311 lines
12 KiB
C
311 lines
12 KiB
C
/****************************************************************************
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* include/nuttx/can/can.h
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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_CAN_CAN_H
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#define __INCLUDE_NUTTX_CAN_CAN_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#ifdef CONFIG_CAN_TXREADY
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# include <nuttx/wqueue.h>
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#endif
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#include <queue.h>
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#ifdef CONFIG_NET_CAN
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Ioctl Commands ***********************************************************/
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/* Ioctl commands supported by the upper half CAN driver.
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*
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* CANIOC_RTR:
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* Description: Send the remote transmission request and wait for the
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* response.
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* Argument: A reference to struct canioc_rtr_s
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*
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* Ioctl commands that may or may not be supported by the lower half CAN
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* driver.
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*
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* CANIOC_ADD_STDFILTER:
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* Description: Add an address filter for a standard 11 bit address.
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* Argument: A reference to struct canioc_stdfilter_s
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* Returned Value: A non-negative filter ID is returned on success.
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* Otherwise -1 (ERROR) is returned with the errno
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* variable set to indicate the nature of the error.
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* Dependencies: None
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*
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* CANIOC_ADD_EXTFILTER:
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* Description: Add an address filter for a extended 29 bit address.
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* Argument: A reference to struct canioc_extfilter_s
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* Returned Value: A non-negative filter ID is returned on success.
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* Otherwise -1 (ERROR) is returned with the errno
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* variable set to indicate the nature of the error.
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* Dependencies: Requires CONFIG_CAN_EXTID=y
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*
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* CANIOC_DEL_STDFILTER:
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* Description: Remove an address filter for a standard 11 bit address.
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* Argument: The filter index previously returned by the
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* CANIOC_ADD_STDFILTER command
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_DEL_EXTFILTER:
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* Description: Remove an address filter for a standard 29 bit address.
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* Argument: The filter index previously returned by the
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* CANIOC_ADD_EXTFILTER command
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: Requires CONFIG_CAN_EXTID=y
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*
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* CANIOC_GET_BITTIMING:
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* Description: Return the current bit timing settings
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* Argument: A pointer to a write-able instance of struct
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* canioc_bittiming_s in which current bit timing values
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* will be returned.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_SET_BITTIMING:
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* Description: Set new current bit timing values
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* Argument: A pointer to a read-able instance of struct
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* canioc_bittiming_s in which the new bit timing values
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* are provided.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_GET_CONNMODES:
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* Description: Get the current bus connection modes
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* Argument: A pointer to a write-able instance of struct
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* canioc_connmodes_s in which the new bus modes will be
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* returned.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_SET_CONNMODES:
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* Description: Set new bus connection modes values
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* Argument: A pointer to a read-able instance of struct
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* canioc_connmodes_s in which the new bus modes are
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* provided.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*
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* CANIOC_BUSOFF_RECOVERY:
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* Description: Initiates the BUS-OFF recovery sequence
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* Argument: None
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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* Dependencies: None
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*/
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#define CANIOC_RTR _CANIOC(1)
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#define CANIOC_GET_BITTIMING _CANIOC(2)
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#define CANIOC_SET_BITTIMING _CANIOC(3)
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#define CANIOC_ADD_STDFILTER _CANIOC(4)
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#define CANIOC_ADD_EXTFILTER _CANIOC(5)
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#define CANIOC_DEL_STDFILTER _CANIOC(6)
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#define CANIOC_DEL_EXTFILTER _CANIOC(7)
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#define CANIOC_GET_CONNMODES _CANIOC(8)
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#define CANIOC_SET_CONNMODES _CANIOC(9)
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#define CANIOC_BUSOFF_RECOVERY _CANIOC(10)
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#define CAN_FIRST 0x0001 /* First common command */
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#define CAN_NCMDS 10 /* Ten common commands */
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/* User defined ioctl commands are also supported. These will be forwarded
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* by the upper-half CAN driver to the lower-half CAN driver via the
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* co_ioctl() method fo the CAN lower-half interface.
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* However, the lower-half driver must reserve a block of commands as follows
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* in order prevent IOCTL command numbers from overlapping.
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*
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* This is generally done as follows. The first reservation for CAN driver A
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* would look like:
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*
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* CAN_A_FIRST (CAN_FIRST + CAN_NCMDS) <- First command
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* CAN_A_NCMDS 42 <- Number of commands
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*
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* IOCTL commands for CAN driver A would then be defined in a CAN A header
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* file like:
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*
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* CANIOC_A_CMD1 _CANIOC(CAN_A_FIRST+0)
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* CANIOC_A_CMD2 _CANIOC(CAN_A_FIRST+1)
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* CANIOC_A_CMD3 _CANIOC(CAN_A_FIRST+2)
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* ...
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* CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41)
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*
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* The next reservation would look like:
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*
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* CAN_B_FIRST (CAN_A_FIRST + CAN_A_NCMDS) <- Next command
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* CAN_B_NCMDS 77 <- Number of commands
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*/
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/* CAN payload length and DLC definitions according to ISO 11898-1 */
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#define CAN_MAX_DLC 8
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#define CAN_MAX_DLEN 8
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/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
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#define CANFD_MAX_DLC 15
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#define CANFD_MAX_DLEN 64
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/* Defined bits for canfd_frame.flags
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*
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* The use of struct canfd_frame implies the Extended Data Length (EDL) bit
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* to be set in the CAN frame bitstream on the wire. The EDL bit switch turns
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* the CAN controllers bitstream processor into the CAN FD mode which creates
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* two new options within the CAN FD frame specification:
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*
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* Bit Rate Switch - to indicate a second bitrate is/was used for the payload
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* Error State Indicator - represents the error state of the transmitting
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* node
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*
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* As the CANFD_ESI bit is internally generated by the transmitting CAN
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* controller only the CANFD_BRS bit is relevant for real CAN controllers
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* when building a CAN FD frame for transmission. Setting the CANFD_ESI bit
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* can make sense for virtual CAN interfaces to test applications with echoed
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* frames.
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*/
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#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
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#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
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#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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typedef FAR void *CAN_HANDLE;
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struct can_response_s
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{
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sq_entry_t flink;
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/* Message-specific data may follow */
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}; /* FIXME remove */
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typedef uint32_t canid_t;
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/* Controller Area Network Error Message Frame Mask structure
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*
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* bit 0-28 : error class mask (see include/uapi/linux/can/error.h)
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* bit 29-31 : set to zero
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*/
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typedef uint32_t can_err_mask_t;
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/* struct can_frame - basic CAN frame structure
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* can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
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* can_dlc: frame payload length in byte (0 .. 8) aka data length code
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* N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1
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* mapping of the 'data length code' to the real payload length
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* __pad: padding
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* __res0: reserved / padding
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* __res1: reserved / padding
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* data: CAN frame payload (up to 8 byte)
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*/
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struct can_frame
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{
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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uint8_t can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
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uint8_t __pad; /* padding */
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uint8_t __res0; /* reserved / padding */
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uint8_t __res1; /* reserved / padding */
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uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
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};
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/* struct canfd_frame - CAN flexible data rate frame structure
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* can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
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* len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
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* flags: additional flags for CAN FD
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* __res0: reserved / padding
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* __res1: reserved / padding
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* data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
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*/
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struct canfd_frame
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{
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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uint8_t len; /* frame payload length in byte */
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uint8_t flags; /* additional flags for CAN FD */
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uint8_t __res0; /* reserved / padding */
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uint8_t __res1; /* reserved / padding */
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uint8_t data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
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};
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/* struct can_filter - CAN ID based filter in can_register().
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* can_id: relevant bits of CAN ID which are not masked out.
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* can_mask: CAN mask (see description)
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*
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* Description:
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* A filter matches, when
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*
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* <received_can_id> & mask == can_id & mask
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*
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* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
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* filter for error message frames (CAN_ERR_FLAG bit set in mask).
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*/
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struct can_filter
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{
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canid_t can_id;
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canid_t can_mask;
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};
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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 /* CONFIG_CAN */
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#endif /* __INCLUDE_NUTTX_CAN_CAN_H */
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