/
socketcan_utils.h
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/
socketcan_utils.h
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/** @file
* @brief SocketCAN utilities.
*
* Utilities for SocketCAN support.
*/
/*
* Copyright (c) 2019 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_INCLUDE_NET_SOCKETCAN_UTILS_H_
#define ZEPHYR_INCLUDE_NET_SOCKETCAN_UTILS_H_
#include <zephyr/drivers/can.h>
#include <zephyr/net/socketcan.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief SocketCAN utilities
* @defgroup socket_can Network Core Library
* @ingroup networking
* @{
*/
/**
* @brief Translate a @a socketcan_frame struct to a @a can_frame struct.
*
* @param sframe Pointer to sockecan_frame struct.
* @param zframe Pointer to can_frame struct.
*/
static inline void socketcan_to_can_frame(const struct socketcan_frame *sframe,
struct can_frame *zframe)
{
memset(zframe, 0, sizeof(*zframe));
zframe->flags |= (sframe->can_id & BIT(31)) != 0 ? CAN_FRAME_IDE : 0;
zframe->flags |= (sframe->can_id & BIT(30)) != 0 ? CAN_FRAME_RTR : 0;
zframe->flags |= (sframe->flags & CANFD_FDF) != 0 ? CAN_FRAME_FDF : 0;
zframe->flags |= (sframe->flags & CANFD_BRS) != 0 ? CAN_FRAME_BRS : 0;
zframe->id = sframe->can_id & BIT_MASK(29);
zframe->dlc = can_bytes_to_dlc(sframe->len);
if ((zframe->flags & CAN_FRAME_RTR) == 0U) {
memcpy(zframe->data, sframe->data,
MIN(sframe->len, MIN(sizeof(sframe->data), sizeof(zframe->data))));
}
}
/**
* @brief Translate a @a can_frame struct to a @a socketcan_frame struct.
*
* @param zframe Pointer to can_frame struct.
* @param sframe Pointer to socketcan_frame struct.
*/
static inline void socketcan_from_can_frame(const struct can_frame *zframe,
struct socketcan_frame *sframe)
{
memset(sframe, 0, sizeof(*sframe));
sframe->can_id = zframe->id;
sframe->can_id |= (zframe->flags & CAN_FRAME_IDE) != 0 ? BIT(31) : 0;
sframe->can_id |= (zframe->flags & CAN_FRAME_RTR) != 0 ? BIT(30) : 0;
sframe->len = can_dlc_to_bytes(zframe->dlc);
if ((zframe->flags & CAN_FRAME_FDF) != 0) {
sframe->flags |= CANFD_FDF;
}
if ((zframe->flags & CAN_FRAME_BRS) != 0) {
sframe->flags |= CANFD_BRS;
}
if ((zframe->flags & CAN_FRAME_RTR) == 0U) {
memcpy(sframe->data, zframe->data,
MIN(sframe->len, MIN(sizeof(zframe->data), sizeof(sframe->data))));
}
}
/**
* @brief Translate a @a socketcan_filter struct to a @a can_filter struct.
*
* @param sfilter Pointer to socketcan_filter struct.
* @param zfilter Pointer to can_filter struct.
*/
static inline void socketcan_to_can_filter(const struct socketcan_filter *sfilter,
struct can_filter *zfilter)
{
memset(zfilter, 0, sizeof(*zfilter));
zfilter->flags |= (sfilter->can_id & BIT(31)) != 0 ? CAN_FILTER_IDE : 0;
zfilter->id = sfilter->can_id & BIT_MASK(29);
zfilter->mask = sfilter->can_mask & BIT_MASK(29);
}
/**
* @brief Translate a @a can_filter struct to a @a socketcan_filter struct.
*
* @param zfilter Pointer to can_filter struct.
* @param sfilter Pointer to socketcan_filter struct.
*/
static inline void socketcan_from_can_filter(const struct can_filter *zfilter,
struct socketcan_filter *sfilter)
{
memset(sfilter, 0, sizeof(*sfilter));
sfilter->can_id = zfilter->id;
sfilter->can_id |= (zfilter->flags & CAN_FILTER_IDE) != 0 ? BIT(31) : 0;
sfilter->can_mask = zfilter->mask;
sfilter->can_mask |= (zfilter->flags & CAN_FILTER_IDE) != 0 ? BIT(31) : 0;
if (!IS_ENABLED(CONFIG_CAN_ACCEPT_RTR)) {
sfilter->can_mask |= BIT(30);
}
}
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* ZEPHYR_INCLUDE_NET_SOCKETCAN_H_ */