socketcan_utils.h

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/*
 * 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
 
static inline void socketcan_to_can_frame(const struct socketcan_frame *sframe,
                                          struct can_frame *zframe)
{
        zframe->id_type = (sframe->can_id & BIT(31)) >> 31;
        zframe->rtr = (sframe->can_id & BIT(30)) >> 30;
        zframe->id = sframe->can_id & BIT_MASK(29);
        zframe->dlc = can_bytes_to_dlc(sframe->len);
        zframe->fd = !!(sframe->flags & CANFD_FDF);
        memcpy(zframe->data, sframe->data, MIN(sizeof(sframe->data), sizeof(zframe->data)));
}
 
static inline void socketcan_from_can_frame(const struct can_frame *zframe,
                                            struct socketcan_frame *sframe)
{
        sframe->can_id = (zframe->id_type << 31) | (zframe->rtr << 30) | zframe->id;
        sframe->len = can_dlc_to_bytes(zframe->dlc);
        if (zframe->fd) {
                sframe->flags = CANFD_FDF;
        }
        memcpy(sframe->data, zframe->data, MIN(sizeof(zframe->data), sizeof(sframe->data)));
}
 
static inline void socketcan_to_can_filter(const struct socketcan_filter *sfilter,
                                           struct can_filter *zfilter)
{
        zfilter->id_type = (sfilter->can_id & BIT(31)) >> 31;
        zfilter->rtr = (sfilter->can_id & BIT(30)) >> 30;
        zfilter->id = sfilter->can_id & BIT_MASK(29);
        zfilter->rtr_mask = (sfilter->can_mask & BIT(30)) >> 30;
        zfilter->id_mask = sfilter->can_mask & BIT_MASK(29);
}
 
static inline void socketcan_from_can_filter(const struct can_filter *zfilter,
                                             struct socketcan_filter *sfilter)
{
        sfilter->can_id = (zfilter->id_type << 31) |
                (zfilter->rtr << 30) | zfilter->id;
        sfilter->can_mask = (zfilter->rtr_mask << 30) |
                (zfilter->id_type << 31) | zfilter->id_mask;
}
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_NET_SOCKETCAN_H_ */