canbus: isotp: use flags for configuration in isotp_msg_id The previous design with dedicated bits in the structure required a user to explicitly set each bit. Using one flags variable allows to extend the features more easily in the future and avoids breaking existing code. This change is particularly useful for the FDF and BRS flags required for CAN-FD support. See also previous similar change for the CAN driver in f8a88cdb2791fe40b3021f1275fe250c2c17dcf3 Signed-off-by: Martin Jäger <martin@libre.solar>
diff --git a/include/zephyr/canbus/isotp.h b/include/zephyr/canbus/isotp.h index 6ce32c4..b975837 100644 --- a/include/zephyr/canbus/isotp.h +++ b/include/zephyr/canbus/isotp.h
@@ -129,6 +129,27 @@ #endif /** + * @name ISO-TP message ID flags + * @anchor ISOTP_MSG_FLAGS + * + * @{ + */ + +/** Message uses ISO-TP extended addressing (first payload byte of CAN frame) */ +#define ISOTP_MSG_EXT_ADDR BIT(0) + +/** + * Message uses ISO-TP fixed addressing (according to SAE J1939). Only valid in combination with + * ``ISOTP_MSG_IDE``. + */ +#define ISOTP_MSG_FIXED_ADDR BIT(1) + +/** Message uses extended (29-bit) CAN ID */ +#define ISOTP_MSG_IDE BIT(2) + +/** @} */ + +/** * @brief ISO-TP message id struct * * Used to pass addresses to the bind and send functions. @@ -146,12 +167,8 @@ }; /** ISO-TP extended address (if used) */ uint8_t ext_addr; - /** Indicates the CAN identifier type (0 for standard or 1 for extended) */ - uint8_t ide : 1; - /** Indicates if ISO-TP extended addressing is used */ - uint8_t use_ext_addr : 1; - /** Indicates if ISO-TP fixed addressing (acc. to SAE J1939) is used */ - uint8_t use_fixed_addr : 1; + /** Flags. @see @ref ISOTP_MSG_FLAGS. */ + uint8_t flags; }; /*
diff --git a/samples/subsys/canbus/isotp/src/main.c b/samples/subsys/canbus/isotp/src/main.c index 8fbd43e..0a37654 100644 --- a/samples/subsys/canbus/isotp/src/main.c +++ b/samples/subsys/canbus/isotp/src/main.c
@@ -12,23 +12,15 @@ const struct isotp_msg_id rx_addr_8_0 = { .std_id = 0x80, - .ide = 0, - .use_ext_addr = 0 }; const struct isotp_msg_id tx_addr_8_0 = { .std_id = 0x180, - .ide = 0, - .use_ext_addr = 0 }; const struct isotp_msg_id rx_addr_0_5 = { .std_id = 0x01, - .ide = 0, - .use_ext_addr = 0 }; const struct isotp_msg_id tx_addr_0_5 = { .std_id = 0x101, - .ide = 0, - .use_ext_addr = 0 }; const struct device *can_dev;
diff --git a/subsys/canbus/isotp/isotp.c b/subsys/canbus/isotp/isotp.c index 85b28eb..4a55deb 100644 --- a/subsys/canbus/isotp/isotp.c +++ b/subsys/canbus/isotp/isotp.c
@@ -118,7 +118,7 @@ static void receive_send_fc(struct isotp_recv_ctx *ctx, uint8_t fs) { struct can_frame frame = { - .flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0, + .flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0, .id = ctx->tx_addr.ext_id }; uint8_t *data = frame.data; @@ -127,7 +127,7 @@ __ASSERT_NO_MSG(!(fs & ISOTP_PCI_TYPE_MASK)); - if (ctx->tx_addr.use_ext_addr) { + if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) { *data++ = ctx->tx_addr.ext_addr; } @@ -374,13 +374,13 @@ uint8_t payload_len; uint32_t rx_sa; /* ISO-TP fixed source address (if used) */ - if (ctx->rx_addr.use_ext_addr) { + if ((ctx->rx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) { if (frame->data[index++] != ctx->rx_addr.ext_addr) { return; } } - if (ctx->rx_addr.use_fixed_addr) { + if ((ctx->rx_addr.flags & ISOTP_MSG_FIXED_ADDR) != 0) { /* store actual CAN ID used by the sender */ ctx->rx_addr.ext_id = frame->id; /* replace TX target address with RX source address */ @@ -465,7 +465,7 @@ int index = 0; uint32_t data_len; - if (ctx->rx_addr.use_ext_addr) { + if ((ctx->rx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) { if (frame->data[index++] != ctx->rx_addr.ext_addr) { return; } @@ -557,14 +557,15 @@ { uint32_t mask; - if (ctx->rx_addr.use_fixed_addr) { + if ((ctx->rx_addr.flags & ISOTP_MSG_FIXED_ADDR) != 0) { mask = ISOTP_FIXED_ADDR_RX_MASK; } else { mask = CAN_EXT_ID_MASK; } struct can_filter filter = { - .flags = CAN_FILTER_DATA | ((ctx->rx_addr.ide != 0) ? CAN_FILTER_IDE : 0), + .flags = CAN_FILTER_DATA | + ((ctx->rx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FILTER_IDE : 0), .id = ctx->rx_addr.ext_id, .mask = mask }; @@ -755,7 +756,7 @@ { uint8_t *data = frame->data; - if (ctx->rx_addr.use_ext_addr) { + if ((ctx->rx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) { if (ctx->rx_addr.ext_addr != *data++) { return; } @@ -854,7 +855,7 @@ static inline int send_sf(struct isotp_send_ctx *ctx) { struct can_frame frame = { - .flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0, + .flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0, .id = ctx->tx_addr.ext_id }; size_t len = get_ctx_data_length(ctx); @@ -865,7 +866,7 @@ data = get_data_ctx(ctx); pull_data_ctx(ctx, len); - if (ctx->tx_addr.use_ext_addr) { + if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) { frame.data[index++] = ctx->tx_addr.ext_addr; } @@ -895,7 +896,7 @@ static inline int send_ff(struct isotp_send_ctx *ctx) { struct can_frame frame = { - .flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0, + .flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0, .id = ctx->tx_addr.ext_id, .dlc = ISOTP_CAN_DL }; @@ -904,7 +905,7 @@ int ret; const uint8_t *data; - if (ctx->tx_addr.use_ext_addr) { + if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) { frame.data[index++] = ctx->tx_addr.ext_addr; } @@ -936,7 +937,7 @@ static inline int send_cf(struct isotp_send_ctx *ctx) { struct can_frame frame = { - .flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0, + .flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0, .id = ctx->tx_addr.ext_id, }; int index = 0; @@ -945,7 +946,7 @@ int rem_len; const uint8_t *data; - if (ctx->tx_addr.use_ext_addr) { + if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) { frame.data[index++] = ctx->tx_addr.ext_addr; } @@ -1116,7 +1117,8 @@ static inline int attach_fc_filter(struct isotp_send_ctx *ctx) { struct can_filter filter = { - .flags = CAN_FILTER_DATA | ((ctx->rx_addr.ide != 0) ? CAN_FILTER_IDE : 0), + .flags = CAN_FILTER_DATA | + ((ctx->rx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FILTER_IDE : 0), .id = ctx->rx_addr.ext_id, .mask = CAN_EXT_ID_MASK }; @@ -1164,7 +1166,7 @@ len = get_ctx_data_length(ctx); LOG_DBG("Send %zu bytes to addr 0x%x and listen on 0x%x", len, ctx->tx_addr.ext_id, ctx->rx_addr.ext_id); - if (len > ISOTP_CAN_DL - (tx_addr->use_ext_addr ? 2 : 1)) { + if (len > ISOTP_CAN_DL - ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0 ? 2 : 1)) { ret = attach_fc_filter(ctx); if (ret) { LOG_ERR("Can't attach fc filter: %d", ret);
diff --git a/tests/subsys/canbus/isotp/conformance/src/main.c b/tests/subsys/canbus/isotp/conformance/src/main.c index 0993ef5..ea55fbb 100644 --- a/tests/subsys/canbus/isotp/conformance/src/main.c +++ b/tests/subsys/canbus/isotp/conformance/src/main.c
@@ -72,43 +72,34 @@ .bs = 0, .stmin = 0 }; + const struct isotp_msg_id rx_addr = { .std_id = 0x10, - .ide = 0, - .use_ext_addr = 0 }; const struct isotp_msg_id tx_addr = { .std_id = 0x11, - .ide = 0, - .use_ext_addr = 0 }; const struct isotp_msg_id rx_addr_ext = { .std_id = 0x10, - .ide = 0, - .use_ext_addr = 1, - .ext_addr = EXT_ADDR + .ext_addr = EXT_ADDR, + .flags = ISOTP_MSG_EXT_ADDR, }; const struct isotp_msg_id tx_addr_ext = { .std_id = 0x11, - .ide = 0, - .use_ext_addr = 1, - .ext_addr = EXT_ADDR + .ext_addr = EXT_ADDR, + .flags = ISOTP_MSG_EXT_ADDR, }; const struct isotp_msg_id rx_addr_fixed = { .ext_id = 0x18DA0201, - .ide = 1, - .use_ext_addr = 0, - .use_fixed_addr = 1 + .flags = ISOTP_MSG_FIXED_ADDR | ISOTP_MSG_IDE, }; const struct isotp_msg_id tx_addr_fixed = { .ext_id = 0x18DA0102, - .ide = 1, - .use_ext_addr = 0, - .use_fixed_addr = 1 + .flags = ISOTP_MSG_FIXED_ADDR | ISOTP_MSG_IDE, }; const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
diff --git a/tests/subsys/canbus/isotp/implementation/src/main.c b/tests/subsys/canbus/isotp/implementation/src/main.c index 1c597f6..bbc2cad 100644 --- a/tests/subsys/canbus/isotp/implementation/src/main.c +++ b/tests/subsys/canbus/isotp/implementation/src/main.c
@@ -35,15 +35,12 @@ .bs = 0, .stmin = 1 }; + const struct isotp_msg_id rx_addr = { .std_id = 0x10, - .ide = 0, - .use_ext_addr = 0 }; const struct isotp_msg_id tx_addr = { .std_id = 0x11, - .ide = 0, - .use_ext_addr = 0 }; struct isotp_recv_ctx recv_ctx;