From a987379e6465259a542f644e6e69139d206e67b9 Mon Sep 17 00:00:00 2001
From: Gregory Nutt <gnutt@nuttx.org>
Date: Tue, 18 Aug 2015 07:27:00 -0600
Subject: [PATCH] Add an error bit to the CAN message report

---
 ChangeLog           |  7 +++++++
 arch                |  2 +-
 configs             |  2 +-
 include/nuttx/can.h | 47 +++++++++++++++++++++++++++++----------------
 4 files changed, 39 insertions(+), 19 deletions(-)

diff --git a/ChangeLog b/ChangeLog
index cf068fc4b6..26df765f87 100755
--- a/ChangeLog
+++ b/ChangeLog
@@ -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).
+
diff --git a/arch b/arch
index 73a9e0dba2..ec44a171ff 160000
--- a/arch
+++ b/arch
@@ -1 +1 @@
-Subproject commit 73a9e0dba2656ef8976c80910df503424d764fe8
+Subproject commit ec44a171ffae60b88acd5457461c9d86ff9c4500
diff --git a/configs b/configs
index 24588fc10a..e140ddc5f4 160000
--- a/configs
+++ b/configs
@@ -1 +1 @@
-Subproject commit 24588fc10ae08f68c7dead477a7ad625b028679e
+Subproject commit e140ddc5f4568a55f2f2410bf0c5e61e9abe897e
diff --git a/include/nuttx/can.h b/include/nuttx/can.h
index 68945c5e1e..c077485ac6 100644
--- a/include/nuttx/can.h
+++ b/include/nuttx/can.h
@@ -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