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Add support for extended (29-bit) CAN IDs
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4319 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
+59
-18
@@ -54,6 +54,19 @@
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Configuration ********************************************************************/
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/* CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
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* CONFIG_STM32_CAN2 must also be defined)
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* CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
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* Standard 11-bit IDs.
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* CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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* Default: 8
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* CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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* Default: 4
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* CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
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* mode for testing. If the driver does support loopback mode, the setting
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* will enable it. (If the driver does not, this setting will have no effect).
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*/
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/* Default configuration settings that may be overridden in the NuttX configuration
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* file or in the board configuration file. The configured size is limited to 255
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@@ -90,14 +103,10 @@
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/* CAN message support */
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#define CAN_MAXDATALEN 8
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#define CAN_MAXMSGID 0x07ff
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#define CAN_MAX_MSGID 0x07ff
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#define CAN_MAX_EXTMSGID 0x1fffffff
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#define CAN_ID(hdr) ((uint16_t)(hdr) >> 5)
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#define CAN_RTR(hdr) (((hdr) & 0x0010) != 0)
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#define CAN_DLC(hdr) ((hdr) & 0x0f)
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#define CAN_MSGLEN(hdr) (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
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#define CAN_HDR(id, rtr, dlc) ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc)
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#define CAN_MSGLEN(nbytes) (sizeof(struct can_msg_s) - CAN_MAXDATALEN + (nbytes))
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/* Built-in ioctl commands
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*
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@@ -115,16 +124,29 @@
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/************************************************************************************
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* Public Types
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************************************************************************************/
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/* CAN-message Format
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/* CAN-message Format (without Extended ID suppport)
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*
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* One CAN-message consists of a maximum of 10 bytes. A message is composed of at
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* least the first 2 bytes (when there are no data bytes).
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* One based CAN-message is represented with a maximum of 10 bytes. A message is
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* composed of at least the first 2 bytes (when there are no data bytes present).
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*
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* Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
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* Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
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* Bit 4: Remote Tranmission Request (RTR)
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* Bits 0-3: Data Length Code (DLC)
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* Bytes 2-10: CAN data
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* Bytes 0-1: Hold a 16-bit value in host byte order
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* Bits 0-3: Data Length Code (DLC)
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* Bit 4: Remote Tranmission Request (RTR)
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* Bits 5-15: The 11-bit CAN identifier
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*
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* Bytes 2-9: CAN data
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*
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* CAN-message Format (with Extended ID suppport)
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*
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* One CAN-message consists of a maximum of 13 bytes. A message is composed of at
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* least the first 5 bytes (when there are no data bytes).
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*
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* Bytes 0-3: Hold 11- or 29-bit CAN ID in host byte order
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* Byte 4: Bits 0-3: Data Length Code (DLC)
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* Bit 4: Remote Tranmission Request (RTR)
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* Bit 5: Extended ID indication
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* Bits 6-7: Unused
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* Bytes 5-12: CAN data
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*
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* The struct can_msg_s holds this information in a user-friendly, unpacked form.
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* This is the form that is used at the read() and write() driver interfaces. The
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@@ -132,10 +154,28 @@
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* the CAN_MSGLEN macro.
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*/
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#ifdef CONFIG_CAN_EXTID
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struct can_hdr_s
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{
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uint32_t ch_id; /* 11- or 29-bit ID (3-bits unsed) */
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uint8_t ch_dlc : 4; /* 4-bit DLC */
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uint8_t ch_rtr : 1; /* RTR indication */
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uint8_t ch_extid : 1; /* Extended ID indication */
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uint8_t ch_unused : 2; /* Unused */
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};
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#else
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struct can_hdr_s
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{
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uint16_t ch_dlc : 4; /* 4-bit DLC */
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uint16_t ch_rtr : 1; /* RTR indication */
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uint16_t ch_id : 11; /* 11-bit standard ID */
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};
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#endif
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struct can_msg_s
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{
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uint16_t cm_hdr; /* The 16-bit CAN header */
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uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
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struct can_hdr_s cm_hdr; /* The CAN header */
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uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
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};
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/* This structure defines a CAN message FIFO. */
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@@ -303,7 +343,8 @@ EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev);
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*
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************************************************************************************/
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EXTERN int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data);
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EXTERN int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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FAR uint8_t *data);
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/************************************************************************************
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* Name: can_txdone
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