Whole CAN code in RIOT is using 'struct can_frame' to represent a CAN
frame.
However incoming CAN FD support will bring 'struct canfd_frame' to
represent CAN FD frames.
Even if the 'struct canfd_frame' has additional flags and a bigger
payload, it is aligned on 'struct can_frame' and thus they can be
referenced by the same pointers in the code.
As it is impossible to predict which one will be used in RIOT, just
define a new type 'can_frame_t' which will map to the right struct
according to the MCU CAN supported format.
Signed-off-by: Gilles DOFFE <gilles.doffe@rtone.fr>
RIOT implementation of CAN bus relies on SocketCAN model.
Since commit c398e56 (can: add optional DLC element to Classical CAN
frame structure), '__u8 can_dlc' attribute of struct can_frame is
considered as deprecated in SocketCAN and kept for legacy support.
Attribute '__u8 len' should be used instead.
union {
/* CAN frame payload length in byte (0 .. CAN_MAX_DLEN)
* was previously named can_dlc so we need to carry that
* name for legacy support
*/
__u8 len;
__u8 can_dlc; /* deprecated */
};
Moreover, CAN FD frame structure does not support legacy attribute
'can_dlc', making 'len' mandatory for incoming CAN FD support in RIOT.
struct canfd_frame {
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
__u8 len; /* frame payload length in byte */
__u8 flags; /* additional flags for CAN FD */
__u8 __res0; /* reserved / padding */
__u8 __res1; /* reserved / padding */
__u8 data[CANFD_MAX_DLEN]
__attribute__((aligned(8)));
};
Signed-off-by: Gilles DOFFE <gilles.doffe@rtone.fr>
Previously `shell_commands` was a "catch-all" module that included
shell commands for each and every used module that has a shell
companion. Instead, the new `shell_cmds` module is now used to provide
shell commands as individually selectable submodules, e.g.
`cmd_gnrc_icmpv6_echo` now provides the ICMPv6 echo command (a.k.a.
ping).
To still have a "catch all" module to pull in shell commands of modules
already used, `shell_cmds_default` was introduced. `shell_commands`
depends now on `shell_cmds_default` for backward compatibility, but
has been deprecated. New apps should use `shell_cmds_default`
instead.
For a handful of shell commands individual selection was already
possible. Those modules now depend on the corresponding `cmd_%` module
and they have been deprecated.
