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WIP: CAN bus numbering
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@martinjaeger
martinjaeger committed Dec 12, 2023
1 parent b35eca0 commit a30bf1a
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46 changes: 29 additions & 17 deletions include/thingset/can.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,18 +86,27 @@ extern "C" {
#define THINGSET_CAN_DATA_ID_GET(id) \
(((uint32_t)id & THINGSET_CAN_DATA_ID_MASK) >> THINGSET_CAN_DATA_ID_POS)

/* bus ID for request/response messages */
#define THINGSET_CAN_BUS_ID_POS (16U)
#define THINGSET_CAN_BUS_ID_MASK (0xFF << THINGSET_CAN_BUS_ID_POS)
#define THINGSET_CAN_BUS_ID_SET(id) \
(((uint32_t)id << THINGSET_CAN_BUS_ID_POS) & THINGSET_CAN_BUS_ID_MASK)
#define THINGSET_CAN_BUS_ID_GET(id) \
(((uint32_t)id & THINGSET_CAN_BUS_ID_MASK) >> THINGSET_CAN_BUS_ID_POS)
#define THINGSET_CAN_BUS_ID_DEFAULT (0xDA) // 218, N_TAtype = physical
/* bus numbers for request/response messages */
#define THINGSET_CAN_SOURCE_BUS_POS (16U)
#define THINGSET_CAN_SOURCE_BUS_MASK (0xF << THINGSET_CAN_SOURCE_BUS_POS)
#define THINGSET_CAN_SOURCE_BUS_SET(id) \
(((uint32_t)id << THINGSET_CAN_SOURCE_BUS_POS) & THINGSET_CAN_SOURCE_BUS_MASK)
#define THINGSET_CAN_SOURCE_BUS_GET(id) \
(((uint32_t)id & THINGSET_CAN_SOURCE_BUS_MASK) >> THINGSET_CAN_SOURCE_BUS_POS)
#define THINGSET_CAN_SOURCE_BUS_DEFAULT (0x0)
#define THINGSET_CAN_TARGET_BUS_POS (20U)
#define THINGSET_CAN_TARGET_BUS_MASK (0xF << THINGSET_CAN_TARGET_BUS_POS)
#define THINGSET_CAN_TARGET_BUS_SET(id) \
(((uint32_t)id << THINGSET_CAN_TARGET_BUS_POS) & THINGSET_CAN_TARGET_BUS_MASK)
#define THINGSET_CAN_TARGET_BUS_GET(id) \
(((uint32_t)id & THINGSET_CAN_TARGET_BUS_MASK) >> THINGSET_CAN_TARGET_BUS_POS)
#define THINGSET_CAN_TARGET_BUS_DEFAULT (0x0)

/* random number for address discovery messages */
#define THINGSET_CAN_RAND_SET THINGSET_CAN_BUS_ID_SET
#define THINGSET_CAN_RAND_GET THINGSET_CAN_BUS_ID_GET
#define THINGSET_CAN_RAND_POS (16U)
#define THINGSET_CAN_RAND_MASK (0xFF << THINGSET_CAN_RAND_POS)
#define THINGSET_CAN_RAND_SET(id) (((uint32_t)id << THINGSET_CAN_RAND_POS) & THINGSET_CAN_RAND_MASK)
#define THINGSET_CAN_RAND_GET(id) (((uint32_t)id & THINGSET_CAN_RAND_MASK) >> THINGSET_CAN_RAND_POS)

/* message types */
#define THINGSET_CAN_TYPE_POS (24U)
Expand Down Expand Up @@ -180,6 +189,7 @@ struct thingset_can
thingset_can_report_rx_callback_t report_rx_cb;
int64_t next_pub_time;
uint8_t node_addr;
uint8_t bus_number;
};

#ifdef CONFIG_THINGSET_CAN_MULTIPLE_INSTANCES
Expand All @@ -196,7 +206,7 @@ struct thingset_can
* @returns length of message or negative errno in case of error
*/
int thingset_can_receive_inst(struct thingset_can *ts_can, uint8_t *rx_buf, size_t rx_buf_size,
uint8_t *source_addr, k_timeout_t timeout);
uint8_t *source_addr, uint8_t *source_bus, k_timeout_t timeout);

#ifdef CONFIG_ISOTP_FAST
/**
Expand All @@ -214,8 +224,9 @@ int thingset_can_receive_inst(struct thingset_can *ts_can, uint8_t *rx_buf, size
* @returns 0 for success or negative errno in case of error
*/
int thingset_can_send_inst(struct thingset_can *ts_can, uint8_t *tx_buf, size_t tx_len,
uint8_t target_addr, thingset_can_response_callback_t rsp_callback,
void *callback_arg, k_timeout_t timeout);
uint8_t target_addr, uint8_t target_bus,
thingset_can_response_callback_t rsp_callback, void *callback_arg,
k_timeout_t timeout);
#else
/**
* Send ThingSet message to other node
Expand All @@ -228,7 +239,7 @@ int thingset_can_send_inst(struct thingset_can *ts_can, uint8_t *tx_buf, size_t
* @returns 0 for success or negative errno in case of error
*/
int thingset_can_send_inst(struct thingset_can *ts_can, uint8_t *tx_buf, size_t tx_len,
uint8_t target_addr);
uint8_t target_addr, uint8_t target_bus);

/**
* Process incoming ThingSet requests
Expand Down Expand Up @@ -271,7 +282,8 @@ int thingset_can_set_report_rx_callback_inst(struct thingset_can *ts_can,
*
* @returns 0 for success or negative errno in case of error
*/
int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can_dev);
int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can_dev,
uint8_t bus_number);

#else /* !CONFIG_THINGSET_CAN_MULTIPLE_INSTANCES */

Expand All @@ -285,7 +297,7 @@ int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can
*
* @returns 0 for success or negative errno in case of error
*/
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr,
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr, uint8_t target_bus,
thingset_can_response_callback_t rsp_callback, void *callback_arg,
k_timeout_t timeout);
#else
Expand All @@ -298,7 +310,7 @@ int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr,
*
* @returns 0 for success or negative errno in case of error
*/
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr);
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr, uint8_t target_bus);
#endif /* CONFIG_ISOTP_FAST */

/**
Expand Down
2 changes: 1 addition & 1 deletion include/thingset/isotp_fast.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -144,4 +144,4 @@ int isotp_fast_recv(struct isotp_fast_ctx *ctx, struct can_filter sender, uint8_
* @returns 0 on success.
*/
int isotp_fast_send(struct isotp_fast_ctx *ctx, const uint8_t *data, size_t len,
const isotp_fast_node_id target_addr, void *sent_cb_arg);
const isotp_fast_node_id target_addr, uint8_t target_bus, void *sent_cb_arg);
6 changes: 6 additions & 0 deletions src/Kconfig.can
View file
Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,12 @@ config THINGSET_CAN_MULTIPLE_INSTANCES
for a dedicated CAN device and and messages have to be processed
manually in application threads.

config THINGSET_CAN_BUS_NUMBER
int "ThingSet CAN bus number"
depends on !THINGSET_CAN_MULTIPLE_INSTANCES
range 0 15
default 0

config THINGSET_CAN_RESPONSE_DELAY
int "ThingSet CAN response delay"
range 0 100
Expand Down
19 changes: 19 additions & 0 deletions src/Kconfig.isotp_fast
View file
Original file line number Diff line number Diff line change
Expand Up @@ -38,4 +38,23 @@ config ISOTP_FAST_BLOCKING_RECEIVE
Whether to make blocking receive functionality available
to ease migration from the old API.

config ISOTP_FAST_BUS_SIZE
int "CAN filter mask to match any priority and source address (SA)"
default 0
range 0 4
help
Size of the bus field in the CAN ID. Use 0 to disable.

config ISOTP_FAST_TARGET_BUS_POS
int "Position of the target bus"
default 20
help
Target bus position in bits.

config ISOTP_FAST_SOURCE_BUS_POS
int "Position of the source bus"
default 16
help
Source bus position in bits.

endif
79 changes: 54 additions & 25 deletions src/can.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@

#include "packetizer.h"

LOG_MODULE_REGISTER(thingset_can, CONFIG_THINGSET_SDK_LOG_LEVEL);
LOG_MODULE_REGISTER(thingset_can, 4);

extern uint8_t eui64[8];

Expand Down Expand Up @@ -133,6 +133,13 @@ static void thingset_can_addr_claim_tx_cb(const struct device *dev, int error, v
}
}

static void thingset_can_discovery_tx_cb(const struct device *dev, int error, void *user_data)
{
if (error != 0) {
LOG_ERR("Discovery failed with %d", error);
}
}

static void thingset_can_addr_claim_tx_handler(struct k_work *work)
{
struct k_work_delayable *dwork = k_work_delayable_from_work(work);
Expand Down Expand Up @@ -345,7 +352,7 @@ void thingset_can_request_response_timeout_handler(struct k_timer *timer)
}
#else
int thingset_can_receive_inst(struct thingset_can *ts_can, uint8_t *rx_buffer, size_t rx_buf_size,
uint8_t *source_addr, k_timeout_t timeout)
uint8_t *source_addr, uint8_t *source_bus, k_timeout_t timeout)
{
int ret, rem_len, rx_len;
struct net_buf *netbuf;
Expand Down Expand Up @@ -390,7 +397,9 @@ int thingset_can_receive_inst(struct thingset_can *ts_can, uint8_t *rx_buffer, s
}
else if (rx_len > 0 && rem_len == 0) {
*source_addr = THINGSET_CAN_SOURCE_GET(ts_can->recv_ctx.rx_addr.ext_id);
LOG_DBG("ISO-TP received %d bytes from addr %d", rx_len, *source_addr);
*source_bus = THINGSET_CAN_SOURCE_BUS_GET(ts_can->recv_ctx.rx_addr.ext_id);
LOG_DBG("ISO-TP received %d bytes from addr 0x%X on bus 0x%X", rx_len, *source_addr,
*source_bus);
return rx_len;
}
else if (rem_len == ISOTP_RECV_TIMEOUT) {
Expand All @@ -404,8 +413,9 @@ int thingset_can_receive_inst(struct thingset_can *ts_can, uint8_t *rx_buffer, s

#ifdef CONFIG_ISOTP_FAST
int thingset_can_send_inst(struct thingset_can *ts_can, uint8_t *tx_buf, size_t tx_len,
uint8_t target_addr, thingset_can_response_callback_t rsp_callback,
void *callback_arg, k_timeout_t timeout)
uint8_t target_addr, uint8_t target_bus,
thingset_can_response_callback_t rsp_callback, void *callback_arg,
k_timeout_t timeout)
{
if (!device_is_ready(ts_can->dev)) {
return -ENODEV;
Expand All @@ -422,16 +432,18 @@ int thingset_can_send_inst(struct thingset_can *ts_can, uint8_t *tx_buf, size_t
NULL);
k_timer_start(&ts_can->request_response.timer, timeout, timeout);
ts_can->request_response.can_id = THINGSET_CAN_TYPE_CHANNEL | THINGSET_CAN_PRIO_CHANNEL
| THINGSET_CAN_TARGET_BUS_SET(ts_can->bus_number)
| THINGSET_CAN_SOURCE_BUS_SET(target_bus)
| THINGSET_CAN_TARGET_SET(ts_can->node_addr)
| THINGSET_CAN_SOURCE_SET(target_addr);
}
int ret = isotp_fast_send(&ts_can->ctx, tx_buf, tx_len, target_addr, ts_can);
int ret = isotp_fast_send(&ts_can->ctx, tx_buf, tx_len, target_addr, target_bus, ts_can);

if (ret == ISOTP_N_OK) {
return 0;
}
else {
LOG_ERR("Error sending data to addr %d: %d", target_addr, ret);
LOG_ERR("Error sending data to addr 0x%X: %d", target_addr, ret);
return -EIO;
}
}
Expand Down Expand Up @@ -460,9 +472,11 @@ void isotp_fast_recv_callback(struct net_buf *buffer, int rem_len, isotp_fast_ca
int tx_len =
thingset_process_message(&ts, ts_can->rx_buffer, len, sbuf->data, sbuf->size);
if (tx_len > 0) {
isotp_fast_node_id target_id = (uint8_t)(can_id & 0xFF);
int err = thingset_can_send_inst(ts_can, sbuf->data, tx_len, target_id, NULL, NULL,
K_NO_WAIT);
isotp_fast_node_id target_addr = THINGSET_CAN_SOURCE_GET(can_id);
uint8_t target_bus = THINGSET_CAN_SOURCE_BUS_GET(can_id);
LOG_WRN("CAN ID: 0x%X, target bus: %d", can_id, target_bus);
int err = thingset_can_send_inst(ts_can, sbuf->data, tx_len, target_addr,
target_bus, NULL, NULL, K_NO_WAIT);
if (err != 0) {
k_sem_give(&sbuf->lock);
}
Expand Down Expand Up @@ -493,19 +507,21 @@ void isotp_fast_sent_callback(int result, void *arg)
}
#else
int thingset_can_send_inst(struct thingset_can *ts_can, uint8_t *tx_buf, size_t tx_len,
uint8_t target_addr)
uint8_t target_addr, uint8_t target_bus)
{
if (!device_is_ready(ts_can->dev)) {
return -ENODEV;
}

ts_can->tx_addr.ext_id = THINGSET_CAN_TYPE_CHANNEL | THINGSET_CAN_PRIO_CHANNEL
| THINGSET_CAN_TARGET_SET(target_addr)
| THINGSET_CAN_SOURCE_SET(ts_can->node_addr);
ts_can->tx_addr.ext_id =
THINGSET_CAN_TYPE_CHANNEL | THINGSET_CAN_PRIO_CHANNEL
| THINGSET_CAN_TARGET_BUS_SET(target_bus) | THINGSET_CAN_SOURCE_BUS_SET(ts_can->bus_number)
| THINGSET_CAN_TARGET_SET(target_addr) | THINGSET_CAN_SOURCE_SET(ts_can->node_addr);

ts_can->rx_addr.ext_id = THINGSET_CAN_TYPE_CHANNEL | THINGSET_CAN_PRIO_CHANNEL
| THINGSET_CAN_TARGET_SET(ts_can->node_addr)
| THINGSET_CAN_SOURCE_SET(target_addr);
ts_can->rx_addr.ext_id =
THINGSET_CAN_TYPE_CHANNEL | THINGSET_CAN_PRIO_CHANNEL
| THINGSET_CAN_TARGET_BUS_SET(ts_can->bus_number) | THINGSET_CAN_SOURCE_BUS_SET(target_bus)
| THINGSET_CAN_TARGET_SET(ts_can->node_addr) | THINGSET_CAN_SOURCE_SET(target_addr);

int ret = isotp_send(&ts_can->send_ctx, ts_can->dev, tx_buf, tx_len, &ts_can->tx_addr,
&ts_can->rx_addr, NULL, NULL);
Expand Down Expand Up @@ -568,7 +584,8 @@ int thingset_can_process_inst(struct thingset_can *ts_can, k_timeout_t timeout)
}
#endif /* CONFIG_ISOTP_FAST */

int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can_dev)
int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can_dev,
uint8_t bus_number)
{
struct can_frame tx_frame = {
.flags = CAN_FRAME_IDE,
Expand All @@ -593,18 +610,21 @@ int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can
k_work_init_delayable(&ts_can->addr_claim_work, thingset_can_addr_claim_tx_handler);

ts_can->dev = can_dev;
ts_can->bus_number = bus_number;

/* set initial address (will be changed if already used on the bus) */
if (ts_can->node_addr < 1 || ts_can->node_addr > THINGSET_CAN_ADDR_MAX) {
ts_can->node_addr = 1;
}

LOG_WRN("event init");
k_event_init(&ts_can->events);

#ifdef CONFIG_CAN_FD_MODE
can_set_mode(ts_can->dev, CAN_MODE_FD);
#endif

LOG_WRN("can_start");
can_start(ts_can->dev);

filter_id =
Expand All @@ -623,12 +643,17 @@ int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can
| THINGSET_CAN_RAND_SET(rand) | THINGSET_CAN_TARGET_SET(ts_can->node_addr)
| THINGSET_CAN_SOURCE_SET(THINGSET_CAN_ADDR_ANONYMOUS);
tx_frame.dlc = 0;
err = can_send(ts_can->dev, &tx_frame, K_MSEC(10), NULL, NULL);
LOG_WRN("send discovery");
err = can_send(ts_can->dev, &tx_frame, K_MSEC(100), /*thingset_can_discovery_tx_cb*/ NULL,
NULL);
LOG_WRN("send discovery finished");
if (err != 0) {
LOG_DBG("Failed to send discovery frame");
k_sleep(K_MSEC(100));
continue;
}

LOG_WRN("wait address claiming");
/* wait 500 ms for address claim message from other node */
uint32_t event =
k_event_wait(&ts_can->events, EVENT_ADDRESS_ALREADY_USED, false, K_MSEC(500));
Expand All @@ -643,6 +668,7 @@ int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can

thingset_sdk_reschedule_work(&ts_can->addr_claim_work, K_NO_WAIT);

LOG_WRN("wait for address claiming");
event = k_event_wait(&ts_can->events, EVENT_ADDRESS_CLAIM_MSG_SENT, false, K_MSEC(100));
if (!(event & EVENT_ADDRESS_CLAIM_MSG_SENT)) {
k_sleep(K_MSEC(100));
Expand All @@ -665,6 +691,7 @@ int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can
}
}

LOG_WRN("storage_save_queued");
#if CONFIG_THINGSET_STORAGE
/* save node address as init value for next boot-up */
thingset_storage_save_queued();
Expand Down Expand Up @@ -692,12 +719,14 @@ int thingset_can_init_inst(struct thingset_can *ts_can, const struct device *can
#ifdef CONFIG_ISOTP_FAST
isotp_fast_can_id rx_can_id = THINGSET_CAN_TYPE_CHANNEL | THINGSET_CAN_PRIO_CHANNEL
| THINGSET_CAN_TARGET_SET(ts_can->node_addr);
LOG_WRN("isotp_fast_bind");
isotp_fast_bind(&ts_can->ctx, can_dev, rx_can_id, &fc_opts, isotp_fast_recv_callback, ts_can,
isotp_fast_recv_error_callback, isotp_fast_sent_callback);
#endif

thingset_sdk_reschedule_work(&ts_can->reporting_work, K_NO_WAIT);

LOG_WRN("done");
return 0;
}

Expand Down Expand Up @@ -752,17 +781,17 @@ THINGSET_ADD_ITEM_UINT8(TS_ID_NET, TS_ID_NET_CAN_NODE_ADDR, "pCANNodeAddr",
&ts_can_single.node_addr, THINGSET_ANY_RW, TS_SUBSET_NVM);

#ifdef CONFIG_ISOTP_FAST
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr,
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr, uint8_t target_bus,
thingset_can_response_callback_t rsp_callback, void *callback_arg,
k_timeout_t timeout)
{
return thingset_can_send_inst(&ts_can_single, tx_buf, tx_len, target_addr, rsp_callback,
callback_arg, timeout);
return thingset_can_send_inst(&ts_can_single, tx_buf, tx_len, target_addr, target_bus,
rsp_callback, callback_arg, timeout);
}
#else
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr)
int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr, uint8_t target_bus)
{
return thingset_can_send_inst(&ts_can_single, tx_buf, tx_len, target_addr);
return thingset_can_send_inst(&ts_can_single, tx_buf, tx_len, target_addr, target_bus);
}
#endif /* CONFIG_ISOTP_FAST */

Expand All @@ -780,7 +809,7 @@ static void thingset_can_thread()
{
int err;

err = thingset_can_init_inst(&ts_can_single, can_dev);
err = thingset_can_init_inst(&ts_can_single, can_dev, CONFIG_THINGSET_CAN_BUS_NUMBER);
if (err != 0) {
LOG_ERR("Failed to init ThingSet CAN: %d", err);
return;
Expand Down
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