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commit 5d95d0871f6b2e14c59dd94abe1a207c57273739
Author: raiden00pl <raide...@railab.me>
AuthorDate: Wed May 14 12:31:08 2025 +0200
drivers/can: move CAN utils to CAN common files
Move can_bytes2dlc() and can_dlc2bytes() to a common CAN file
that can be shared between socketCAN implementation and CAN
character driver.
This is the first step to simplifying the logic repeated in
many CAN drivers.
Signed-off-by: raiden00pl <raide...@railab.me>
---
drivers/can/CMakeLists.txt | 6 +-
drivers/can/Make.defs | 4 ++
drivers/can/can.c | 116 --------------------------------
drivers/can/can_common.c | 149 +++++++++++++++++++++++++++++++++++++++++
drivers/can/ctucanfd_pci.c | 4 +-
drivers/can/kvaser_pci.c | 4 +-
include/nuttx/can.h | 2 +
include/nuttx/can/can.h | 42 +-----------
include/nuttx/can/can_common.h | 92 +++++++++++++++++++++++++
9 files changed, 260 insertions(+), 159 deletions(-)
diff --git a/drivers/can/CMakeLists.txt b/drivers/can/CMakeLists.txt
index e6d6ea3137..0dd15638b2 100644
--- a/drivers/can/CMakeLists.txt
+++ b/drivers/can/CMakeLists.txt
@@ -22,8 +22,12 @@
set(SRCS)
+if(CONFIG_CAN OR CONFIG_NET_CAN)
+ list(APPEND SRCS can_common.c)
+endif()
+
if(CONFIG_CAN)
- set(SRCS can.c can_sender.c)
+ list(APPEND SRCS can.c can_sender.c)
endif()
if(CONFIG_CAN_MCP2515)
diff --git a/drivers/can/Make.defs b/drivers/can/Make.defs
index 1a0e16b134..b1e6a505be 100644
--- a/drivers/can/Make.defs
+++ b/drivers/can/Make.defs
@@ -22,6 +22,10 @@
# Don't build anything if there is no CAN support
+ifneq ($(CONFIG_CAN)$(CONFIG_NET_CAN),)
+CSRCS += can_common.c
+endif
+
ifeq ($(CONFIG_CAN),y)
CSRCS += can.c can_sender.c
endif
diff --git a/drivers/can/can.c b/drivers/can/can.c
index 628eb584ec..6465e22216 100644
--- a/drivers/can/can.c
+++ b/drivers/can/can.c
@@ -1547,119 +1547,3 @@ int can_txready(FAR struct can_dev_s *dev)
return ret;
}
#endif /* CONFIG_CAN_TXREADY */
-
-/****************************************************************************
- * Name: can_bytes2dlc
- *
- * Description:
- * In the CAN FD format, the coding of the DLC differs from the standard
- * CAN format. The DLC codes 0 to 8 have the same coding as in standard
- * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
- * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
- * in the range 12 to 64.
- *
- * Input Parameters:
- * nbytes - the byte count to convert to a DLC value
- *
- * Returned Value:
- * The encoded DLC value corresponding to at least that number of bytes.
- *
- ****************************************************************************/
-
-uint8_t can_bytes2dlc(uint8_t nbytes)
-{
- if (nbytes <= 8)
- {
- return nbytes;
- }
-#ifdef CONFIG_CAN_FD
- else if (nbytes <= 12)
- {
- return 9;
- }
- else if (nbytes <= 16)
- {
- return 10;
- }
- else if (nbytes <= 20)
- {
- return 11;
- }
- else if (nbytes <= 24)
- {
- return 12;
- }
- else if (nbytes <= 32)
- {
- return 13;
- }
- else if (nbytes <= 48)
- {
- return 14;
- }
- else /* if (nbytes <= 64) */
- {
- return 15;
- }
-#else
- else
- {
- return 8;
- }
-#endif
-}
-
-/****************************************************************************
- * Name: can_dlc2bytes
- *
- * Description:
- * In the CAN FD format, the coding of the DLC differs from the standard
- * CAN format. The DLC codes 0 to 8 have the same coding as in standard
- * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
- * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
- * in the range 12 to 64.
- *
- * Input Parameters:
- * dlc - the DLC value to convert to a byte count
- *
- * Returned Value:
- * The number of bytes corresponding to the DLC value.
- *
- ****************************************************************************/
-
-uint8_t can_dlc2bytes(uint8_t dlc)
-{
- if (dlc > 8)
- {
-#ifdef CONFIG_CAN_FD
- switch (dlc)
- {
- case 9:
- return 12;
-
- case 10:
- return 16;
-
- case 11:
- return 20;
-
- case 12:
- return 24;
-
- case 13:
- return 32;
-
- case 14:
- return 48;
-
- default:
- case 15:
- return 64;
- }
-#else
- return 8;
-#endif
- }
-
- return dlc;
-}
diff --git a/drivers/can/can_common.c b/drivers/can/can_common.c
new file mode 100644
index 0000000000..9e610a4706
--- /dev/null
+++ b/drivers/can/can_common.c
@@ -0,0 +1,149 @@
+/****************************************************************************
+ * drivers/can/can_common.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/can/can_common.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: can_bytes2dlc
+ *
+ * Description:
+ * In the CAN FD format, the coding of the DLC differs from the standard
+ * CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
+ * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
+ * in the range 12 to 64.
+ *
+ * Input Parameters:
+ * nbytes - the byte count to convert to a DLC value
+ *
+ * Returned Value:
+ * The encoded DLC value corresponding to at least that number of bytes.
+ *
+ ****************************************************************************/
+
+uint8_t can_bytes2dlc(uint8_t nbytes)
+{
+ if (nbytes <= 8)
+ {
+ return nbytes;
+ }
+#ifdef CONFIG_CAN_FD
+ else if (nbytes <= 12)
+ {
+ return 9;
+ }
+ else if (nbytes <= 16)
+ {
+ return 10;
+ }
+ else if (nbytes <= 20)
+ {
+ return 11;
+ }
+ else if (nbytes <= 24)
+ {
+ return 12;
+ }
+ else if (nbytes <= 32)
+ {
+ return 13;
+ }
+ else if (nbytes <= 48)
+ {
+ return 14;
+ }
+ else /* if (nbytes <= 64) */
+ {
+ return 15;
+ }
+#else
+ else
+ {
+ return 8;
+ }
+#endif
+}
+
+/****************************************************************************
+ * Name: can_dlc2bytes
+ *
+ * Description:
+ * In the CAN FD format, the coding of the DLC differs from the standard
+ * CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
+ * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
+ * in the range 12 to 64.
+ *
+ * Input Parameters:
+ * dlc - the DLC value to convert to a byte count
+ *
+ * Returned Value:
+ * The number of bytes corresponding to the DLC value.
+ *
+ ****************************************************************************/
+
+uint8_t can_dlc2bytes(uint8_t dlc)
+{
+ if (dlc > 8)
+ {
+#ifdef CONFIG_CAN_FD
+ switch (dlc)
+ {
+ case 9:
+ return 12;
+
+ case 10:
+ return 16;
+
+ case 11:
+ return 20;
+
+ case 12:
+ return 24;
+
+ case 13:
+ return 32;
+
+ case 14:
+ return 48;
+
+ default:
+ case 15:
+ return 64;
+ }
+#else
+ return 8;
+#endif
+ }
+
+ return dlc;
+}
diff --git a/drivers/can/ctucanfd_pci.c b/drivers/can/ctucanfd_pci.c
index 8f48ad4e09..954b837a36 100644
--- a/drivers/can/ctucanfd_pci.c
+++ b/drivers/can/ctucanfd_pci.c
@@ -35,7 +35,9 @@
#include <nuttx/kmalloc.h>
#include <nuttx/pci/pci.h>
-#include <nuttx/can/can.h>
+#ifdef CONFIG_CAN_CTUCANFD_CHARDEV
+# include <nuttx/can/can.h>
+#endif
#ifdef CONFIG_CAN_CTUCANFD_SOCKET
# include <nuttx/wqueue.h>
diff --git a/drivers/can/kvaser_pci.c b/drivers/can/kvaser_pci.c
index bf19a79177..88ffcfe3e9 100644
--- a/drivers/can/kvaser_pci.c
+++ b/drivers/can/kvaser_pci.c
@@ -35,7 +35,9 @@
#include <nuttx/kmalloc.h>
#include <nuttx/pci/pci.h>
-#include <nuttx/can/can.h>
+#ifdef CONFIG_CAN_KVASER_CHARDEV
+# include <nuttx/can/can.h>
+#endif
#ifdef CONFIG_CAN_KVASER_SOCKET
# include <nuttx/wqueue.h>
diff --git a/include/nuttx/can.h b/include/nuttx/can.h
index 1b2f11e5b2..bcb17d08fb 100644
--- a/include/nuttx/can.h
+++ b/include/nuttx/can.h
@@ -33,6 +33,8 @@
#include <sys/socket.h>
#include <stdint.h>
+#include <nuttx/can/can_common.h>
+
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
diff --git a/include/nuttx/can/can.h b/include/nuttx/can/can.h
index 1a82ca3560..c9100d5a96 100644
--- a/include/nuttx/can/can.h
+++ b/include/nuttx/can/can.h
@@ -40,6 +40,8 @@
#include <nuttx/fs/ioctl.h>
#include <nuttx/mutex.h>
+#include <nuttx/can/can_common.h>
+
#ifdef CONFIG_CAN_TXREADY
# include <nuttx/wqueue.h>
#endif
@@ -1090,46 +1092,6 @@ int can_txdone(FAR struct can_dev_s *dev);
int can_txready(FAR struct can_dev_s *dev);
#endif
-/****************************************************************************
- * Name: can_bytes2dlc
- *
- * Description:
- * In the CAN FD format, the coding of the DLC differs from the standard
- * CAN format. The DLC codes 0 to 8 have the same coding as in standard
- * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
- * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
- * in the range 12 to 64.
- *
- * Input Parameters:
- * nbytes - the byte count to convert to a DLC value
- *
- * Returned Value:
- * The encoded DLC value corresponding to at least that number of bytes.
- *
- ****************************************************************************/
-
-uint8_t can_bytes2dlc(uint8_t nbytes);
-
-/****************************************************************************
- * Name: can_dlc2bytes
- *
- * Description:
- * In the CAN FD format, the coding of the DLC differs from the standard
- * CAN format. The DLC codes 0 to 8 have the same coding as in standard
- * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
- * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
- * in the range 12 to 64.
- *
- * Input Parameters:
- * dlc - the DLC value to convert to a byte count
- *
- * Returned Value:
- * The number of bytes corresponding to the DLC value.
- *
- ****************************************************************************/
-
-uint8_t can_dlc2bytes(uint8_t dlc);
-
#undef EXTERN
#if defined(__cplusplus)
}
diff --git a/include/nuttx/can/can_common.h b/include/nuttx/can/can_common.h
new file mode 100644
index 0000000000..ed89b7f2be
--- /dev/null
+++ b/include/nuttx/can/can_common.h
@@ -0,0 +1,92 @@
+/****************************************************************************
+ * include/nuttx/can/can_common.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_CAN_CAN_COMMON_H
+#define __INCLUDE_NUTTX_CAN_CAN_COMMON_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: can_bytes2dlc
+ *
+ * Description:
+ * In the CAN FD format, the coding of the DLC differs from the standard
+ * CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
+ * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
+ * in the range 12 to 64.
+ *
+ * Input Parameters:
+ * nbytes - the byte count to convert to a DLC value
+ *
+ * Returned Value:
+ * The encoded DLC value corresponding to at least that number of bytes.
+ *
+ ****************************************************************************/
+
+uint8_t can_bytes2dlc(uint8_t nbytes);
+
+/****************************************************************************
+ * Name: can_dlc2bytes
+ *
+ * Description:
+ * In the CAN FD format, the coding of the DLC differs from the standard
+ * CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ * CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
+ * standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
+ * in the range 12 to 64.
+ *
+ * Input Parameters:
+ * dlc - the DLC value to convert to a byte count
+ *
+ * Returned Value:
+ * The number of bytes corresponding to the DLC value.
+ *
+ ****************************************************************************/
+
+uint8_t can_dlc2bytes(uint8_t dlc);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_CAN_CAN_COMMON_H */
