentinger Oct 12, 2023
3124379
Rename "x8h7_can_message" to "x8h7_can_frame_message" in order to hav…
aentinger Oct 12, 2023
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23 changes: 14 additions & 9 deletions include/can.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ extern "C" {
* INCLUDE
**************************************************************************************/

#include <stdbool.h>
#include <inttypes.h>

#include "can_util.h"
Expand All @@ -43,14 +44,18 @@ extern "C" {
* TYPEDEF
**************************************************************************************/

typedef enum
union x8h7_can_filter_message
{
CANStandard = 0,
CANExtended = 1,
CANAny = 2
} CANFormat;
struct __attribute__((packed))
{
uint32_t idx;
uint32_t id;
uint32_t mask;
} field;
uint8_t buf[sizeof(uint32_t) /* idx */ + sizeof(uint32_t) /* id */ + sizeof(uint32_t) /* mask */];
};

union x8h7_can_message
union x8h7_can_frame_message
{
struct __attribute__((packed))
{
Expand All @@ -76,9 +81,9 @@ void can_handle_data();
void can_init_device(FDCAN_HandleTypeDef * handle, CANName peripheral, CanNominalBitTimingResult const can_bit_timing);
int can_frequency(FDCAN_HandleTypeDef * handle, uint32_t const can_bitrate);

void can_write(FDCAN_HandleTypeDef * handle, union x8h7_can_message const * msg);
int can_read(FDCAN_HandleTypeDef * handle, union x8h7_can_message *msg);
int can_filter(FDCAN_HandleTypeDef * handle, uint32_t id, uint32_t mask, CANFormat format, int32_t filter_index);
void can_write(FDCAN_HandleTypeDef * handle, union x8h7_can_frame_message const * msg);
int can_read(FDCAN_HandleTypeDef * handle, union x8h7_can_frame_message *msg);
int can_filter(FDCAN_HandleTypeDef * handle, uint32_t const filter_index, uint32_t const id, uint32_t const mask, bool const is_extended_id);
unsigned char can_rderror(FDCAN_HandleTypeDef * handle);
unsigned char can_tderror(FDCAN_HandleTypeDef * handle);

Expand Down
105 changes: 41 additions & 64 deletions src/can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -164,21 +164,21 @@ void fdcan1_handler(uint8_t opcode, uint8_t *data, uint16_t size) {
}
else if (opcode == CAN_FILTER)
{
uint32_t const * info = (uint32_t*)data;

uint32_t const handle = info[0];
uint32_t const id = info[1];
uint32_t const mask = info[2];

CANFormat const format = (id < 0x800) ? CANStandard : CANExtended;

if (!can_filter(&fdcan_1, id, mask, format, handle)) {
dbg_printf("fdcan1_handler: can_filter failed for id: %ld, mask: %ld, format: %d, handle %ld\n", id, mask, format, handle);
union x8h7_can_filter_message x8h7_msg;
memcpy(x8h7_msg.buf, data, sizeof(x8h7_msg.buf));

if (!can_filter(&fdcan_1,
x8h7_msg.field.idx,
x8h7_msg.field.id,
x8h7_msg.field.mask,
x8h7_msg.field.id & CAN_EFF_FLAG))
{
dbg_printf("fdcan1_handler: can_filter failed for idx: %ld, id: %lX, mask: %lX\n", x8h7_msg.field.idx, x8h7_msg.field.id, x8h7_msg.field.mask);
}
}
else if (opcode == CAN_TX_FRAME)
{
union x8h7_can_message msg;
union x8h7_can_frame_message msg;
memcpy(&msg, data, size);

dbg_printf("fdcan1_handler: sending CAN message to %x, size %d, content[0]=0x%02X\n", msg.id, msg.len, msg.data[0]);
Expand All @@ -199,21 +199,21 @@ void fdcan2_handler(uint8_t opcode, uint8_t *data, uint16_t size) {
}
else if (opcode == CAN_FILTER)
{
uint32_t const * info = (uint32_t*)data;

uint32_t const handle = info[0];
uint32_t const id = info[1];
uint32_t const mask = info[2];

CANFormat const format = (id < 0x800) ? CANStandard : CANExtended;

if (!can_filter(&fdcan_2, id, mask, format, handle)) {
dbg_printf("fdcan2_handler: can_filter failed for id: %ld, mask: %ld, format: %d, handle %ld\n", id, mask, format, handle);
}
union x8h7_can_filter_message x8h7_msg;
memcpy(x8h7_msg.buf, data, sizeof(x8h7_msg.buf));

if (!can_filter(&fdcan_2,
x8h7_msg.field.idx,
x8h7_msg.field.id,
x8h7_msg.field.mask,
x8h7_msg.field.id & CAN_EFF_FLAG))
{
dbg_printf("fdcan2_handler: can_filter failed for idx: %ld, id: %lX, mask: %lX\n", x8h7_msg.field.idx, x8h7_msg.field.id, x8h7_msg.field.mask);
}
}
else if (opcode == CAN_TX_FRAME)
{
union x8h7_can_message msg;
union x8h7_can_frame_message msg;
memcpy(&msg, data, size);

dbg_printf("fdcan2_handler: sending CAN message to %x, size %d, content[0]=0x%02X\n", msg.id, msg.len, msg.data[0]);
Expand Down Expand Up @@ -253,7 +253,7 @@ void can_init()

void can_handle_data()
{
union x8h7_can_message msg;
union x8h7_can_frame_message msg;

if (can_read(&fdcan_1, &msg)) {
enqueue_packet(PERIPH_FDCAN1, DATA, sizeof(msg.buf), msg.buf);
Expand All @@ -276,11 +276,11 @@ int can_internal_init(FDCAN_HandleTypeDef * handle)
error("HAL_FDCAN_Init error\n");
}

if (can_filter(handle, 0, 0, CANStandard, 0) == 0) {
if (can_filter(handle, 0, 0, 0, false) == 0) {
error("can_filter error\n");
}

if (can_filter(handle, 0, 0, CANExtended, 0) == 0) {
if (can_filter(handle, 0, 0, 0, true) == 0) {
error("can_filter error\n");
}

Expand Down Expand Up @@ -378,49 +378,26 @@ int can_frequency(FDCAN_HandleTypeDef * handle, uint32_t const can_bitrate)
}


/** Filter out incoming messages
*
* @param obj CAN object
* @param id the id to filter on
* @param mask the mask applied to the id
* @param format format to filter on
* @param handle message filter handle (not supported yet)
*
* @returns
* 0 if filter change failed or unsupported,
* new filter handle if successful (not supported yet => returns 1)
*/
int can_filter(FDCAN_HandleTypeDef * handle, uint32_t id, uint32_t mask, CANFormat format, int32_t filter_index)
int can_filter(FDCAN_HandleTypeDef * handle, uint32_t const filter_index, uint32_t const id, uint32_t const mask, bool const is_extended_id)
{
FDCAN_FilterTypeDef sFilterConfig = {0};

if (format == CANStandard) {
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = filter_index;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
sFilterConfig.FilterID2 = mask;
} else if (format == CANExtended) {
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = filter_index;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
sFilterConfig.FilterID2 = mask;
} else { // Filter for CANAny format cannot be configured for STM32
return 0;
}
FDCAN_FilterTypeDef sFilterConfig = {0};

if (HAL_FDCAN_ConfigFilter(handle, &sFilterConfig) != HAL_OK) {
return 0;
}
sFilterConfig.IdType = is_extended_id ? FDCAN_EXTENDED_ID : FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = filter_index;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = is_extended_id ? (id & CAN_EFF_MASK) : (id & CAN_SFF_MASK);
sFilterConfig.FilterID2 = is_extended_id ? (mask & CAN_EFF_MASK) : (mask & CAN_SFF_MASK);

return 1;
if (HAL_FDCAN_ConfigFilter(handle, &sFilterConfig) != HAL_OK) {
return 0;
}

return 1;
}


void can_write(FDCAN_HandleTypeDef * handle, union x8h7_can_message const * msg)
void can_write(FDCAN_HandleTypeDef * handle, union x8h7_can_frame_message const * msg)
{
FDCAN_TxHeaderTypeDef TxHeader = {0};

Expand Down Expand Up @@ -479,7 +456,7 @@ void can_write(FDCAN_HandleTypeDef * handle, union x8h7_can_message const * msg)
}
}

int can_read(FDCAN_HandleTypeDef * handle, union x8h7_can_message *msg)
int can_read(FDCAN_HandleTypeDef * handle, union x8h7_can_frame_message *msg)
{
static const uint8_t DLCtoBytes[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64};

Expand Down