Added user-defined CAN filter addres and mask.

.gitignore

@@ -27,3 +27,4 @@ build-docs
 /.cache/
 /.history/
 /venv/
+/.venv/

include/csp/drivers/can_socketcan.h

@@ -24,10 +24,12 @@ extern "C" {
  *            bitrate on the CAN device - this may require increased OS privileges.
  * @param[in] promisc if true, receive all CAN frames. If false a filter
  *                    is set on the CAN device, using device->addr
+ * @param[in] filter_addr filter CAN address
+ * @param[in] filter_mask filter CAN mask
  * @param[out] return_iface the added interface.
  * @return The added interface, or NULL in case of failure.
  */
-int csp_can_socketcan_open_and_add_interface(const char * device, const char * ifname, unsigned int node_id, int bitrate, bool promisc, csp_iface_t ** return_iface);
+int csp_can_socketcan_open_and_add_interface(const char * device, const char * ifname, unsigned int node_id, int bitrate, bool promisc, uint16_t filter_addr, uint16_t filter_mask, csp_iface_t ** return_iface);
 
 /**
  * Initialize socketcan and add CSP interface.
@@ -41,9 +43,11 @@ int csp_can_socketcan_open_and_add_interface(const char * device, const char * i
  *            bitrate on the CAN device - this may require increased OS privileges.
  * @param[in] promisc if true, receive all CAN frames. If false a filter
  *                    is set on the CAN device, using device->addr
+ * @param[in] filter_addr filter CAN address
+ * @param[in] filter_mask filter CAN mask
  * @return The added interface, or NULL in case of failure.
  */
-csp_iface_t * csp_can_socketcan_init(const char * device, unsigned int node_id, int bitrate, bool promisc);
+csp_iface_t * csp_can_socketcan_init(const char * device, unsigned int node_id, int bitrate, bool promisc, uint16_t filter_addr, uint16_t filter_mask);
 
 /**
  * Stop the Rx thread and free resources (testing).

src/bindings/python/pycsp.c

@@ -863,7 +863,7 @@ static PyObject * pycsp_can_socketcan_init(PyObject * self, PyObject * args) {
 		return NULL;
 	}
 
-	int res = csp_can_socketcan_open_and_add_interface(ifc, CSP_IF_CAN_DEFAULT_NAME, addr, bitrate, promisc, NULL);
+	int res = csp_can_socketcan_open_and_add_interface(ifc, CSP_IF_CAN_DEFAULT_NAME, addr, bitrate, promisc, 0xFFFF, 0x0000, NULL);
 	if (res != CSP_ERR_NONE) {
 		return PyErr_Error("csp_can_socketcan_open_and_add_interface()", res);
 	}

src/csp_yaml.c

@@ -142,7 +142,7 @@ static void csp_yaml_end_if(struct data_s * data, unsigned int * dfl_addr) {
 			return;
 		}
 
-		int error = csp_can_socketcan_open_and_add_interface(data->device, data->name, addr, 1000000, true, &iface);
+		int error = csp_can_socketcan_open_and_add_interface(data->device, data->name, addr, 1000000, true, 0xFFFF, 0x0000, &iface);
 		if (error != CSP_ERR_NONE) {
 			csp_print("failed to add CAN interface [%s], error: %d", data->device, error);
 			return;

src/drivers/can/can_socketcan.c

@@ -120,12 +120,15 @@ static int csp_can_tx_frame(void * driver_data, uint32_t id, const uint8_t * dat
 }
 
 
-int csp_can_socketcan_set_promisc(const bool promisc, can_context_t * ctx) {
+int csp_can_socketcan_set_promisc(const bool promisc, can_context_t * ctx, uint16_t filter_addr, uint16_t filter_mask) {
 	struct can_filter filter = {
 		.can_id = CFP_MAKE_DST(ctx->iface.addr),
 		.can_mask = 0x0000, /* receive anything */
 	};
 
+    filter.can_id = (csp_conf.version == 1) ? CFP_MAKE_DST(filter_addr) : (unsigned int) (filter_addr << CFP2_DST_OFFSET);
+	filter.can_mask = (csp_conf.version == 1) ? CFP_MAKE_DST(filter_mask) : (unsigned int) (filter_mask << CFP2_DST_OFFSET);
+
 	if (ctx->socket == 0) {
 		return CSP_ERR_INVAL;
 	}
@@ -149,7 +152,7 @@ int csp_can_socketcan_set_promisc(const bool promisc, can_context_t * ctx) {
 }
 
 
-int csp_can_socketcan_open_and_add_interface(const char * device, const char * ifname, unsigned int node_id, int bitrate, bool promisc, csp_iface_t ** return_iface) {
+int csp_can_socketcan_open_and_add_interface(const char * device, const char * ifname, unsigned int node_id, int bitrate, bool promisc, uint16_t filter_addr, uint16_t filter_mask, csp_iface_t ** return_iface) {
 	if (ifname == NULL) {
 		ifname = CSP_IF_CAN_DEFAULT_NAME;
 	}
@@ -208,7 +211,7 @@ int csp_can_socketcan_open_and_add_interface(const char * device, const char * i
 	}
 
 	/* Set filter mode */
-	if (csp_can_socketcan_set_promisc(promisc, ctx) != CSP_ERR_NONE) {
+	if (csp_can_socketcan_set_promisc(promisc, ctx, filter_addr, filter_mask) != CSP_ERR_NONE) {
 		csp_print("%s[%s]: csp_can_socketcan_set_promisc() failed, error: %s\n", __func__, ctx->name, strerror(errno));
 		return CSP_ERR_INVAL;
 	}
@@ -235,9 +238,9 @@ int csp_can_socketcan_open_and_add_interface(const char * device, const char * i
 	return CSP_ERR_NONE;
 }
 
-csp_iface_t * csp_can_socketcan_init(const char * device, unsigned int node_id, int bitrate, bool promisc) {
+csp_iface_t * csp_can_socketcan_init(const char * device, unsigned int node_id, int bitrate, bool promisc, uint16_t filter_addr, uint16_t filter_mask) {
 	csp_iface_t * return_iface;
-	int res = csp_can_socketcan_open_and_add_interface(device, CSP_IF_CAN_DEFAULT_NAME, node_id, bitrate, promisc, &return_iface);
+	int res = csp_can_socketcan_open_and_add_interface(device, CSP_IF_CAN_DEFAULT_NAME, node_id, bitrate, promisc, filter_addr , filter_mask, &return_iface);
 	return (res == CSP_ERR_NONE) ? return_iface : NULL;
 }