115 lines
3.7 KiB
C
115 lines
3.7 KiB
C
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/****************************************************************************
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* apps/examples/canardv1/socketcan.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 SOCKETCAN_H_INCLUDED
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#define SOCKETCAN_H_INCLUDED
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#include <sys/time.h>
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#include <sys/socket.h>
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#include <nuttx/can.h>
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#include <netpacket/can.h>
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#include <canard.h>
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/****************************************************************************
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* Public Types
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****************************************************************************/
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typedef struct canardsocketinstance canardsocketinstance;
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typedef int fd_t;
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struct canardsocketinstance
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{
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fd_t s;
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bool can_fd;
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/* Send msg structure */
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struct iovec send_iov;
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struct canfd_frame send_frame;
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struct msghdr send_msg;
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struct cmsghdr *send_cmsg;
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struct timeval *send_tv; /* TX deadline timestamp */
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uint8_t send_control[sizeof(struct cmsghdr)
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+ sizeof(struct timeval)];
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/* Receive msg structure */
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struct iovec recv_iov;
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struct canfd_frame recv_frame;
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struct msghdr recv_msg;
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struct cmsghdr *recv_cmsg;
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uint8_t recv_control[sizeof(struct cmsghdr)
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+ sizeof(struct timeval)];
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/* Creates a SocketCAN socket for corresponding iface can_iface_name
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* Also sets up the message structures required for transmit and receive
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* can_fd determines to use CAN FD frame when is 1, and classical CAN
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* frame when is 0. The return value is 0 on succes and -1 on error
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*/
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int16_t socketcanopen(canardsocketinstance *ins,
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const char *const can_iface_name,
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const bool can_fd);
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/* Send a CanardFrame to the canardsocketinstance socket
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* This function is blocking
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* The return value is number of bytes transferred, negative value on error.
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*/
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int16_t socketcantransmit(canardsocketinstance *ins, const CanardFrame *txf);
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/* Receive a CanardFrame from the canardsocketinstance socket
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* This function is blocking
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* The return value is number of bytes received, negative value on error.
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*/
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int16_t socketcanreceive(canardsocketinstance *ins, CanardFrame *rxf);
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/* TODO implement ioctl for CAN filter */
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int16_t socketcanconfigurefilter(const fd_t fd, const size_t num_filters,
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const struct can_filter *filters);
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#ifdef __cplusplus
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}
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#endif
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#endif //SOCKETCAN_H_INCLUDED
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