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Add support for extended (29-bit) CAN IDs

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git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4319 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
2012-01-20 21:52:35 +00:00
parent e5a26ed98c
commit b179df901e
24 changed files with 231 additions and 77 deletions
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nuttx/drivers/can.c
+9 -9
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@@ -325,7 +325,7 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
/* Will the next message in the FIFO fit into the user buffer? */
FAR struct can_msg_s *msg = &dev->cd_recv.rx_buffer[dev->cd_recv.rx_head];
int msglen = CAN_MSGLEN(msg->cm_hdr);
int msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
if (nread + msglen > buflen)
{
@@ -532,7 +532,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer, size_t
*/
msg = (FAR struct can_msg_s *)&buffer[nsent];
msglen = CAN_MSGLEN(msg->cm_hdr);
msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
memcpy(&fifo->tx_buffer[fifo->tx_tail], msg, msglen);
/* Increment the tail of the circular buffer */
@@ -706,7 +706,7 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev)
*
************************************************************************************/
int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
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 = &dev->cd_recv;
FAR uint8_t *dest;
@@ -714,7 +714,7 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
int err = -ENOMEM;
int i;
canllvdbg("ID: %d DLC: %d\n", CAN_ID(hdr), CAN_DLC(hdr));
canllvdbg("ID: %d DLC: %d\n", hdr->ch_id, hdr->ch_dlc);
/* Check if adding this new message would over-run the drivers ability to enqueue
* read data.
@@ -743,12 +743,12 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
* a non-NULL receiving address
*/
if (msg && CAN_ID(hdr) == rtr->cr_id)
if (msg && hdr->ch_id == rtr->cr_id)
{
/* We have the response... copy the data to the user's buffer */
msg->cm_hdr = hdr;
for (i = 0, dest = msg->cm_data; i < CAN_DLC(hdr); i++)
memcpy(&msg->cm_hdr, hdr, sizeof(struct can_hdr_s));
for (i = 0, dest = msg->cm_data; i < hdr->ch_dlc; i++)
{
*dest++ = *data++;
}
@@ -770,8 +770,8 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
{
/* Add the new, decoded CAN message at the tail of the FIFO */
fifo->rx_buffer[fifo->rx_tail].cm_hdr = hdr;
for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < CAN_DLC(hdr); i++)
memcpy(&fifo->rx_buffer[fifo->rx_tail].cm_hdr, hdr, sizeof(struct can_hdr_s));
for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < hdr->ch_dlc; i++)
{
*dest++ = *data++;
}