Add support for extended (29-bit) CAN IDs

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4319 7fd9a85b-ad96-42d3-883c-3090e2eb8679

apps/examples/can/can_main.c

@@ -57,6 +57,12 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+#ifdef CONFIG_CAN_EXTID
+#  define MAX_ID (1 << 29)
+#else
+#  define MAX_ID (1 << 11)
+#endif
+
 #ifdef CONFIG_NSH_BUILTIN_APPS
 #  define MAIN_NAME   can_main
 #  define MAIN_STRING "can_main: "
@@ -99,12 +105,16 @@ int MAIN_NAME(int argc, char *argv[])
   struct can_msg_s rxmsg;
   size_t msgsize;
   ssize_t nbytes;
+#ifdef CONFIG_CAN_EXTID
+  uint32_t msgid;
+#else
+  uint16_t msgid;
+#endif
   uint8_t msgdata;
 #if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS)
   long nmsgs;
 #endif
   int msgdlc;
-  int msgid;
   int fd;
   int errval = 0;
   int ret;
@@ -174,7 +184,13 @@ int MAIN_NAME(int argc, char *argv[])
 
     /* Construct the next TX message */
 
-    txmsg.cm_hdr = CAN_HDR(msgid, 0, msgdlc);
+    txmsg.cm_hdr.ch_id    = msgid;
+    txmsg.cm_hdr.ch_rtr   = false;
+    txmsg.cm_hdr.ch_dlc   = msgdlc;
+#ifdef CONFIG_CAN_EXTID
+    txmsg.cm_hdr.ch_extid = true;
+#endif
+
     for (i = 0; i < msgdlc; i++)
       {
         txmsg.cm_data[i] = msgdata + i;
@@ -182,7 +198,7 @@ int MAIN_NAME(int argc, char *argv[])
 
     /* Send the TX message */
 
-    msgsize = CAN_MSGLEN(txmsg.cm_hdr);
+    msgsize = CAN_MSGLEN(msgdlc);
     nbytes = write(fd, &txmsg, msgsize);
     if (nbytes != msgsize)
       {
@@ -204,9 +220,13 @@ int MAIN_NAME(int argc, char *argv[])
 
     /* Verify that the received messages are the same */
 
-    if (txmsg.cm_hdr != rxmsg.cm_hdr)
+    if (memcmp(&txmsg.cm_hdr, &rxmsg.cm_hdr, sizeof(struct can_hdr_s)) != 0)
       {
-        message("ERROR: Sent header %04x; received header %04x\n", txmsg.cm_hdr, rxmsg.cm_hdr);
+        message("ERROR: Sent header does not match received header:\n");
+        lib_dumpbuffer("Sent header", (FAR const uint8_t*)&txmsg.cm_hdr, 
+                       sizeof(struct can_hdr_s));
+        lib_dumpbuffer("Received header", (FAR const uint8_t*)&rxmsg.cm_hdr, 
+                       sizeof(struct can_hdr_s));
         errval = 4;
         goto errout_with_dev;
       }
@@ -230,7 +250,7 @@ int MAIN_NAME(int argc, char *argv[])
 
     msgdata += msgdlc;
  
-    if (++msgid >= 2048)
+    if (++msgid >= MAX_ID)
       {
         msgid = 1;
       }

nuttx/ChangeLog

@@ -2382,4 +2382,8 @@
 	  register.
 	* arch/arm/src/lpc17xx/lpc17_can.c:  Added "advanced" configuration options
 	  to specify the CAN TSEG1 and TSEG2 clock counts specifically.
+	* include/nuttx/can.h and drivers/can.c:  Add support for extended (29-bit)
+	  CAN IDs.
+	* arch/arm/src/lpc17xx/lpc17_can.c:  Add support for extended (29-bit) CAN IDs.
+	* arch/arm/src/stm32/stm32_can.c:  Add support for extended (29-bit) CAN IDs.
 

nuttx/arch/arm/src/lpc17xx/lpc17_can.c

@@ -745,20 +745,39 @@ static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id)
 static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
 {
   FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
-  uint32_t tid = CAN_ID(msg->cm_hdr);
+  uint32_t tid = (uint32_t)msg->cm_hdr.ch_id;
-  uint32_t tfi = CAN_DLC(msg->cm_hdr) << 16;
+  uint32_t tfi = (uint32_t)msg->cm_hdr.ch_dlc << 16;
   uint32_t regval;
   irqstate_t flags;
   int ret = OK;
 
-  canvdbg("CAN%d ID: %d DLC: %d\n",
+  canvdbg("CAN%d ID: %d DLC: %d\n", priv->port, msg->cm_hdr.ch_id, msg->cm_hdr.ch_dlc);
-          priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr));
 
-  if (CAN_RTR(msg->cm_hdr))
+  if (msg->cm_hdr.ch_rtr)
     {
       tfi |= CAN_TFI_RTR;
     }
 
+  /* Set the FF bit in the TFI register if this message should be sent with
+   * the extended frame format (and 29-bit extened ID).
+   */
+
+#ifdef CONFIG_CAN_EXTID
+  if (msg->cm_hdr.ch_extid)
+    {
+      /* The provided ID should be 29 bits */
+
+      DEBUGASSERT((tid & ~CAN_TID_ID29_MASK) == 0);
+      tfi |= CAN_TFI_FF;
+    }
+  else
+#endif
+    {
+      /* The provided ID should be 11 bits */
+
+      DEBUGASSERT((tid & ~CAN_TID_ID11_MASK) == 0);
+    }
+
   flags = irqsave();
 
   /* Pick a transmit buffer */
@@ -927,14 +946,11 @@ static bool can_txempty(FAR struct can_dev_s *dev)
 static void can_interrupt(FAR struct can_dev_s *dev)
 {
   FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
+  struct can_hdr_s hdr;
   uint32_t data[2];
   uint32_t rfs;
   uint32_t rid;
   uint32_t regval;
-  uint16_t hdr;
-  uint16_t id;
-  uint16_t dlc;
-  uint16_t rtr;
 
   /* Read the interrupt and capture register (also clearing most status bits) */
 
@@ -956,14 +972,23 @@ static void can_interrupt(FAR struct can_dev_s *dev)
 
       /* Construct the CAN header */
 
-      id      = rid & CAN_RID_ID11_MASK;
+      hdr.ch_id    = rid;
-      dlc     = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT;
+      hdr.ch_rtr   = ((rfs & CAN_RFS_RTR) != 0);
-      rtr     = ((rfs & CAN_RFS_RTR) != 0);
+      hdr.ch_dlc   = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT;
-      hdr     = CAN_HDR(id, rtr, dlc);
+#ifdef CONFIG_CAN_EXTID
-
+      hdr.ch_extid = ((rfs & CAN_RFS_FF) != 0);
+#else
+      if ((rfs & CAN_RFS_FF) != 0)
+        {
+          canlldbg("ERROR: Received message with extended identifier.  Dropped\n");
+        }
+      else
+#endif
+        {
           /* Process the received CAN packet */
 
-      can_receive(dev, hdr, (uint8_t *)data);
+          can_receive(dev, &hdr, (uint8_t *)data);
+        }
     }
 
   /* Check for TX buffer 1 complete */

nuttx/arch/arm/src/stm32/chip/stm32_can.h

@@ -367,8 +367,8 @@
 #define CAN_TIR_TXRQ              (1 << 0)  /* Bit 0: Transmit Mailbox Request */
 #define CAN_TIR_RTR               (1 << 1)  /* Bit 1: Remote Transmission Request */
 #define CAN_TIR_IDE               (1 << 2)  /* Bit 2: Identifier Extension */
-#define CAN_TIR_EXID_SHIFT        (3)       /* Bit 3-20: Extended Identifier */
+#define CAN_TIR_EXID_SHIFT        (3)       /* Bit 3-31: Extended Identifier */
-#define CAN_TIR_EXID_MASK         (0x0003ffff << CAN_TIR_EXID_SHIFT)
+#define CAN_TIR_EXID_MASK         (0x1fffffff << CAN_TIR_EXID_SHIFT)
 #define CAN_TIR_STID_SHIFT        (21)      /* Bits 21-31: Standard Identifier */
 #define CAN_TIR_STID_MASK         (0x07ff << CAN_TIR_STID_SHIFT)
 
@@ -406,8 +406,8 @@
 
 #define CAN_RIR_RTR               (1 << 1)  /* Bit 1: Remote Transmission Request */
 #define CAN_RIR_IDE               (1 << 2)  /* Bit 2: Identifier Extension */
-#define CAN_RIR_EXID_SHIFT        (3)       /* Bit 3-20: Extended Identifier */
+#define CAN_RIR_EXID_SHIFT        (3)       /* Bit 3-31: Extended Identifier */
-#define CAN_RIR_EXID_MASK         (0x0003ffff << CAN_RIR_EXID_SHIFT)
+#define CAN_RIR_EXID_MASK         (0x1fffffff << CAN_RIR_EXID_SHIFT)
 #define CAN_RIR_STID_SHIFT        (21)      /* Bits 21-31: Standard Identifier */
 #define CAN_RIR_STID_MASK         (0x07ff << CAN_RIR_STID_SHIFT)
 

nuttx/arch/arm/src/stm32/stm32_can.c

@@ -783,8 +783,7 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
   int dlc;
   int txmb;
 
-  canllvdbg("CAN%d ID: %d DLC: %d\n",
+  canllvdbg("CAN%d ID: %d DLC: %d\n", priv->port, msg->cm_hdr.ch_id, msg->cm_hdr.ch_dlc);
-            priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr));
 
   /* Select one empty transmit mailbox */
 
@@ -813,20 +812,29 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
   regval &= ~(CAN_TIR_TXRQ | CAN_TIR_RTR | CAN_TIR_IDE | CAN_TIR_EXID_MASK | CAN_TIR_STID_MASK);
   can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval);
 
-  /* Set up the ID. Only standard (11-bit) CAN identifiers are supported
+  /* Set up the ID, standard 11-bit or extended 29-bit. */
-   * (the STM32 supports extended, 29-bit identifiers, but this method does
-   * not).
-   *
-   * Get the 11-bit identifier from the header bits 0-7 and 13-15.
-   */
 
+#ifdef CONFIG_CAN_EXTID
+  regval &= ~CAN_TIR_EXID_MASK;
+  if (msg->cm_hdr.ch_extid)
+    {
+      DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 29));
+      regval |= (msg->cm_hdr.ch_id << CAN_TIR_EXID_SHIFT) | CAN_TIR_IDE;
+    }
+  else
+    {
+      DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 11));
+      regval |= msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT;
+    }
+#else
   regval &= ~CAN_TIR_STID_MASK;
-  regval |= (uint32_t)CAN_ID(msg->cm_hdr) << CAN_TIR_STID_SHIFT;
+  regval |= (uint32_t)msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT;
+#endif
   can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval);
 
   /* Set up the DLC */
 
-  dlc     = CAN_DLC(msg->cm_hdr);
+  dlc     = msg->cm_hdr.ch_dlc;
   regval  = can_getreg(priv, STM32_CAN_TDTR_OFFSET(txmb));
   regval &= ~(CAN_TDTR_DLC_MASK | CAN_TDTR_TGT);
   regval |= (uint32_t)dlc << CAN_TDTR_DLC_SHIFT;
@@ -989,12 +997,10 @@ static int can_rx0interrupt(int irq, void *context)
 {
   FAR struct can_dev_s *dev = NULL;
   FAR struct stm32_can_s *priv;
+  struct can_hdr_s hdr;
   uint8_t data[CAN_MAXDATALEN];
   uint32_t regval;
   int npending;
-  int id;
-  int rtr;
-  int dlc;
   int ret;
 
 #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
@@ -1029,9 +1035,21 @@ static int can_rx0interrupt(int irq, void *context)
 
   can_dumpmbregs(priv, "RX0 interrupt");
 
-  /* Get the CAN identifier.  Only standard 11-bit IDs are supported */
+  /* Get the CAN identifier. */
 
   regval = can_getreg(priv, STM32_CAN_RI0R_OFFSET);
+#ifdef CONFIG_CAN_EXTID
+  if ((regval & CAN_RIR_IDE) != 0)
+    {
+      hdr.ch_id    = (regval & CAN_RIR_EXID_MASK) >> CAN_RIR_EXID_SHIFT;
+      hdr.ch_extid = true;
+    }
+  else
+    {
+      hdr.ch_id    = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT;
+      hdr.ch_extid = false;
+    }
+#else
   if ((regval & CAN_RIR_IDE) != 0)
     {
       canlldbg("ERROR: Received message with extended identifier.  Dropped\n");
@@ -1039,16 +1057,17 @@ static int can_rx0interrupt(int irq, void *context)
       goto errout;
     }
 
-  id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT;
+  hdr.ch_id    = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT;
+#endif
 
-  /* Get the Remote Transmission Request (RTR) */
+  /* Extract the RTR bit */
 
-  rtr = (regval & CAN_RIR_RTR) != 0 ? 1 : 0;
+  hdr.ch_rtr   = (regval & CAN_RIR_RTR) != 0 ? true : false;
 
   /* Get the DLC */
 
   regval       = can_getreg(priv, STM32_CAN_RDT0R_OFFSET);
-  dlc = (regval & CAN_RDTR_DLC_MASK) >> CAN_RDTR_DLC_SHIFT;
+  hdr.ch_dlc   = (regval & CAN_RDTR_DLC_MASK) >> CAN_RDTR_DLC_SHIFT;
 
   /* Save the message data */
 
@@ -1066,11 +1085,13 @@ static int can_rx0interrupt(int irq, void *context)
 
   /* Provide the data to the upper half driver */
 
-  ret = can_receive(dev, (uint16_t)CAN_HDR(id, rtr, dlc), data);
+  ret = can_receive(dev, &hdr, data);
 
   /* Release the FIFO0 */
 
+#ifndef CONFIG_CAN_EXTID
 errout:
+#endif
   regval  = can_getreg(priv, STM32_CAN_RF0R_OFFSET);
   regval |= CAN_RFR_RFOM;
   can_putreg(priv, STM32_CAN_RF0R_OFFSET, regval);

nuttx/configs/README.txt

@@ -646,6 +646,8 @@ defconfig -- This is a configuration file similar to the Linux
 
 		CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 		  CONFIG_STM32_CAN2 must also be defined)
+		CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+		  Standard 11-bit IDs.
 		CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 		  Default: 8
 		CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.

nuttx/configs/hymini-stm32v/README.txt

@@ -472,6 +472,8 @@ HY-Mini specific Configuration Options
 
 	CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 	  CONFIG_STM32_CAN2 must also be defined)
+	CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+	  Standard 11-bit IDs.
 	CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.

nuttx/configs/lpcxpresso-lpc1768/README.txt

@@ -647,6 +647,8 @@ LPCXpresso Configuration Options
   LPC17xx specific CAN device driver settings.  These settings all
   require CONFIG_CAN:
 
+	CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+	  Standard 11-bit IDs.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN2 is defined.
 	CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

nuttx/configs/mbed/README.txt

@@ -287,6 +287,8 @@ mbed Configuration Options
   LPC17xx specific CAN device driver settings.  These settings all
   require CONFIG_CAN:
 
+	CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+	  Standard 11-bit IDs.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN2 is defined.
 	CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

nuttx/configs/nucleus2g/README.txt

@@ -399,6 +399,8 @@ Nucleus 2G Configuration Options
   LPC17xx specific CAN device driver settings.  These settings all
   require CONFIG_CAN:
 
+	CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+	  Standard 11-bit IDs.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN2 is defined.
 	CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

nuttx/configs/olimex-lpc1766stk/README.txt

@@ -696,6 +696,8 @@ Olimex LPC1766-STK Configuration Options
   LPC17xx specific CAN device driver settings.  These settings all
   require CONFIG_CAN:
 
+	CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+	  Standard 11-bit IDs.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN2 is defined.
 	CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

nuttx/configs/olimex-lpc1766stk/nsh/defconfig

@@ -631,6 +631,8 @@ CONFIG_NET_RESOLV_ENTRIES=4
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_LPC17_CAN1 or
 #   CONFIG_LPC17_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -641,6 +643,7 @@ CONFIG_NET_RESOLV_ENTRIES=4
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_LPC17_CAN2 is defined.
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/configs/stm3210e-eval/README.txt

@@ -562,6 +562,8 @@ STM3210E-EVAL-specific Configuration Options
 
 	CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 	  CONFIG_STM32_CAN2 must also be defined)
+	CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+	  Standard 11-bit IDs.
 	CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.

nuttx/configs/stm3210e-eval/ostest/defconfig

@@ -246,6 +246,8 @@ CONFIG_STM32_R61580_DISABLE=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -258,6 +260,7 @@ CONFIG_STM32_R61580_DISABLE=y
 # CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/configs/stm3240g-eval/README.txt

@@ -273,6 +273,8 @@ Configuration Options:
 
   CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
     CONFIG_STM32_CAN2 must also be defined)
+  CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+    Standard 11-bit IDs.
  CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
     Default: 8
   CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -656,6 +658,7 @@ Where <subdir> is one of the following:
        must be manually enabled by selecting:
 
        CONFIG_CAN=y             : Enable the generic CAN infrastructure
+       CONFIG_CAN_EXID=y or n   : Enable to support extended ID frames
        CONFIG_STM32_CAN1=y      : Enable CAN1
        CONFIG_CAN_LOOPBACK=y    : Enable CAN loopback mode
 

nuttx/configs/stm3240g-eval/dhcpd/defconfig

@@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/configs/stm3240g-eval/nettest/defconfig

@@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/configs/stm3240g-eval/nsh/defconfig

@@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -273,6 +275,7 @@ CONFIG_SSI_POLLWAIT=y
 # CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/configs/stm3240g-eval/ostest/defconfig

@@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -273,6 +275,7 @@ CONFIG_SSI_POLLWAIT=y
 # CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/configs/stm32f4discovery/README.txt

@@ -402,6 +402,8 @@ stm32f4discovery-specific Configuration Options
 
 	CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 	  CONFIG_STM32_CAN2 must also be defined)
+	CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+	  Standard 11-bit IDs.
 	CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.

nuttx/configs/stm32f4discovery/nsh/defconfig

@@ -248,6 +248,8 @@ CONFIG_SPI_EXCHANGE=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -258,6 +260,7 @@ CONFIG_SPI_EXCHANGE=y
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/configs/stm32f4discovery/ostest/defconfig

@@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
 #
 # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
 #   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
 # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
+CONFIG_CAN_EXTID=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
 CONFIG_CAN_LOOPBACK=n

nuttx/drivers/can.c

@@ -325,7 +325,7 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
           /* 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);
+          int msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
 
           if (nread + msglen > buflen)
            {
@@ -532,7 +532,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer, size_t
        */
 
       msg    = (FAR struct can_msg_s *)&buffer[nsent];
-      msglen = CAN_MSGLEN(msg->cm_hdr);
+      msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
       memcpy(&fifo->tx_buffer[fifo->tx_tail], msg, msglen);
 
       /* Increment the tail of the circular buffer */
@@ -706,7 +706,7 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev)
  *
  ************************************************************************************/
 
-int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
+int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr, FAR uint8_t *data)
 {
   FAR struct can_rxfifo_s *fifo = &dev->cd_recv;
   FAR uint8_t             *dest;
@@ -714,7 +714,7 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
   int                      err = -ENOMEM;
   int                      i;
 
-  canllvdbg("ID: %d DLC: %d\n", CAN_ID(hdr), CAN_DLC(hdr));
+  canllvdbg("ID: %d DLC: %d\n", hdr->ch_id, hdr->ch_dlc);
 
   /* Check if adding this new message would over-run the drivers ability to enqueue
    * read data.
@@ -743,12 +743,12 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
            * a non-NULL receiving address
            */
 
-          if (msg && CAN_ID(hdr) == rtr->cr_id)
+          if (msg && hdr->ch_id == rtr->cr_id)
             {
               /* We have the response... copy the data to the user's buffer */
 
-              msg->cm_hdr = hdr;
+              memcpy(&msg->cm_hdr, hdr, sizeof(struct can_hdr_s));
-              for (i = 0, dest = msg->cm_data; i < CAN_DLC(hdr); i++)
+              for (i = 0, dest = msg->cm_data; i < hdr->ch_dlc; i++)
                 {
                   *dest++ = *data++;
                 }
@@ -770,8 +770,8 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
     {
       /* Add the new, decoded CAN message at the tail of the FIFO */
 
-      fifo->rx_buffer[fifo->rx_tail].cm_hdr = hdr;
+      memcpy(&fifo->rx_buffer[fifo->rx_tail].cm_hdr, hdr, sizeof(struct can_hdr_s));
-      for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < CAN_DLC(hdr); i++)
+      for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < hdr->ch_dlc; i++)
         {
           *dest++ = *data++;
         }

nuttx/include/nuttx/can.h

@@ -54,6 +54,19 @@
 /************************************************************************************
  * Pre-processor Definitions
  ************************************************************************************/
+/* Configuration ********************************************************************/
+/* CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+ *   CONFIG_STM32_CAN2 must also be defined)
+ * CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+ *   Standard 11-bit IDs.
+ * CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+ *   Default: 8
+ * CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+ *   Default: 4
+ * CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+ *   mode for testing. If the driver does support loopback mode, the setting
+ *   will enable it. (If the driver does not, this setting will have no effect).
+ */
 
 /* Default configuration settings that may be overridden in the NuttX configuration
  * file or in the board configuration file.  The configured size is limited to 255
@@ -90,14 +103,10 @@
 /* CAN message support */
 
 #define CAN_MAXDATALEN            8
-#define CAN_MAXMSGID              0x07ff
+#define CAN_MAX_MSGID             0x07ff
-
+#define CAN_MAX_EXTMSGID          0x1fffffff
-#define CAN_ID(hdr)               ((uint16_t)(hdr) >> 5)
-#define CAN_RTR(hdr)              (((hdr) & 0x0010) != 0)
-#define CAN_DLC(hdr)              ((hdr) & 0x0f)
-#define CAN_MSGLEN(hdr)           (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
 
-#define CAN_HDR(id, rtr, dlc)     ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc)
+#define CAN_MSGLEN(nbytes)        (sizeof(struct can_msg_s) - CAN_MAXDATALEN + (nbytes))
 
 /* Built-in ioctl commands
  *
@@ -115,16 +124,29 @@
 /************************************************************************************
  * Public Types
  ************************************************************************************/
-/* CAN-message Format
+/* CAN-message Format (without Extended ID suppport)
  *
- * One CAN-message consists of a maximum of 10 bytes.  A message is composed of at
+ *   One based CAN-message is represented with a maximum of 10 bytes.  A message is
- * least the first 2 bytes (when there are no data bytes).
+ *   composed of at least the first 2 bytes (when there are no data bytes present).
  *
- * Byte 0:      Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
+ *   Bytes 0-1:  Hold a 16-bit value in host byte order
- * Byte 1:      Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
- *              Bit 4:    Remote Tranmission Request (RTR)
  *               Bits 0-3:  Data Length Code (DLC)
- * Bytes 2-10: CAN data
+ *               Bit  4:    Remote Tranmission Request (RTR)
+ *               Bits 5-15: The 11-bit CAN identifier
+ *            
+ *   Bytes 2-9:  CAN data
+ *
+ * CAN-message Format (with Extended ID suppport)
+ *
+ *   One CAN-message consists of a maximum of 13 bytes.  A message is composed of at
+ *   least the first 5 bytes (when there are no data bytes).
+ *
+ *   Bytes 0-3:  Hold 11- or 29-bit CAN ID in host byte order
+ *   Byte 4:     Bits 0-3: Data Length Code (DLC)
+ *               Bit 4:    Remote Tranmission Request (RTR)
+ *               Bit 5:    Extended ID indication
+ *               Bits 6-7: Unused
+ *   Bytes 5-12: CAN data
  *
  * The struct can_msg_s holds this information in a user-friendly, unpacked form.
  * This is the form that is used at the read() and write() driver interfaces.  The
@@ -132,9 +154,27 @@
  * the CAN_MSGLEN macro.
  */
 
+#ifdef CONFIG_CAN_EXTID
+struct can_hdr_s
+{
+  uint32_t     ch_id;         /* 11- or 29-bit ID (3-bits unsed) */
+  uint8_t      ch_dlc    : 4; /* 4-bit DLC */
+  uint8_t      ch_rtr    : 1; /* RTR indication */
+  uint8_t      ch_extid  : 1; /* Extended ID indication */
+  uint8_t      ch_unused : 2; /* Unused */
+};
+#else
+struct can_hdr_s
+{
+  uint16_t      ch_dlc   : 4;  /* 4-bit DLC */
+  uint16_t      ch_rtr   : 1;  /* RTR indication */
+  uint16_t      ch_id    : 11; /* 11-bit standard ID */
+};
+#endif
+
 struct can_msg_s
 {
-  uint16_t      cm_hdr;                  /* The 16-bit CAN header */
+  struct can_hdr_s cm_hdr;                  /* The CAN header */
   uint8_t          cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
 };
 
@@ -303,7 +343,8 @@ EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev);
  *
  ************************************************************************************/
 
-EXTERN int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data);
+EXTERN int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
+                       FAR uint8_t *data);
 
 /************************************************************************************
  * Name: can_txdone