nuttx/net/can/can_input.c

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/****************************************************************************
* net/can/can_input.c
*
* SPDX-License-Identifier: Apache-2.0
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*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#if defined(CONFIG_NET) && defined(CONFIG_NET_CAN)
#include <errno.h>
#include <debug.h>
#include <nuttx/net/netdev.h>
#include <nuttx/net/can.h>
#include "devif/devif.h"
#include "can/can.h"
/****************************************************************************
* Public Data
****************************************************************************/
const uint8_t g_can_dlc_to_len[16] =
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{
0,
1,
2,
3,
4,
5,
6,
7,
8,
12,
16,
20,
24,
32,
48,
64,
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};
const uint8_t g_len_to_can_dlc[65] =
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{
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
9,
9,
9,
10,
10,
10,
10,
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11,
11,
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12,
12,
12,
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14,
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14,
14,
15,
15,
15,
15,
15,
15,
15,
15,
15,
15,
15,
15,
15,
15,
15,
15,
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};
/****************************************************************************
* Private Functions
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****************************************************************************/
/****************************************************************************
* Name: can_input_conn
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*
* Description:
* Handle incoming packet input
*
* Input Parameters:
* dev - The device driver structure containing the received packet
* conn - A pointer to the CAN connection structure
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*
* Returned Value:
* OK The packet has been processed and can be deleted
* -EAGAIN There is a matching connection, but could not dispatch the packet
* yet. Useful when a packet arrives before a recv call is in
* place.
*
* Assumptions:
* This function can be called from an interrupt.
*
****************************************************************************/
static int can_input_conn(FAR struct net_driver_s *dev,
FAR struct can_conn_s *conn)
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{
uint16_t flags;
uint16_t buflen = dev->d_len;
int ret = OK;
/* Setup for the application callback */
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dev->d_appdata = dev->d_buf;
dev->d_sndlen = 0;
dev->d_len = buflen;
/* Perform the application callback */
flags = can_callback(dev, conn, CAN_NEWDATA);
/* If the operation was successful, the CAN_NEWDATA flag is removed
* and thus the packet can be deleted (OK will be returned).
*/
if ((flags & CAN_NEWDATA) != 0)
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{
/* No.. the packet was not processed now. Return -EAGAIN so
* that the driver may retry again later. We still need to
* set d_len to zero so that the driver is aware that there
* is nothing to be sent.
*/
nwarn("WARNING: Packet not processed\n");
ret = -EAGAIN;
}
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return ret;
}
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/****************************************************************************
* Public Functions
****************************************************************************/
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/****************************************************************************
* Name: can_in
*
* Description:
* Handle incoming packet input
*
* Input Parameters:
* dev - The device driver structure containing the received packet
*
* Returned Value:
* OK The packet has been processed and can be deleted
* -EAGAIN There is a matching connection, but could not dispatch the packet
* yet. Useful when a packet arrives before a recv call is in
* place.
*
* Assumptions:
* This function can be called from an interrupt.
*
****************************************************************************/
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static int can_in(FAR struct net_driver_s *dev)
{
FAR struct can_conn_s *conn = can_active(dev, NULL);
FAR struct can_conn_s *nextconn;
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/* Do we have second connection that can hold this packet? */
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while ((nextconn = can_active(dev, conn)) != NULL)
{
/* Yes... There are multiple listeners on the same dev.
* We need to clone the packet and deliver it to each listener.
*/
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FAR struct iob_s *iob = netdev_iob_clone(dev, false);
if (iob == NULL)
{
nerr("ERROR: IOB clone failed.\n");
break; /* We can still process one time without clone. */
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}
can_input_conn(dev, conn);
netdev_iob_replace(dev, iob);
conn = nextconn;
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}
/* We can deliver the packet directly to the last listener. */
return can_input_conn(dev, conn);
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}
/****************************************************************************
* Name: can_input
*
* Description:
* Handle incoming packet input
*
* Input Parameters:
* dev - The device driver structure containing the received packet
*
* Returned Value:
* OK The packet has been processed and can be deleted
* -EAGAIN There is a matching connection, but could not dispatch the packet
* yet. Useful when a packet arrives before a recv call is in
* place.
*
* Assumptions:
* This function can be called from an interrupt.
*
****************************************************************************/
int can_input(FAR struct net_driver_s *dev)
{
FAR uint8_t *buf;
int ret;
if (dev->d_iob != NULL)
{
buf = dev->d_buf;
/* Set the device buffer to l2 */
dev->d_buf = NETLLBUF;
ret = can_in(dev);
dev->d_buf = buf;
return ret;
}
return netdev_input(dev, can_in, false);
}
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#endif /* CONFIG_NET && CONFIG_NET_CAN */