can: CAN code optimization
Some macro definitions have already been defined in other header files, redundant macro definitions have been removed in include/nuttx/can.h. Align some code. Remove no use struct (can_response_s) and some variables. Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
This commit is contained in:
gaohedong
Xiang Xiao
parent
7b02d788ef
commit
12a44bd974
@ -43,15 +43,8 @@
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#include <nuttx/fs/fs.h>
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#include <nuttx/can/can.h>
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#include <nuttx/kmalloc.h>
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#ifdef CONFIG_CAN_TXREADY
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# include <nuttx/wqueue.h>
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#endif
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#include <nuttx/irq.h>
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#ifdef CONFIG_CAN
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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@ -196,9 +189,6 @@ static FAR struct can_reader_s *init_can_reader(FAR struct file *filep)
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FAR struct can_reader_s *reader = kmm_zalloc(sizeof(struct can_reader_s));
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DEBUGASSERT(reader != NULL);
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reader->fifo.rx_head = 0;
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reader->fifo.rx_tail = 0;
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nxsem_init(&reader->fifo.rx_sem, 0, 0);
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filep->f_priv = reader;
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@ -298,7 +288,6 @@ static int can_close(FAR struct file *filep)
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FAR struct can_dev_s *dev = inode->i_private;
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irqstate_t flags;
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FAR struct list_node *node;
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FAR struct list_node *tmp;
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int ret;
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#ifdef CONFIG_DEBUG_CAN_INFO
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@ -311,7 +300,7 @@ static int can_close(FAR struct file *filep)
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return ret;
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}
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list_for_every_safe(&dev->cd_readers, node, tmp)
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list_for_every(&dev->cd_readers, node)
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{
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if (((FAR struct can_reader_s *)node) ==
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((FAR struct can_reader_s *)filep->f_priv))
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@ -372,14 +361,13 @@ errout:
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static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen)
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{
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FAR struct can_reader_s *reader;
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FAR struct can_rxfifo_s *fifo;
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size_t nread;
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irqstate_t flags;
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int ret = 0;
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FAR struct can_reader_s *reader;
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FAR struct can_rxfifo_s *fifo;
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irqstate_t flags;
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int ret = 0;
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#ifdef CONFIG_CAN_ERRORS
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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#endif
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caninfo("buflen: %zu\n", buflen);
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@ -393,7 +381,6 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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{
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DEBUGASSERT(filep->f_priv != NULL);
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reader = (FAR struct can_reader_s *)filep->f_priv;
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fifo = &reader->fifo;
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/* Interrupts must be disabled while accessing the cd_recv FIFO */
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@ -470,7 +457,6 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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* in the user buffer.
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*/
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nread = 0;
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do
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{
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/* Will the next message in the FIFO fit into the user buffer? */
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@ -479,15 +465,15 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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int nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
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int msglen = CAN_MSGLEN(nbytes);
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if (nread + msglen > buflen)
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if (ret + msglen > buflen)
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{
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break;
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}
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/* Copy the message to the user buffer */
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memcpy(&buffer[nread], msg, msglen);
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nread += msglen;
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memcpy(&buffer[ret], msg, msglen);
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ret += msglen;
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/* Increment the head of the circular message buffer */
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@ -508,10 +494,6 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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nxsem_post(&fifo->rx_sem);
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}
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/* Return the number of bytes that were read. */
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ret = nread;
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return_with_irqdisabled:
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leave_critical_section(flags);
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}
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@ -637,7 +619,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
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* shorter than the minimum.
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*/
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while (((ssize_t)buflen - nsent) >= CAN_MSGLEN(0))
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while (buflen - nsent >= CAN_MSGLEN(0))
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{
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/* Check if adding this new message would over-run the drivers ability
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* to enqueue xmit data.
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@ -747,7 +729,7 @@ return_with_irqdisabled:
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static inline ssize_t can_rtrread(FAR struct file *filep,
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FAR struct canioc_rtr_s *request)
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{
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FAR struct can_dev_s *dev = filep->f_inode->i_private;
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FAR struct can_dev_s *dev = filep->f_inode->i_private;
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FAR struct can_rtrwait_s *wait = NULL;
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irqstate_t flags;
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int i;
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@ -765,7 +747,6 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
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FAR struct can_rtrwait_s *tmp = &dev->cd_rtr[i];
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ret = nxsem_get_value(&tmp->cr_sem, &sval);
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if (ret < 0)
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{
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continue;
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@ -777,7 +758,6 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
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tmp->cr_msg = request->ci_msg;
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dev->cd_npendrtr++;
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wait = tmp;
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break;
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}
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@ -814,7 +794,7 @@ static inline ssize_t can_rtrread(FAR struct file *filep,
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request->ci_msg->cm_hdr.ch_rtr = 1;
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ret = can_write(filep,
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(const char *) request->ci_msg,
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(FAR const char *)request->ci_msg,
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CAN_MSGLEN(request->ci_msg->cm_hdr.ch_dlc));
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request->ci_msg->cm_hdr.ch_rtr = 0;
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#else
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@ -846,8 +826,7 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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FAR struct can_reader_s *reader = filep->f_priv;
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int ret = OK;
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int ret = OK;
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caninfo("cmd: %d arg: %ld\n", cmd, arg);
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@ -951,10 +930,10 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
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bool setup)
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{
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FAR struct inode *inode = (FAR struct inode *)filep->f_inode;
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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FAR struct can_reader_s *reader = NULL;
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pollevent_t eventset;
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pollevent_t eventset = 0;
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int ndx;
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int sval;
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irqstate_t flags;
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@ -1028,8 +1007,6 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
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* should, but that would be a little awkward).
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*/
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eventset = 0;
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DEBUGASSERT(dev->cd_ntxwaiters < 255);
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dev->cd_ntxwaiters++;
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do
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@ -1099,7 +1076,6 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
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errout:
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nxmutex_unlock(&dev->cd_polllock);
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return_with_irqdisabled:
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leave_critical_section(flags);
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return ret;
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@ -1113,7 +1089,7 @@ return_with_irqdisabled:
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* Name: can_register
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*
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* Description:
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* Register serial console and serial ports.
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* Register a CAN driver.
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*
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****************************************************************************/
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@ -1179,15 +1155,11 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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FAR uint8_t *data)
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{
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FAR struct can_rxfifo_s *fifo;
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FAR uint8_t *dest;
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FAR struct list_node *node;
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FAR struct list_node *tmp;
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int nexttail;
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int errcode = -ENOMEM;
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int ret = -ENOMEM;
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int i;
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int j;
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int sval;
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int ret;
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caninfo("ID: %" PRId32 " DLC: %d\n", (uint32_t)hdr->ch_id, hdr->ch_dlc);
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@ -1212,21 +1184,18 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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/* Check if the entry is in use and whether the ID matches */
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ret = nxsem_get_value(&wait->cr_sem, &sval);
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if (ret < 0)
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if (nxsem_get_value(&wait->cr_sem, &sval) < 0)
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{
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continue;
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}
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else if (sval < 0
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#ifdef CONFIG_CAN_ERRORS
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&& hdr->ch_error == false
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&& hdr->ch_error == false
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#endif
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#ifdef CONFIG_CAN_EXTID
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&& waitmsg->cm_hdr.ch_extid == hdr->ch_extid
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&& waitmsg->cm_hdr.ch_extid == hdr->ch_extid
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#endif
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&& waitmsg->cm_hdr.ch_id == hdr->ch_id)
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&& waitmsg->cm_hdr.ch_id == hdr->ch_id)
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{
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int nbytes;
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@ -1235,11 +1204,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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memcpy(&waitmsg->cm_hdr, hdr, sizeof(struct can_hdr_s));
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nbytes = can_dlc2bytes(hdr->ch_dlc);
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for (j = 0, dest = waitmsg->cm_data; j < nbytes; j++)
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{
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*dest++ = *data++;
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}
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memcpy(waitmsg->cm_data, data, nbytes);
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dev->cd_npendrtr--;
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/* Restart the waiting thread and mark the entry unused */
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@ -1249,7 +1214,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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}
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}
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list_for_every_safe(&dev->cd_readers, node, tmp)
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list_for_every(&dev->cd_readers, node)
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{
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FAR struct can_reader_s *reader = (FAR struct can_reader_s *)node;
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fifo = &reader->fifo;
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@ -1292,7 +1257,6 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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poll_notify(dev->cd_fds, CONFIG_CAN_NPOLLWAITERS, POLLIN);
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sval = 0;
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if (nxsem_get_value(&fifo->rx_sem, &sval) < 0)
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{
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DEBUGPANIC();
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@ -1314,7 +1278,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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nxsem_post(&fifo->rx_sem);
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}
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errcode = OK;
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ret = OK;
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}
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#ifdef CONFIG_CAN_ERRORS
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else
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@ -1326,7 +1290,7 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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#endif
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}
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return errcode;
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return ret;
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}
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/****************************************************************************
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@ -1387,8 +1351,6 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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*
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* Input Parameters:
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* dev - The specific CAN device
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* hdr - The 16-bit CAN header
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* data - An array contain the CAN data.
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*
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* Returned Value:
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* OK on success; a negated errno on failure.
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@ -1686,5 +1648,3 @@ uint8_t can_dlc2bytes(uint8_t dlc)
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return dlc;
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}
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#endif /* CONFIG_CAN */
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@ -27,11 +27,7 @@
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#include <nuttx/config.h>
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#ifdef CONFIG_CAN_TXREADY
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# include <nuttx/wqueue.h>
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#endif
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#include <nuttx/queue.h>
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#include <stdint.h>
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#ifdef CONFIG_NET_CAN
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@ -39,142 +35,6 @@
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* Pre-processor Definitions
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****************************************************************************/
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/* Ioctl Commands ***********************************************************/
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/* Ioctl commands supported by the upper half CAN driver.
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*
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* CANIOC_RTR:
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* Description: Send the remote transmission request and wait for the
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* response.
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* Argument: A reference to struct canioc_rtr_s
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*
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* Ioctl commands that may or may not be supported by the lower half CAN
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* driver.
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*
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* CANIOC_ADD_STDFILTER:
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* Description: Add an address filter for a standard 11 bit address.
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* Argument: A reference to struct canioc_stdfilter_s
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* Returned Value: A non-negative filter ID is returned on success.
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* Otherwise -1 (ERROR) is returned with the errno
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* variable set to indicate the nature of the error.
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* Dependencies: None
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*
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* CANIOC_ADD_EXTFILTER:
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* Description: Add an address filter for a extended 29 bit address.
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* Argument: A reference to struct canioc_extfilter_s
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* Returned Value: A non-negative filter ID is returned on success.
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* Otherwise -1 (ERROR) is returned with the errno
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* variable set to indicate the nature of the error.
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* Dependencies: Requires CONFIG_CAN_EXTID=y
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*
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* CANIOC_DEL_STDFILTER:
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* Description: Remove an address filter for a standard 11 bit address.
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* Argument: The filter index previously returned by the
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* CANIOC_ADD_STDFILTER command
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_DEL_EXTFILTER:
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* Description: Remove an address filter for a standard 29 bit address.
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* Argument: The filter index previously returned by the
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* CANIOC_ADD_EXTFILTER command
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: Requires CONFIG_CAN_EXTID=y
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*
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* CANIOC_GET_BITTIMING:
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* Description: Return the current bit timing settings
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* Argument: A pointer to a write-able instance of struct
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* canioc_bittiming_s in which current bit timing values
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* will be returned.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_SET_BITTIMING:
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* Description: Set new current bit timing values
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* Argument: A pointer to a read-able instance of struct
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* canioc_bittiming_s in which the new bit timing values
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* are provided.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_GET_CONNMODES:
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* Description: Get the current bus connection modes
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* Argument: A pointer to a write-able instance of struct
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* canioc_connmodes_s in which the new bus modes will be
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* returned.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_SET_CONNMODES:
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* Description: Set new bus connection modes values
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* Argument: A pointer to a read-able instance of struct
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* canioc_connmodes_s in which the new bus modes are
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* provided.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_BUSOFF_RECOVERY:
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* Description: Initiates the BUS-OFF recovery sequence
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* Argument: None
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*/
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#define CANIOC_RTR _CANIOC(1)
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#define CANIOC_GET_BITTIMING _CANIOC(2)
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#define CANIOC_SET_BITTIMING _CANIOC(3)
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#define CANIOC_ADD_STDFILTER _CANIOC(4)
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#define CANIOC_ADD_EXTFILTER _CANIOC(5)
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#define CANIOC_DEL_STDFILTER _CANIOC(6)
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#define CANIOC_DEL_EXTFILTER _CANIOC(7)
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#define CANIOC_GET_CONNMODES _CANIOC(8)
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#define CANIOC_SET_CONNMODES _CANIOC(9)
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#define CANIOC_BUSOFF_RECOVERY _CANIOC(10)
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#define CAN_FIRST 0x0001 /* First common command */
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#define CAN_NCMDS 10 /* Ten common commands */
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/* User defined ioctl commands are also supported. These will be forwarded
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* by the upper-half CAN driver to the lower-half CAN driver via the
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* co_ioctl() method fo the CAN lower-half interface.
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* However, the lower-half driver must reserve a block of commands as follows
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* in order prevent IOCTL command numbers from overlapping.
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*
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* This is generally done as follows. The first reservation for CAN driver A
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* would look like:
|
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*
|
||||
* CAN_A_FIRST (CAN_FIRST + CAN_NCMDS) <- First command
|
||||
* CAN_A_NCMDS 42 <- Number of commands
|
||||
*
|
||||
* IOCTL commands for CAN driver A would then be defined in a CAN A header
|
||||
* file like:
|
||||
*
|
||||
* CANIOC_A_CMD1 _CANIOC(CAN_A_FIRST+0)
|
||||
* CANIOC_A_CMD2 _CANIOC(CAN_A_FIRST+1)
|
||||
* CANIOC_A_CMD3 _CANIOC(CAN_A_FIRST+2)
|
||||
* ...
|
||||
* CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41)
|
||||
*
|
||||
* The next reservation would look like:
|
||||
*
|
||||
* CAN_B_FIRST (CAN_A_FIRST + CAN_A_NCMDS) <- Next command
|
||||
* CAN_B_NCMDS 77 <- Number of commands
|
||||
*/
|
||||
|
||||
/* CAN payload length and DLC definitions according to ISO 11898-1 */
|
||||
|
||||
#define CAN_MAX_DLC 8
|
||||
@ -289,15 +149,6 @@
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
typedef FAR void *CAN_HANDLE;
|
||||
|
||||
struct can_response_s
|
||||
{
|
||||
sq_entry_t flink;
|
||||
|
||||
/* Message-specific data may follow */
|
||||
}; /* FIXME remove */
|
||||
|
||||
typedef uint32_t canid_t;
|
||||
|
||||
/* Controller Area Network Error Message Frame Mask structure
|
||||
|
||||
@ -286,7 +286,7 @@
|
||||
* CANIOC_A_CMD2 _CANIOC(CAN_A_FIRST+1)
|
||||
* CANIOC_A_CMD3 _CANIOC(CAN_A_FIRST+2)
|
||||
* ...
|
||||
* CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41)
|
||||
* CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41)
|
||||
*
|
||||
* The next reservation would look like:
|
||||
*
|
||||
@ -296,16 +296,16 @@
|
||||
|
||||
/* Convenience macros *******************************************************/
|
||||
|
||||
#define dev_reset(dev) dev->cd_ops->co_reset(dev)
|
||||
#define dev_setup(dev) dev->cd_ops->co_setup(dev)
|
||||
#define dev_shutdown(dev) dev->cd_ops->co_shutdown(dev)
|
||||
#define dev_txint(dev,enable) dev->cd_ops->co_txint(dev,enable)
|
||||
#define dev_rxint(dev,enable) dev->cd_ops->co_rxint(dev,enable)
|
||||
#define dev_ioctl(dev,cmd,arg) dev->cd_ops->co_ioctl(dev,cmd,arg)
|
||||
#define dev_remoterequest(dev,id) dev->cd_ops->co_remoterequest(dev,id)
|
||||
#define dev_send(dev,m) dev->cd_ops->co_send(dev,m)
|
||||
#define dev_txready(dev) dev->cd_ops->co_txready(dev)
|
||||
#define dev_txempty(dev) dev->cd_ops->co_txempty(dev)
|
||||
#define dev_reset(dev) (dev)->cd_ops->co_reset(dev)
|
||||
#define dev_setup(dev) (dev)->cd_ops->co_setup(dev)
|
||||
#define dev_shutdown(dev) (dev)->cd_ops->co_shutdown(dev)
|
||||
#define dev_txint(dev,enable) (dev)->cd_ops->co_txint(dev,enable)
|
||||
#define dev_rxint(dev,enable) (dev)->cd_ops->co_rxint(dev,enable)
|
||||
#define dev_ioctl(dev,cmd,arg) (dev)->cd_ops->co_ioctl(dev,cmd,arg)
|
||||
#define dev_remoterequest(dev,id) (dev)->cd_ops->co_remoterequest(dev,id)
|
||||
#define dev_send(dev,m) (dev)->cd_ops->co_send(dev,m)
|
||||
#define dev_txready(dev) (dev)->cd_ops->co_txready(dev)
|
||||
#define dev_txempty(dev) (dev)->cd_ops->co_txempty(dev)
|
||||
|
||||
/* CAN message support ******************************************************/
|
||||
|
||||
@ -408,7 +408,7 @@
|
||||
# define CANH_ERROR4_SHORT2VCC 0x03
|
||||
# define CANH_ERROR4_SHORT2GND 0x04
|
||||
|
||||
# define CANL_ERROR4_MASK 0xf0 /* Bits 0-3: CANL */
|
||||
# define CANL_ERROR4_MASK 0xf0 /* Bits 4-7: CANL */
|
||||
# define CANL_ERROR4_NOWIRE 0x10
|
||||
# define CANL_ERROR4_SHORT2BAT 0x20
|
||||
# define CANL_ERROR4_SHORT2VCC 0x30
|
||||
@ -573,7 +573,7 @@ struct can_txfifo_s
|
||||
|
||||
struct can_rtrwait_s
|
||||
{
|
||||
sem_t cr_sem; /* Wait for response/is the cd_rtr entry available */
|
||||
sem_t cr_sem; /* Wait for response/is the cd_rtr entry available */
|
||||
FAR struct can_msg_s *cr_msg; /* This is where the RTR response goes */
|
||||
};
|
||||
|
||||
@ -871,8 +871,6 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
|
||||
*
|
||||
* Input Parameters:
|
||||
* dev - The specific CAN device
|
||||
* hdr - The 16-bit CAN header
|
||||
* data - An array contain the CAN data.
|
||||
*
|
||||
* Returned Value:
|
||||
* OK on success; a negated errno on failure.
|
||||
|
||||
Loading…
Reference in New Issue
Block a user