drivers: can: various RTR fixes #47903
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The Bosch M_CAN IP does not support RX filtering of the RTR bit, so the driver handles this bit in software. If a recevied frame matches a filter with RTR enabled, the RTR bit of the frame must match that of the filter in order to be passed to the RX callback function. If the RTR bits do not match the frame must be dropped. Improve the readability of the the logic for determining if a frame should be dropped and add a missing FIFO acknowledge write for dropped frames. Fixes: zephyrproject-rtos#47204 Signed-off-by: Henrik Brix Andersen <[email protected]>
When installing a RX filter, the driver uses "filter->rtr & filter->rtr_mask" for setting the filter mask. It should just be using filter->rtr_mask, otherwise filters for non-RTR frames will match RTR frames as well. When transmitting a RTR frame, the hardware automatically switches the mailbox used for TX to RX in order to receive the reply. This, however, does not match the Zephyr CAN driver model, where mailboxes are dedicated to either RX or TX. Attempting to reuse the TX mailbox (which was automatically switched to an RX mailbox by the hardware) fails on the first call, after which the mailbox is reset and can be reused for TX. To overcome this, the driver must abort the RX mailbox operation when the hardware performs the TX to RX switch. Fixes: zephyrproject-rtos#47902 Signed-off-by: Henrik Brix Andersen <[email protected]>
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Check the frame ID type and RTR bit when comparing loopback CAN frames against installed RX filters. Fixes: zephyrproject-rtos#47904 Signed-off-by: Henrik Brix Andersen <[email protected]>
Add test for CAN RX filtering of RTR frames. Signed-off-by: Henrik Brix Andersen <[email protected]>
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This was referenced Jul 18, 2022
This was referenced Jul 18, 2022
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The newly added test cases were verified on the following boards:
lpcxpresso55s16nucleo_g474retwr_ke18fmimxrt1024_evkfrdm_k64fstm32f3_disconative_posix_64keyestudio_can_bus_ks0411(shield)