can : move bytes2dlc/dlc2bytes to common header file

Documentation/components/net/socketcan.rst

@@ -7,19 +7,19 @@ SocketCAN Device Drivers
   The structure struct net_driver_s defines the interface and is
   passed to the network via ``netdev_register()``.
 
-- ``include/nuttx/can.h``. CAN & CAN FD frame data structures.
+- ``include/nuttx/can.h``. CAN & CAN FD frame data structures and dlc to len size
+
+  .. code-block:: c
+
+     uint8_t can_bytes2dlc(uint8_t nbytes);
+     uint8_t can_dlc2bytes(uint8_t dlc);
 
 - ``int netdev_register(FAR struct net_driver_s *dev, enum net_lltype_e lltype)'``.
   Each driver registers itself by calling ``netdev_register()``.
 
 - ``Include/nuttx/net/can.h``. contains lookup tables for CAN
   dlc to CAN FD len sizes named
 
-  .. code-block:: c
-
-     extern const uint8_t g_can_dlc_to_len[16];
-     extern const uint8_t g_len_to_can_dlc[65];
-
 - **Initialization sequence is as follows**.
 
   #. ``xxx_netinitialize(void)`` is called on startup of NuttX in this

arch/arm/src/imxrt/imxrt_flexcan.c

@@ -696,7 +696,7 @@ static int imxrt_transmit(struct imxrt_driver_s *priv)
 
       cs.rtr = frame->can_id & FLAGRTR ? 1 : 0;
 
-      cs.dlc = g_len_to_can_dlc[frame->len];
+      cs.dlc = can_bytes2dlc(frame->len);
 
       frame_data_word = (uint32_t *)&frame->data[0];
 
@@ -877,7 +877,7 @@ static void imxrt_receive(struct imxrt_driver_s *priv,
               frame->can_id |= FLAGRTR;
             }
 
-          frame->len = g_can_dlc_to_len[rf->cs.dlc];
+          frame->len = can_dlc2bytes(rf->cs.dlc);
 
           frame_data_word = (uint32_t *)&frame->data[0];
 

arch/arm/src/kinetis/kinetis_flexcan.c

@@ -724,7 +724,7 @@ static int kinetis_transmit(struct kinetis_driver_s *priv)
 
       cs.rtr = frame->can_id & FLAGRTR ? 1 : 0;
 
-      cs.dlc = g_len_to_can_dlc[frame->len];
+      cs.dlc = can_bytes2dlc(frame->len);
 
       frame_data_word = (uint32_t *)&frame->data[0];
 
@@ -877,7 +877,7 @@ static void kinetis_receive(struct kinetis_driver_s *priv,
               frame->can_id |= FLAGRTR;
             }
 
-          frame->len = g_can_dlc_to_len[rf->cs.dlc];
+          frame->len = can_dlc2bytes(rf->cs.dlc);
 
           frame_data_word = (uint32_t *)&frame->data[0];
 

arch/arm/src/s32k1xx/s32k1xx_flexcan.c

@@ -728,7 +728,7 @@ static int s32k1xx_transmit(struct s32k1xx_driver_s *priv)
 
       cs.rtr = frame->can_id & FLAGRTR ? 1 : 0;
 
-      cs.dlc = g_len_to_can_dlc[frame->len];
+      cs.dlc = can_bytes2dlc(frame->len);
 
       frame_data_word = (uint32_t *)&frame->data[0];
 
@@ -881,7 +881,7 @@ static void s32k1xx_receive(struct s32k1xx_driver_s *priv,
               frame->can_id |= FLAGRTR;
             }
 
-          frame->len = g_can_dlc_to_len[rf->cs.dlc];
+          frame->len = can_dlc2bytes(rf->cs.dlc);
 
           frame_data_word = (uint32_t *)&frame->data[0];
 

arch/arm/src/s32k3xx/s32k3xx_flexcan.c

@@ -890,7 +890,7 @@ static int s32k3xx_transmit(struct s32k3xx_driver_s *priv)
 
       cs.rtr = frame->can_id & FLAGRTR ? 1 : 0;
 
-      cs.dlc = g_len_to_can_dlc[frame->len];
+      cs.dlc = can_bytes2dlc(frame->len);
 
       frame_data_word = (uint32_t *)&frame->data[0];
 
@@ -1041,7 +1041,7 @@ static void s32k3xx_receive(struct s32k3xx_driver_s *priv, uint32_t flags)
               frame->can_id |= FLAGRTR;
             }
 
-          frame->len = g_can_dlc_to_len[rf->cs.dlc];
+          frame->len = can_dlc2bytes(rf->cs.dlc);
 
           frame_data_word = (uint32_t *)&frame->data[0];
 

arch/arm/src/stm32/stm32_fdcan_sock.c

@@ -1749,7 +1749,7 @@ static int fdcan_send(struct stm32_fdcan_s *priv)
 
       /* Set DLC */
 
-      txbuffer[1] |= BUFFER_R1_DLC(g_len_to_can_dlc[frame->len]);
+      txbuffer[1] |= BUFFER_R1_DLC(can_bytes2dlc(frame->len));
 
       /* Set flags */
 
@@ -2467,8 +2467,8 @@ static void fdcan_receive(struct stm32_fdcan_s *priv,
 
       /* Word R1 contains the DLC and timestamp */
 
-      frame->len = g_can_dlc_to_len[((rxbuffer[1] & BUFFER_R1_DLC_MASK) >>
-                                    BUFFER_R1_DLC_SHIFT)];
+      frame->len = can_dlc2bytes(((rxbuffer[1] & BUFFER_R1_DLC_MASK) >>
+                                    BUFFER_R1_DLC_SHIFT));
 
       /* Get CANFD flags */
 

arch/arm/src/stm32h7/stm32_fdcan_sock.c

@@ -880,7 +880,7 @@ static int fdcan_transmit(struct fdcan_driver_s *priv)
 
       header.id.esi = (frame->can_id & CAN_ERR_FLAG) ? 1 : 0;
       header.id.rtr = (frame->can_id & CAN_RTR_FLAG) ? 1 : 0;
-      header.dlc = g_len_to_can_dlc[frame->len];
+      header.dlc = can_bytes2dlc(frame->len);
       header.brs = brs; /* Bitrate switching */
       header.fdf = 1;   /* CAN-FD frame */
       header.efc = 0;   /* Don't store Tx events */
@@ -1161,7 +1161,7 @@ static void fdcan_receive_work(void *arg)
               frame->can_id |= CAN_RTR_FLAG;
             }
 
-          frame->len = g_can_dlc_to_len[rf->header.dlc];
+          frame->len = can_dlc2bytes(rf->header.dlc);
 
           uint32_t *frame_data_word = (uint32_t *)&frame->data[0];
 

arch/arm64/src/imx9/imx9_flexcan.c

@@ -701,7 +701,7 @@ static int imx9_transmit(struct imx9_driver_s *priv)
       cs |= frame->flags & CANFD_BRS ? CAN_MB_CS_BRS : 0;
       can_id = frame->can_id;
       len = frame->len;
-      can_dlc = g_len_to_can_dlc[len];
+      can_dlc = can_bytes2dlc(len);
       frame_data_word = (uint32_t *)&frame->data[0];
     }
 #endif
@@ -940,7 +940,7 @@ static void imx9_receive(struct imx9_driver_s *priv)
               frame->flags |= CANFD_ESI;
             }
 
-          frame->len = g_can_dlc_to_len[CAN_MB_CS_DLC(rf->cs)];
+          frame->len = can_dlc2bytes(CAN_MB_CS_DLC(rf->cs));
 
           frame_data_word = (uint32_t *)&frame->data[0];
 

drivers/can/can.c

@@ -1538,120 +1538,4 @@ int can_txready(FAR struct can_dev_s *dev)
   leave_critical_section(flags);
   return ret;
 }
-#endif /* CONFIG_CAN_TXREADY */
-
-/****************************************************************************
- * Name: can_bytes2dlc
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   nbytes - the byte count to convert to a DLC value
- *
- * Returned Value:
- *   The encoded DLC value corresponding to at least that number of bytes.
- *
- ****************************************************************************/
-
-uint8_t can_bytes2dlc(uint8_t nbytes)
-{
-  if (nbytes <= 8)
-    {
-      return nbytes;
-    }
-#ifdef CONFIG_CAN_FD
-  else if (nbytes <= 12)
-    {
-      return 9;
-    }
-  else if (nbytes <= 16)
-    {
-      return 10;
-    }
-  else if (nbytes <= 20)
-    {
-      return 11;
-    }
-  else if (nbytes <= 24)
-    {
-      return 12;
-    }
-  else if (nbytes <= 32)
-    {
-      return 13;
-    }
-  else if (nbytes <= 48)
-    {
-      return 14;
-    }
-  else /* if (nbytes <= 64) */
-    {
-      return 15;
-    }
-#else
-  else
-    {
-      return 8;
-    }
-#endif
-}
-
-/****************************************************************************
- * Name: can_dlc2bytes
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   dlc    - the DLC value to convert to a byte count
- *
- * Returned Value:
- *   The number of bytes corresponding to the DLC value.
- *
- ****************************************************************************/
-
-uint8_t can_dlc2bytes(uint8_t dlc)
-{
-  if (dlc > 8)
-    {
-#ifdef CONFIG_CAN_FD
-      switch (dlc)
-        {
-          case 9:
-            return 12;
-
-          case 10:
-            return 16;
-
-          case 11:
-            return 20;
-
-          case 12:
-            return 24;
-
-          case 13:
-            return 32;
-
-          case 14:
-            return 48;
-
-          default:
-          case 15:
-            return 64;
-        }
-#else
-      return 8;
-#endif
-    }
-
-  return dlc;
-}
+#endif /* CONFIG_CAN_TXREADY */