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/*
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2022-11-26 GuEe-GUI first version
*/
#ifndef __CAN_DM_H__
#define __CAN_DM_H__
#include <drivers/misc.h>
/* Special address description flags for the CAN_ID */
#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
#define CAN_RTR_FLAG 0x40000000U /* Remote transmission request */
#define CAN_ERR_FLAG 0x20000000U /* Error message frame */
/* Valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK 0x000007ffU /* Standard frame format (SFF) */
#define CAN_EFF_MASK 0x1fffffffU /* Extended frame format (EFF) */
#define CAN_ERR_MASK 0x1fffffffU /* Omit EFF, RTR, ERR flags */
#define CANXL_PRIO_MASK CAN_SFF_MASK /* 11 bit priority mask */
/* CAN payload length and DLC definitions according to ISO 11898-1 */
#define CAN_MAX_DLC 8
#define CAN_MAX_RAW_DLC 15
#define CAN_MAX_DLEN 8
/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
#define CANFD_MAX_DLC 15
#define CANFD_MAX_DLEN 64
/*
* To be used in the CAN netdriver receive path to ensure conformance with
* ISO 11898-1 Chapter 8.4.2.3 (DLC field)
*/
#define can_get_dlc(v) (rt_min_t(rt_uint8_t, (v), CAN_MAX_DLC))
#define canfd_get_dlc(v) (rt_min_t(rt_uint8_t, (v), CANFD_MAX_DLC))
/**
* @brief Convert CAN DLC value to actual data length
*
* Converts a CAN Data Length Code (DLC) to the actual number of data bytes
* according to ISO 11898-1 and ISO 11898-7 (CAN FD) specifications.
*
* @param can_dlc The DLC value (0-15)
* @return The actual data length in bytes
*/
rt_uint8_t can_dlc2len(rt_uint8_t can_dlc);
/**
* @brief Convert data length to CAN DLC value
*
* Converts a data length in bytes to the appropriate CAN Data Length Code (DLC)
* according to ISO 11898-1 and ISO 11898-7 (CAN FD) specifications.
*
* @param len The data length in bytes (0-64)
* @return The corresponding DLC value (0-15)
*/
rt_uint8_t can_len2dlc(rt_uint8_t len);
#endif /* __CAN_DM_H__ */
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