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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
View File
@@ -43,15 +43,8 @@
#include <nuttx/fs/fs.h> #include <nuttx/fs/fs.h>
#include <nuttx/can/can.h> #include <nuttx/can/can.h>
#include <nuttx/kmalloc.h> #include <nuttx/kmalloc.h>
#ifdef CONFIG_CAN_TXREADY
# include <nuttx/wqueue.h>
#endif
#include <nuttx/irq.h> #include <nuttx/irq.h>
#ifdef CONFIG_CAN
/**************************************************************************** /****************************************************************************
* Pre-processor Definitions * 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)); FAR struct can_reader_s *reader = kmm_zalloc(sizeof(struct can_reader_s));
DEBUGASSERT(reader != NULL); DEBUGASSERT(reader != NULL);
reader->fifo.rx_head = 0;
reader->fifo.rx_tail = 0;
nxsem_init(&reader->fifo.rx_sem, 0, 0); nxsem_init(&reader->fifo.rx_sem, 0, 0);
filep->f_priv = reader; 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; FAR struct can_dev_s *dev = inode->i_private;
irqstate_t flags; irqstate_t flags;
FAR struct list_node *node; FAR struct list_node *node;
FAR struct list_node *tmp;
int ret; int ret;
#ifdef CONFIG_DEBUG_CAN_INFO #ifdef CONFIG_DEBUG_CAN_INFO
@@ -311,7 +300,7 @@ static int can_close(FAR struct file *filep)
return ret; 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) == if (((FAR struct can_reader_s *)node) ==
((FAR struct can_reader_s *)filep->f_priv)) ((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, static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
size_t buflen) size_t buflen)
{ {
FAR struct can_reader_s *reader; FAR struct can_reader_s *reader;
FAR struct can_rxfifo_s *fifo; FAR struct can_rxfifo_s *fifo;
size_t nread; irqstate_t flags;
irqstate_t flags; int ret = 0;
int ret = 0;
#ifdef CONFIG_CAN_ERRORS #ifdef CONFIG_CAN_ERRORS
FAR struct inode *inode = filep->f_inode; FAR struct inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private; FAR struct can_dev_s *dev = inode->i_private;
#endif #endif
caninfo("buflen: %zu\n", buflen); 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); DEBUGASSERT(filep->f_priv != NULL);
reader = (FAR struct can_reader_s *)filep->f_priv; reader = (FAR struct can_reader_s *)filep->f_priv;
fifo = &reader->fifo; fifo = &reader->fifo;
/* Interrupts must be disabled while accessing the cd_recv 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. * in the user buffer.
*/ */
nread = 0;
do do
{ {
/* Will the next message in the FIFO fit into the user buffer? */ /* 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 nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
int msglen = CAN_MSGLEN(nbytes); int msglen = CAN_MSGLEN(nbytes);
if (nread + msglen > buflen) if (ret + msglen > buflen)
{ {
break; break;
} }
/* Copy the message to the user buffer */ /* Copy the message to the user buffer */
memcpy(&buffer[nread], msg, msglen); memcpy(&buffer[ret], msg, msglen);
nread += msglen; ret += msglen;
/* Increment the head of the circular message buffer */ /* 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); nxsem_post(&fifo->rx_sem);
} }
/* Return the number of bytes that were read. */
ret = nread;
return_with_irqdisabled: return_with_irqdisabled:
leave_critical_section(flags); 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. * 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 /* Check if adding this new message would over-run the drivers ability
* to enqueue xmit data. * to enqueue xmit data.
@@ -747,7 +729,7 @@ return_with_irqdisabled:
static inline ssize_t can_rtrread(FAR struct file *filep, static inline ssize_t can_rtrread(FAR struct file *filep,
FAR struct canioc_rtr_s *request) 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; FAR struct can_rtrwait_s *wait = NULL;
irqstate_t flags; irqstate_t flags;
int i; 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]; FAR struct can_rtrwait_s *tmp = &dev->cd_rtr[i];
ret = nxsem_get_value(&tmp->cr_sem, &sval); ret = nxsem_get_value(&tmp->cr_sem, &sval);
if (ret < 0) if (ret < 0)
{ {
continue; continue;
@@ -777,7 +758,6 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
tmp->cr_msg = request->ci_msg; tmp->cr_msg = request->ci_msg;
dev->cd_npendrtr++; dev->cd_npendrtr++;
wait = tmp; wait = tmp;
break; break;
} }
@@ -814,7 +794,7 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
request->ci_msg->cm_hdr.ch_rtr = 1; request->ci_msg->cm_hdr.ch_rtr = 1;
ret = can_write(filep, ret = can_write(filep,
(const char *) request->ci_msg, (FAR const char *)request->ci_msg,
CAN_MSGLEN(request->ci_msg->cm_hdr.ch_dlc)); CAN_MSGLEN(request->ci_msg->cm_hdr.ch_dlc));
request->ci_msg->cm_hdr.ch_rtr = 0; request->ci_msg->cm_hdr.ch_rtr = 0;
#else #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 inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private; FAR struct can_dev_s *dev = inode->i_private;
FAR struct can_reader_s *reader = filep->f_priv; FAR struct can_reader_s *reader = filep->f_priv;
int ret = OK;
int ret = OK;
caninfo("cmd: %d arg: %ld\n", cmd, arg); 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, static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
bool setup) 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_dev_s *dev = inode->i_private;
FAR struct can_reader_s *reader = NULL; FAR struct can_reader_s *reader = NULL;
pollevent_t eventset; pollevent_t eventset = 0;
int ndx; int ndx;
int sval; int sval;
irqstate_t flags; 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). * should, but that would be a little awkward).
*/ */
eventset = 0;
DEBUGASSERT(dev->cd_ntxwaiters < 255); DEBUGASSERT(dev->cd_ntxwaiters < 255);
dev->cd_ntxwaiters++; dev->cd_ntxwaiters++;
do do
@@ -1099,7 +1076,6 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
errout: errout:
nxmutex_unlock(&dev->cd_polllock); nxmutex_unlock(&dev->cd_polllock);
return_with_irqdisabled: return_with_irqdisabled:
leave_critical_section(flags); leave_critical_section(flags);
return ret; return ret;
@@ -1113,7 +1089,7 @@ return_with_irqdisabled:
* Name: can_register * Name: can_register
* *
* Description: * 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 uint8_t *data)
{ {
FAR struct can_rxfifo_s *fifo; FAR struct can_rxfifo_s *fifo;
FAR uint8_t *dest;
FAR struct list_node *node; FAR struct list_node *node;
FAR struct list_node *tmp;
int nexttail; int nexttail;
int errcode = -ENOMEM; int ret = -ENOMEM;
int i; int i;
int j;
int sval; int sval;
int ret;
caninfo("ID: %" PRId32 " DLC: %d\n", (uint32_t)hdr->ch_id, hdr->ch_dlc); 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 */ /* Check if the entry is in use and whether the ID matches */
ret = nxsem_get_value(&wait->cr_sem, &sval); if (nxsem_get_value(&wait->cr_sem, &sval) < 0)
if (ret < 0)
{ {
continue; continue;
} }
else if (sval < 0 else if (sval < 0
#ifdef CONFIG_CAN_ERRORS #ifdef CONFIG_CAN_ERRORS
&& hdr->ch_error == false && hdr->ch_error == false
#endif #endif
#ifdef CONFIG_CAN_EXTID #ifdef CONFIG_CAN_EXTID
&& waitmsg->cm_hdr.ch_extid == hdr->ch_extid && waitmsg->cm_hdr.ch_extid == hdr->ch_extid
#endif #endif
&& waitmsg->cm_hdr.ch_id == hdr->ch_id) && waitmsg->cm_hdr.ch_id == hdr->ch_id)
{ {
int nbytes; 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)); memcpy(&waitmsg->cm_hdr, hdr, sizeof(struct can_hdr_s));
nbytes = can_dlc2bytes(hdr->ch_dlc); nbytes = can_dlc2bytes(hdr->ch_dlc);
for (j = 0, dest = waitmsg->cm_data; j < nbytes; j++) memcpy(waitmsg->cm_data, data, nbytes);
{
*dest++ = *data++;
}
dev->cd_npendrtr--; dev->cd_npendrtr--;
/* Restart the waiting thread and mark the entry unused */ /* 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; FAR struct can_reader_s *reader = (FAR struct can_reader_s *)node;
fifo = &reader->fifo; 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); poll_notify(dev->cd_fds, CONFIG_CAN_NPOLLWAITERS, POLLIN);
sval = 0;
if (nxsem_get_value(&fifo->rx_sem, &sval) < 0) if (nxsem_get_value(&fifo->rx_sem, &sval) < 0)
{ {
DEBUGPANIC(); 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); nxsem_post(&fifo->rx_sem);
} }
errcode = OK; ret = OK;
} }
#ifdef CONFIG_CAN_ERRORS #ifdef CONFIG_CAN_ERRORS
else else
@@ -1326,7 +1290,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
#endif #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: * Input Parameters:
* dev - The specific CAN device * dev - The specific CAN device
* hdr - The 16-bit CAN header
* data - An array contain the CAN data.
* *
* Returned Value: * Returned Value:
* OK on success; a negated errno on failure. * OK on success; a negated errno on failure.
@@ -1686,5 +1648,3 @@ uint8_t can_dlc2bytes(uint8_t dlc)
return dlc; return dlc;
} }
#endif /* CONFIG_CAN */
include/nuttx/can.h
+1 -150
View File
@@ -27,11 +27,7 @@
#include <nuttx/config.h> #include <nuttx/config.h>
#ifdef CONFIG_CAN_TXREADY #include <stdint.h>
# include <nuttx/wqueue.h>
#endif
#include <nuttx/queue.h>
#ifdef CONFIG_NET_CAN #ifdef CONFIG_NET_CAN
@@ -39,142 +35,6 @@
* Pre-processor Definitions * Pre-processor Definitions
****************************************************************************/ ****************************************************************************/
/* Ioctl Commands ***********************************************************/
/* Ioctl commands supported by the upper half CAN driver.
*
* CANIOC_RTR:
* Description: Send the remote transmission request and wait for the
* response.
* Argument: A reference to struct canioc_rtr_s
*
* Ioctl commands that may or may not be supported by the lower half CAN
* driver.
*
* CANIOC_ADD_STDFILTER:
* Description: Add an address filter for a standard 11 bit address.
* Argument: A reference to struct canioc_stdfilter_s
* Returned Value: A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* variable set to indicate the nature of the error.
* Dependencies: None
*
* CANIOC_ADD_EXTFILTER:
* Description: Add an address filter for a extended 29 bit address.
* Argument: A reference to struct canioc_extfilter_s
* Returned Value: A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* variable set to indicate the nature of the error.
* Dependencies: Requires CONFIG_CAN_EXTID=y
*
* CANIOC_DEL_STDFILTER:
* Description: Remove an address filter for a standard 11 bit address.
* Argument: The filter index previously returned by the
* CANIOC_ADD_STDFILTER command
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_DEL_EXTFILTER:
* Description: Remove an address filter for a standard 29 bit address.
* Argument: The filter index previously returned by the
* CANIOC_ADD_EXTFILTER command
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: Requires CONFIG_CAN_EXTID=y
*
* CANIOC_GET_BITTIMING:
* Description: Return the current bit timing settings
* Argument: A pointer to a write-able instance of struct
* canioc_bittiming_s in which current bit timing values
* will be returned.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_SET_BITTIMING:
* Description: Set new current bit timing values
* Argument: A pointer to a read-able instance of struct
* canioc_bittiming_s in which the new bit timing values
* are provided.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_GET_CONNMODES:
* Description: Get the current bus connection modes
* Argument: A pointer to a write-able instance of struct
* canioc_connmodes_s in which the new bus modes will be
* returned.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_SET_CONNMODES:
* Description: Set new bus connection modes values
* Argument: A pointer to a read-able instance of struct
* canioc_connmodes_s in which the new bus modes are
* provided.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_BUSOFF_RECOVERY:
* Description: Initiates the BUS-OFF recovery sequence
* Argument: None
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*/
#define CANIOC_RTR _CANIOC(1)
#define CANIOC_GET_BITTIMING _CANIOC(2)
#define CANIOC_SET_BITTIMING _CANIOC(3)
#define CANIOC_ADD_STDFILTER _CANIOC(4)
#define CANIOC_ADD_EXTFILTER _CANIOC(5)
#define CANIOC_DEL_STDFILTER _CANIOC(6)
#define CANIOC_DEL_EXTFILTER _CANIOC(7)
#define CANIOC_GET_CONNMODES _CANIOC(8)
#define CANIOC_SET_CONNMODES _CANIOC(9)
#define CANIOC_BUSOFF_RECOVERY _CANIOC(10)
#define CAN_FIRST 0x0001 /* First common command */
#define CAN_NCMDS 10 /* Ten common commands */
/* User defined ioctl commands are also supported. These will be forwarded
* by the upper-half CAN driver to the lower-half CAN driver via the
* co_ioctl() method fo the CAN lower-half interface.
* However, the lower-half driver must reserve a block of commands as follows
* in order prevent IOCTL command numbers from overlapping.
*
* This is generally done as follows. The first reservation for CAN driver A
* would look like:
*
* CAN_A_FIRST (CAN_FIRST + CAN_NCMDS) <- First command
* CAN_A_NCMDS 42 <- Number of commands
*
* IOCTL commands for CAN driver A would then be defined in a CAN A header
* file like:
*
* CANIOC_A_CMD1 _CANIOC(CAN_A_FIRST+0)
* CANIOC_A_CMD2 _CANIOC(CAN_A_FIRST+1)
* CANIOC_A_CMD3 _CANIOC(CAN_A_FIRST+2)
* ...
* CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41)
*
* The next reservation would look like:
*
* CAN_B_FIRST (CAN_A_FIRST + CAN_A_NCMDS) <- Next command
* CAN_B_NCMDS 77 <- Number of commands
*/
/* CAN payload length and DLC definitions according to ISO 11898-1 */ /* CAN payload length and DLC definitions according to ISO 11898-1 */
#define CAN_MAX_DLC 8 #define CAN_MAX_DLC 8
@@ -289,15 +149,6 @@
* Public Types * Public Types
****************************************************************************/ ****************************************************************************/
typedef FAR void *CAN_HANDLE;
struct can_response_s
{
sq_entry_t flink;
/* Message-specific data may follow */
}; /* FIXME remove */
typedef uint32_t canid_t; typedef uint32_t canid_t;
/* Controller Area Network Error Message Frame Mask structure /* Controller Area Network Error Message Frame Mask structure
include/nuttx/can/can.h
+13 -15
View File
@@ -286,7 +286,7 @@
* CANIOC_A_CMD2 _CANIOC(CAN_A_FIRST+1) * CANIOC_A_CMD2 _CANIOC(CAN_A_FIRST+1)
* CANIOC_A_CMD3 _CANIOC(CAN_A_FIRST+2) * CANIOC_A_CMD3 _CANIOC(CAN_A_FIRST+2)
* ... * ...
* CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41) * CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41)
* *
* The next reservation would look like: * The next reservation would look like:
* *
@@ -296,16 +296,16 @@
/* Convenience macros *******************************************************/ /* Convenience macros *******************************************************/
#define dev_reset(dev) dev->cd_ops->co_reset(dev) #define dev_reset(dev) (dev)->cd_ops->co_reset(dev)
#define dev_setup(dev) dev->cd_ops->co_setup(dev) #define dev_setup(dev) (dev)->cd_ops->co_setup(dev)
#define dev_shutdown(dev) dev->cd_ops->co_shutdown(dev) #define dev_shutdown(dev) (dev)->cd_ops->co_shutdown(dev)
#define dev_txint(dev,enable) dev->cd_ops->co_txint(dev,enable) #define dev_txint(dev,enable) (dev)->cd_ops->co_txint(dev,enable)
#define dev_rxint(dev,enable) dev->cd_ops->co_rxint(dev,enable) #define dev_rxint(dev,enable) (dev)->cd_ops->co_rxint(dev,enable)
#define dev_ioctl(dev,cmd,arg) dev->cd_ops->co_ioctl(dev,cmd,arg) #define dev_ioctl(dev,cmd,arg) (dev)->cd_ops->co_ioctl(dev,cmd,arg)
#define dev_remoterequest(dev,id) dev->cd_ops->co_remoterequest(dev,id) #define dev_remoterequest(dev,id) (dev)->cd_ops->co_remoterequest(dev,id)
#define dev_send(dev,m) dev->cd_ops->co_send(dev,m) #define dev_send(dev,m) (dev)->cd_ops->co_send(dev,m)
#define dev_txready(dev) dev->cd_ops->co_txready(dev) #define dev_txready(dev) (dev)->cd_ops->co_txready(dev)
#define dev_txempty(dev) dev->cd_ops->co_txempty(dev) #define dev_txempty(dev) (dev)->cd_ops->co_txempty(dev)
/* CAN message support ******************************************************/ /* CAN message support ******************************************************/
@@ -408,7 +408,7 @@
# define CANH_ERROR4_SHORT2VCC 0x03 # define CANH_ERROR4_SHORT2VCC 0x03
# define CANH_ERROR4_SHORT2GND 0x04 # define CANH_ERROR4_SHORT2GND 0x04
# define CANL_ERROR4_MASK 0xf0 /* Bits 0-3: CANL */ # define CANL_ERROR4_MASK 0xf0 /* Bits 4-7: CANL */
# define CANL_ERROR4_NOWIRE 0x10 # define CANL_ERROR4_NOWIRE 0x10
# define CANL_ERROR4_SHORT2BAT 0x20 # define CANL_ERROR4_SHORT2BAT 0x20
# define CANL_ERROR4_SHORT2VCC 0x30 # define CANL_ERROR4_SHORT2VCC 0x30
@@ -573,7 +573,7 @@ struct can_txfifo_s
struct can_rtrwait_s struct can_rtrwait_s
{ {
sem_t cr_sem; /* Wait for response/is the cd_rtr entry available */ sem_t cr_sem; /* Wait for response/is the cd_rtr entry available */
FAR struct can_msg_s *cr_msg; /* This is where the RTR response goes */ FAR struct can_msg_s *cr_msg; /* This is where the RTR response goes */
}; };
@@ -871,8 +871,6 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
* *
* Input Parameters: * Input Parameters:
* dev - The specific CAN device * dev - The specific CAN device
* hdr - The 16-bit CAN header
* data - An array contain the CAN data.
* *
* Returned Value: * Returned Value:
* OK on success; a negated errno on failure. * OK on success; a negated errno on failure.