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can: CAN code optimization

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Some macro definitions have already been defined in other header files, redundant macro definitions have been removed in include/nuttx/can.h. Align some code. Remove no use struct (can_response_s) and some variables.

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
This commit is contained in:
gaohedong
2024-08-23 18:10:27 +08:00
committed by Xiang Xiao
parent 7b02d788ef
commit 12a44bd974
3 changed files with 40 additions and 231 deletions
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drivers/can/can.c
+26 -66
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@@ -43,15 +43,8 @@
#include <nuttx/fs/fs.h>
#include <nuttx/can/can.h>
#include <nuttx/kmalloc.h>
#ifdef CONFIG_CAN_TXREADY
# include <nuttx/wqueue.h>
#endif
#include <nuttx/irq.h>
#ifdef CONFIG_CAN
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
@@ -196,9 +189,6 @@ static FAR struct can_reader_s *init_can_reader(FAR struct file *filep)
FAR struct can_reader_s *reader = kmm_zalloc(sizeof(struct can_reader_s));
DEBUGASSERT(reader != NULL);
reader->fifo.rx_head = 0;
reader->fifo.rx_tail = 0;
nxsem_init(&reader->fifo.rx_sem, 0, 0);
filep->f_priv = reader;
@@ -298,7 +288,6 @@ static int can_close(FAR struct file *filep)
FAR struct can_dev_s *dev = inode->i_private;
irqstate_t flags;
FAR struct list_node *node;
FAR struct list_node *tmp;
int ret;
#ifdef CONFIG_DEBUG_CAN_INFO
@@ -311,7 +300,7 @@ static int can_close(FAR struct file *filep)
return ret;
}
list_for_every_safe(&dev->cd_readers, node, tmp)
list_for_every(&dev->cd_readers, node)
{
if (((FAR struct can_reader_s *)node) ==
((FAR struct can_reader_s *)filep->f_priv))
@@ -372,14 +361,13 @@ errout:
static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct can_reader_s *reader;
FAR struct can_rxfifo_s *fifo;
size_t nread;
irqstate_t flags;
int ret = 0;
FAR struct can_reader_s *reader;
FAR struct can_rxfifo_s *fifo;
irqstate_t flags;
int ret = 0;
#ifdef CONFIG_CAN_ERRORS
FAR struct inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private;
FAR struct inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private;
#endif
caninfo("buflen: %zu\n", buflen);
@@ -393,7 +381,6 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
{
DEBUGASSERT(filep->f_priv != NULL);
reader = (FAR struct can_reader_s *)filep->f_priv;
fifo = &reader->fifo;
/* Interrupts must be disabled while accessing the cd_recv FIFO */
@@ -470,7 +457,6 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
* in the user buffer.
*/
nread = 0;
do
{
/* Will the next message in the FIFO fit into the user buffer? */
@@ -479,15 +465,15 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
int nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
int msglen = CAN_MSGLEN(nbytes);
if (nread + msglen > buflen)
if (ret + msglen > buflen)
{
break;
}
/* Copy the message to the user buffer */
memcpy(&buffer[nread], msg, msglen);
nread += msglen;
memcpy(&buffer[ret], msg, msglen);
ret += msglen;
/* Increment the head of the circular message buffer */
@@ -508,10 +494,6 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
nxsem_post(&fifo->rx_sem);
}
/* Return the number of bytes that were read. */
ret = nread;
return_with_irqdisabled:
leave_critical_section(flags);
}
@@ -637,7 +619,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
* shorter than the minimum.
*/
while (((ssize_t)buflen - nsent) >= CAN_MSGLEN(0))
while (buflen - nsent >= CAN_MSGLEN(0))
{
/* Check if adding this new message would over-run the drivers ability
* to enqueue xmit data.
@@ -747,7 +729,7 @@ return_with_irqdisabled:
static inline ssize_t can_rtrread(FAR struct file *filep,
FAR struct canioc_rtr_s *request)
{
FAR struct can_dev_s *dev = filep->f_inode->i_private;
FAR struct can_dev_s *dev = filep->f_inode->i_private;
FAR struct can_rtrwait_s *wait = NULL;
irqstate_t flags;
int i;
@@ -765,7 +747,6 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
FAR struct can_rtrwait_s *tmp = &dev->cd_rtr[i];
ret = nxsem_get_value(&tmp->cr_sem, &sval);
if (ret < 0)
{
continue;
@@ -777,7 +758,6 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
tmp->cr_msg = request->ci_msg;
dev->cd_npendrtr++;
wait = tmp;
break;
}
@@ -814,7 +794,7 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
request->ci_msg->cm_hdr.ch_rtr = 1;
ret = can_write(filep,
(const char *) request->ci_msg,
(FAR const char *)request->ci_msg,
CAN_MSGLEN(request->ci_msg->cm_hdr.ch_dlc));
request->ci_msg->cm_hdr.ch_rtr = 0;
#else
@@ -846,8 +826,7 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
FAR struct inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private;
FAR struct can_reader_s *reader = filep->f_priv;
int ret = OK;
int ret = OK;
caninfo("cmd: %d arg: %ld\n", cmd, arg);
@@ -951,10 +930,10 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
bool setup)
{
FAR struct inode *inode = (FAR struct inode *)filep->f_inode;
FAR struct inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private;
FAR struct can_reader_s *reader = NULL;
pollevent_t eventset;
pollevent_t eventset = 0;
int ndx;
int sval;
irqstate_t flags;
@@ -1028,8 +1007,6 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
* should, but that would be a little awkward).
*/
eventset = 0;
DEBUGASSERT(dev->cd_ntxwaiters < 255);
dev->cd_ntxwaiters++;
do
@@ -1099,7 +1076,6 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
errout:
nxmutex_unlock(&dev->cd_polllock);
return_with_irqdisabled:
leave_critical_section(flags);
return ret;
@@ -1113,7 +1089,7 @@ return_with_irqdisabled:
* Name: can_register
*
* Description:
* Register serial console and serial ports.
* Register a CAN driver.
*
****************************************************************************/
@@ -1179,15 +1155,11 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
FAR uint8_t *data)
{
FAR struct can_rxfifo_s *fifo;
FAR uint8_t *dest;
FAR struct list_node *node;
FAR struct list_node *tmp;
int nexttail;
int errcode = -ENOMEM;
int ret = -ENOMEM;
int i;
int j;
int sval;
int ret;
caninfo("ID: %" PRId32 " DLC: %d\n", (uint32_t)hdr->ch_id, hdr->ch_dlc);
@@ -1212,21 +1184,18 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
/* Check if the entry is in use and whether the ID matches */
ret = nxsem_get_value(&wait->cr_sem, &sval);
if (ret < 0)
if (nxsem_get_value(&wait->cr_sem, &sval) < 0)
{
continue;
}
else if (sval < 0
#ifdef CONFIG_CAN_ERRORS
&& hdr->ch_error == false
&& hdr->ch_error == false
#endif
#ifdef CONFIG_CAN_EXTID
&& waitmsg->cm_hdr.ch_extid == hdr->ch_extid
&& waitmsg->cm_hdr.ch_extid == hdr->ch_extid
#endif
&& waitmsg->cm_hdr.ch_id == hdr->ch_id)
&& waitmsg->cm_hdr.ch_id == hdr->ch_id)
{
int nbytes;
@@ -1235,11 +1204,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
memcpy(&waitmsg->cm_hdr, hdr, sizeof(struct can_hdr_s));
nbytes = can_dlc2bytes(hdr->ch_dlc);
for (j = 0, dest = waitmsg->cm_data; j < nbytes; j++)
{
*dest++ = *data++;
}
memcpy(waitmsg->cm_data, data, nbytes);
dev->cd_npendrtr--;
/* Restart the waiting thread and mark the entry unused */
@@ -1249,7 +1214,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
}
}
list_for_every_safe(&dev->cd_readers, node, tmp)
list_for_every(&dev->cd_readers, node)
{
FAR struct can_reader_s *reader = (FAR struct can_reader_s *)node;
fifo = &reader->fifo;
@@ -1292,7 +1257,6 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
poll_notify(dev->cd_fds, CONFIG_CAN_NPOLLWAITERS, POLLIN);
sval = 0;
if (nxsem_get_value(&fifo->rx_sem, &sval) < 0)
{
DEBUGPANIC();
@@ -1314,7 +1278,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
nxsem_post(&fifo->rx_sem);
}
errcode = OK;
ret = OK;
}
#ifdef CONFIG_CAN_ERRORS
else
@@ -1326,7 +1290,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
#endif
}
return errcode;
return ret;
}
/****************************************************************************
@@ -1387,8 +1351,6 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
*
* Input Parameters:
* dev - The specific CAN device
* hdr - The 16-bit CAN header
* data - An array contain the CAN data.
*
* Returned Value:
* OK on success; a negated errno on failure.
@@ -1686,5 +1648,3 @@ uint8_t can_dlc2bytes(uint8_t dlc)
return dlc;
}
#endif /* CONFIG_CAN */