1 /** @file
2 * @brief SocketCAN utilities.
3 *
4 * Utilities for SocketCAN support.
5 */
6
7 /*
8 * Copyright (c) 2019 Intel Corporation
9 *
10 * SPDX-License-Identifier: Apache-2.0
11 */
12
13 #ifndef ZEPHYR_INCLUDE_NET_SOCKETCAN_UTILS_H_
14 #define ZEPHYR_INCLUDE_NET_SOCKETCAN_UTILS_H_
15
16 #include <zephyr/drivers/can.h>
17 #include <zephyr/net/socketcan.h>
18
19 #ifdef __cplusplus
20 extern "C" {
21 #endif
22
23 /**
24 * @brief SocketCAN utilities
25 * @defgroup socket_can Network Core Library
26 * @ingroup networking
27 * @{
28 */
29
30 /**
31 * @brief Translate a @a socketcan_frame struct to a @a can_frame struct.
32 *
33 * @param sframe Pointer to sockecan_frame struct.
34 * @param zframe Pointer to can_frame struct.
35 */
socketcan_to_can_frame(const struct socketcan_frame * sframe,struct can_frame * zframe)36 static inline void socketcan_to_can_frame(const struct socketcan_frame *sframe,
37 struct can_frame *zframe)
38 {
39 memset(zframe, 0, sizeof(*zframe));
40
41 zframe->flags |= (sframe->can_id & BIT(31)) != 0 ? CAN_FRAME_IDE : 0;
42 zframe->flags |= (sframe->can_id & BIT(30)) != 0 ? CAN_FRAME_RTR : 0;
43 zframe->flags |= (sframe->flags & CANFD_FDF) != 0 ? CAN_FRAME_FDF : 0;
44 zframe->flags |= (sframe->flags & CANFD_BRS) != 0 ? CAN_FRAME_BRS : 0;
45 zframe->id = sframe->can_id & BIT_MASK(29);
46 zframe->dlc = can_bytes_to_dlc(sframe->len);
47 memcpy(zframe->data, sframe->data, MIN(sizeof(sframe->data), sizeof(zframe->data)));
48 }
49
50 /**
51 * @brief Translate a @a can_frame struct to a @a socketcan_frame struct.
52 *
53 * @param zframe Pointer to can_frame struct.
54 * @param sframe Pointer to socketcan_frame struct.
55 */
socketcan_from_can_frame(const struct can_frame * zframe,struct socketcan_frame * sframe)56 static inline void socketcan_from_can_frame(const struct can_frame *zframe,
57 struct socketcan_frame *sframe)
58 {
59 memset(sframe, 0, sizeof(*sframe));
60
61 sframe->can_id = zframe->id;
62 sframe->can_id |= (zframe->flags & CAN_FRAME_IDE) != 0 ? BIT(31) : 0;
63 sframe->can_id |= (zframe->flags & CAN_FRAME_RTR) != 0 ? BIT(30) : 0;
64 sframe->len = can_dlc_to_bytes(zframe->dlc);
65
66 if ((zframe->flags & CAN_FRAME_FDF) != 0) {
67 sframe->flags |= CANFD_FDF;
68 }
69
70 if ((zframe->flags & CAN_FRAME_BRS) != 0) {
71 sframe->flags |= CANFD_BRS;
72 }
73
74 memcpy(sframe->data, zframe->data, MIN(sizeof(zframe->data), sizeof(sframe->data)));
75 }
76
77 /**
78 * @brief Translate a @a socketcan_filter struct to a @a can_filter struct.
79 *
80 * @param sfilter Pointer to socketcan_filter struct.
81 * @param zfilter Pointer to can_filter struct.
82 */
socketcan_to_can_filter(const struct socketcan_filter * sfilter,struct can_filter * zfilter)83 static inline void socketcan_to_can_filter(const struct socketcan_filter *sfilter,
84 struct can_filter *zfilter)
85 {
86 memset(zfilter, 0, sizeof(*zfilter));
87
88 zfilter->flags |= (sfilter->can_id & BIT(31)) != 0 ? CAN_FILTER_IDE : 0;
89 zfilter->id = sfilter->can_id & BIT_MASK(29);
90 zfilter->mask = sfilter->can_mask & BIT_MASK(29);
91 zfilter->flags |= (sfilter->flags & CANFD_FDF) != 0 ? CAN_FILTER_FDF : 0;
92
93 if ((sfilter->can_mask & BIT(30)) == 0) {
94 zfilter->flags |= CAN_FILTER_DATA | CAN_FILTER_RTR;
95 } else if ((sfilter->can_id & BIT(30)) == 0) {
96 zfilter->flags |= CAN_FILTER_DATA;
97 } else {
98 zfilter->flags |= CAN_FILTER_RTR;
99 }
100 }
101
102 /**
103 * @brief Translate a @a can_filter struct to a @a socketcan_filter struct.
104 *
105 * @param zfilter Pointer to can_filter struct.
106 * @param sfilter Pointer to socketcan_filter struct.
107 */
socketcan_from_can_filter(const struct can_filter * zfilter,struct socketcan_filter * sfilter)108 static inline void socketcan_from_can_filter(const struct can_filter *zfilter,
109 struct socketcan_filter *sfilter)
110 {
111 memset(sfilter, 0, sizeof(*sfilter));
112
113 sfilter->can_id = zfilter->id;
114 sfilter->can_id |= (zfilter->flags & CAN_FILTER_IDE) != 0 ? BIT(31) : 0;
115 sfilter->can_id |= (zfilter->flags & CAN_FILTER_RTR) != 0 ? BIT(30) : 0;
116
117 sfilter->can_mask = zfilter->mask;
118 sfilter->can_mask |= (zfilter->flags & CAN_FILTER_IDE) != 0 ? BIT(31) : 0;
119
120 if ((zfilter->flags & (CAN_FILTER_DATA | CAN_FILTER_RTR)) !=
121 (CAN_FILTER_DATA | CAN_FILTER_RTR)) {
122 sfilter->can_mask |= BIT(30);
123 }
124
125 if ((zfilter->flags & CAN_FILTER_FDF) != 0) {
126 sfilter->flags |= CANFD_FDF;
127 }
128 }
129
130 /**
131 * @}
132 */
133
134 #ifdef __cplusplus
135 }
136 #endif
137
138 #endif /* ZEPHYR_INCLUDE_NET_SOCKETCAN_H_ */
139
