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Add an error bit to the CAN message report

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This commit is contained in:
Gregory Nutt 2015-08-18 07:27:00 -06:00
parent 42fc5a9198
commit a987379e64
4 changed files with 39 additions and 19 deletions
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7
ChangeLog
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@ -10833,3 +10833,10 @@
(2015-08-14).
* Network drivers. Fix bug in tun interface driver. From Max
Neklyudov (2015-08-17).
* STM32: Added definitions for STM32F303K6, STM32F303K8, STM32F303C6,
STM32F303C8, STM32F303RD, and STM32F303RE devices. From Paul
Alexander Patience (2015-08-17).
* include/nuttx/can.h and all CAN drivers: Add an error indication
bit to the CAN message report. This indication must then be cleared
in all existing drivers. More to come (2015-08-18).

2
arch

@ -1 +1 @@
Subproject commit 73a9e0dba2656ef8976c80910df503424d764fe8
Subproject commit ec44a171ffae60b88acd5457461c9d86ff9c4500

2
configs

@ -1 +1 @@
Subproject commit 24588fc10ae08f68c7dead477a7ad625b028679e
Subproject commit e140ddc5f4568a55f2f2410bf0c5e61e9abe897e

47
include/nuttx/can.h
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@ -196,24 +196,34 @@
* One based CAN-message is represented with a maximum of 10 bytes. A message is
* composed of at least the first 2 bytes (when there are no data bytes present).
*
* Bytes 0-1: Hold a 16-bit value in host byte order
* Bits 0-3: Data Length Code (DLC)
* Bit 4: Remote Transmission Request (RTR)
* Bits 5-15: The 11-bit CAN identifier
*
* Bytes 2-9: CAN data
* Bytes 0-1: Bits 0-3: Data Length Code (DLC)
* Bit 4: Remote Transmission Request (RTR)
* Bit 5: 1=Message ID is a bit-encoded error report (See NOTE)
* Bits 6-7: Unused
* Bytes 1-2: Bits 0-10: The 11-bit CAN identifier This message ID is a bit
* encoded error set if ch_error is set (See NOTE).
* Bits 11-15: Unused
* Bytes 3-10: CAN data
*
* CAN-message Format (with Extended ID support)
*
* 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 Transmission Request (RTR)
* Bit 5: Extended ID indication
* Bits 6-7: Unused
* Bytes 5-12: CAN data
* Bytes 0-3: Bits 0-28: Hold 11- or 29-bit CAN ID in host byte order. This
* message ID is a bit encoded error set if ch_error
* is set (See NOTE).
* Bits 29-31: Unused
* Byte 4: Bits 0-3: Data Length Code (DLC)
* Bit 4: Remote Transmission Request (RTR)
* Bit 5: 1=Message ID is a bit-encoded error report (See NOTE)
* Bit 6: Extended ID indication
* Bit 7: Unused
* Bytes 5-12: CAN data Size determined by DLC
*
* NOTE: The error indication if valid only on message reports received from the
* CAN driver; it is ignored on transmission. When the error bit is set, the
* message ID is an encoded set of error indications (see CAN_ERROR_* definitions).
*
* 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
@ -224,18 +234,21 @@
#ifdef CONFIG_CAN_EXTID
struct can_hdr_s
{
uint32_t ch_id; /* 11- or 29-bit ID (3-bits unused) */
uint32_t ch_id; /* 11- or 29-bit ID (20- or 3-bits unused) */
uint8_t ch_dlc : 4; /* 4-bit DLC */
uint8_t ch_rtr : 1; /* RTR indication */
uint8_t ch_error : 1; /* 1=ch_id is an error report */
uint8_t ch_extid : 1; /* Extended ID indication */
uint8_t ch_unused : 2; /* Unused */
uint8_t ch_unused : 1; /* Unused */
} packed_struct;
#else
struct can_hdr_s
{
uint16_t ch_dlc : 4; /* 4-bit DLC. May be encoded in CAN_FD mode. */
uint16_t ch_rtr : 1; /* RTR indication */
uint16_t ch_id : 11; /* 11-bit standard ID */
uint16_t ch_id; /* 11-bit standard ID (5-bits unused) */
uint8_t ch_dlc : 4; /* 4-bit DLC. May be encoded in CAN_FD mode. */
uint8_t ch_rtr : 1; /* RTR indication */
uint8_t ch_error : 1; /* 1=ch_id is an error report */
uint8_t ch_unused : 2; /* Unused */
} packed_struct;
#endif