154 lines
6.5 KiB
C
154 lines
6.5 KiB
C
/****************************************************************************
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* include/nuttx/lin.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_LIN_H
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#define __INCLUDE_NUTTX_LIN_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/can.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define LIN_ID_BITS 6
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#define LIN_ID_MASK ((1 << LIN_ID_BITS) - 1)
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#define LIN_ID_MAX LIN_ID_MASK
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#define LIN_CTRL_FRAME CAN_EFF_FLAG
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/* When slave response to master, slave node should send frame immediately
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* which already be cached in last transmission in case of response interval
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* over time;
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*/
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#define LIN_CACHE_RESPONSE (1 << (LIN_ID_BITS))
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/* LIN checksum have two types, default type will be classic checksum */
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#define LIN_CHECKSUM_EXTENDED (1 << (LIN_ID_BITS + 1))
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/* Cache LIN frame only work once. then will be clear */
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#define LIN_SINGLE_RESPONSE (1 << (LIN_ID_BITS + 2))
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/* LIN Error Indications ****************************************************/
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/* LIN_ERR_FLAG: Used to distinguish it from ordinary frames.
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* The error frame consists of err_flag、err_class(defined in data[0])
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* and err_reason(defined in data[1] to data[4]).
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* The error frame is described using the following structure:
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* struct can_frame {
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* canid_t can_id;
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* uint8_t can_dlc;
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* uint8_t __pad;
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* uint8_t __res0;
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* uint8_t __res1;
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* uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
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* };
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*
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* Error frame description format：
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*
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* | can_id | xxx | data[0] | data[1] | data[2] | data[3] | data[4] |
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* | | |
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* \|/ \|/ \|/
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* ERR_FLAG(bit29） ERR_CLASS ERR_REASON
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*
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* ERR_FLAG : Indicates that the frame is an error frame,
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* define in bit 29 of can_id(CAN_ERR_FLAG) in can_frame.
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* ERR_CLASS : Indicate at what stage or where the error occurred,
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* define in data[0] in can_frame.
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* ERR_REASON ：Indicate the error reson(timeout,error in the frame, etc.),
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* define in data[0] ~ data[4] in can_frame.
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*/
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#define LIN_ERR_FLAG CAN_ERR_FLAG /* The flag indicate this is LIN err_frame */
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/* ERR_CLASS in data[0] */
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#define LIN_ERR_UNSPEC 0x00 /* Unspecified error */
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#define LIN_ERR_TX (1 << 0) /* Bit 0: TX error (see LIN_ERR_TX_* definitions) */
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#define LIN_ERR_RX (1 << 1) /* Bit 1: RX error (see LIN_ERR_RX_* definitions) */
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#define LIN_ERR_BUS (1 << 2) /* Bit 2: Bus reasons make frame error (see LIN_ERR_BUS_* definitions) */
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#define LIN_ERR_CRTL (1 << 3) /* Bit 3: Controller error (see LIN_ERR_Controller_* definitions) */
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/* ERR_REASON in data[1]...DATA[4] */
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/* Data[1] tx error */
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#define LIN_ERR_TX_UNSPEC 0x00 /* Unspecified error */
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#define LIN_ERR_TX_BREAK_TMO (1 << 0) /* Bit 0: Master send break field, but detect break event timeout */
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#define LIN_ERR_TX_SYNC_TMO (1 << 1) /* Bit 1: Master send sync timeout (receive back timeout) */
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#define LIN_ERR_TX_PID_TMO (1 << 2) /* Bit 2: Master send pid timeout (receive back timeout) */
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#define LIN_ERR_TX_DATA_TMO (1 << 3) /* Bit 3: Master/slave send data timeout (receive back timeout) */
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#define LIN_ERR_TX_CHECKSUM_TMO (1 << 4) /* Bit 4: Master/slave send checksum timeout(receive back timeout) */
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/* Data[2] rx error */
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#define LIN_ERR_RX_UNSPEC 0x00 /* Unspecified error */
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#define LIN_ERR_RX_NO_RESPONSE (1 << 0) /* Bit 0: Prepared to receive response, but no response received */
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#define LIN_ERR_RX_RESPONSE (1 << 1) /* Bit 1: Receive incomplete response */
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#define LIN_ERR_RX_CKSUM_TMO (1 << 2) /* Bit 2: Response data received, receive checksum timeout */
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#define LIN_ERR_RX_CKSUM (1 << 3) /* Bit 3: Received error checksum */
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#define LIN_ERR_RX_SYNC_TMO (1 << 4) /* Bit 4: Slave receive sync timeout */
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#define LIN_ERR_RX_SYNC (1 << 5) /* Bit 5: Received error sync byte */
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#define LIN_ERR_RX_PID_TMO (1 << 6) /* Bit 6: Receive pid timeout after a sync field */
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#define LIN_ERR_RX_PID_PARITY (1 << 7) /* Bit 7: Pid parity error */
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/* Data[3] bus reasons make frame error */
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#define LIN_ERR_BUS_UNSPEC 0x00 /* Unspecified error */
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#define LIN_ERR_BUS_PID (1 << 0) /* Bit 0: Pid received back is not equal to the pid sent */
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#define LIN_ERR_BUS_TXCKSUM (1 << 1) /* Bit 1: Checksum received back is not equal to checksum sent */
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#define LIN_ERR_BUS_SYNC (1 << 2) /* Bit 2: Master send sync, but receive back sync is not 0x55 */
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#define LIN_ERR_BUS_DATA (1 << 3) /* Bit 3: Data received back is not equal to the data sent */
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/* Data[4] error status of LIN-controller */
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#define LIN_ERR_CRTL_UNSPEC 0x00 /* Unspecified error */
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#define LIN_ERR_CRTL_RXOVERFLOW (1 << 0) /* Hardware controller receive overflow */
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#define LIN_ERR_CTRL_FRAMEERROR (1 << 1) /* Hardware controller frame error */
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __INCLUDE_NUTTX_LIN_H */
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