CAN: Add CAN FD mode as a configuration option

arch

@@ -1 +1 @@
-Subproject commit 478948e2fd0c1621bce15195c6f207df4156fbe6
+Subproject commit b331b89caf5aa68bc8b8e585b35e10777f469e1c

drivers/Kconfig

@@ -99,13 +99,20 @@ menuconfig CAN
 		See include/nuttx/can.h for further CAN driver information.
 
 if CAN
+
 config CAN_EXTID
 	bool "CAN extended IDs"
 	default n
 	---help---
-		Enables support for the 29-bit extended ID.  Default Standard 11-bit
+		Enables support for the 28-bit extended ID.  Default Standard 11-bit
 		IDs.
 
+config CAN_FD
+	bool "CAN FD"
+	default n
+	---help---
+		Enables support for the CAN_FD mode.
+
 config CAN_FIFOSIZE
 	int "CAN driver I/O buffer size"
 	default 8

drivers/can.c

@@ -89,6 +89,15 @@
  * Private Function Prototypes
  ****************************************************************************/
 
+/* CAN helpers */
+
+static uint8_t        can_dlc2bytes(uint8_t dlc);
+#if 0 /* Not used */
+static uint8_t        can_bytes2dlc(uint8_t nbytes);
+#endif
+
+/* Character driver methods */
+
 static int            can_open(FAR struct file *filep);
 static int            can_close(FAR struct file *filep);
 static ssize_t        can_read(FAR struct file *filep, FAR char *buffer,
@@ -125,6 +134,101 @@ static const struct file_operations g_canops =
  * Private Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: can_dlc2bytes and 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 Parameter:
+ *   dlc    - the DLC to convert to a byte count, OR
+ *   nbytes - the byte count to convert to a DLC
+ *
+ * Returned Value:
+ *   The converted value
+ *
+ ****************************************************************************/
+
+static 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;
+}
+
+#if 0 /* Not used */
+static uint8_t can_bytes2dlc(FAR struct sam_can_s *priv, 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
+}
+#endif
+
 /****************************************************************************
  * Name: can_open
  *
@@ -351,7 +455,8 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
           /* Will the next message in the FIFO fit into the user buffer? */
 
           FAR struct can_msg_s *msg = &dev->cd_recv.rx_buffer[dev->cd_recv.rx_head];
-          int msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
+          int nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
+          int msglen = CAN_MSGLEN(nbytes);
 
           if (nread + msglen > buflen)
             {
@@ -472,6 +577,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
   ssize_t                  nsent = 0;
   irqstate_t               flags;
   int                      nexttail;
+  int                      nbytes;
   int                      msglen;
   int                      ret   = 0;
 
@@ -562,7 +668,8 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
        */
 
       msg    = (FAR struct can_msg_s *)&buffer[nsent];
-      msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
+      nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
+      msglen = CAN_MSGLEN(nbytes);
       memcpy(&fifo->tx_buffer[fifo->tx_tail], msg, msglen);
 
       /* Increment the tail of the circular buffer */