/**************************************************************************** * net/can/can.h * * Licensed to the Apache Software Foundation (ASF) under one or more * contributor license agreements. See the NOTICE file distributed with * this work for additional information regarding copyright ownership. The * ASF licenses this file to you under the Apache License, Version 2.0 (the * "License"); you may not use this file except in compliance with the * License. You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the * License for the specific language governing permissions and limitations * under the License. * ****************************************************************************/ #ifndef __NET_CAN_CAN_H #define __NET_CAN_CAN_H /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include "devif/devif.h" #include "socket/socket.h" #ifdef CONFIG_NET_CAN_NOTIFIER # include #endif #ifdef CONFIG_NET_CAN /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Allocate a new packet socket data callback */ #define can_callback_alloc(dev,conn) \ devif_callback_alloc(dev, &conn->sconn.list, &conn->sconn.list_tail) #define can_callback_free(dev,conn,cb) \ devif_conn_callback_free(dev, cb, &conn->sconn.list, &conn->sconn.list_tail) /**************************************************************************** * Public Type Definitions ****************************************************************************/ /* This is a container that holds the poll-related information */ struct can_poll_s { FAR struct socket *psock; /* Needed to handle loss of connection */ FAR struct net_driver_s *dev; /* Needed to free the callback structure */ struct pollfd *fds; /* Needed to handle poll events */ FAR struct devif_callback_s *cb; /* Needed to teardown the poll */ }; /* This "connection" structure describes the underlying state of the socket */ struct can_conn_s { /* Common prologue of all connection structures. */ struct socket_conn_s sconn; FAR struct net_driver_s *dev; /* Reference to CAN device */ /* Read-ahead buffering. * * readahead - A singly linked list of type struct iob_qentry_s * where the CAN/IP read-ahead data is retained. */ struct iob_queue_s readahead; /* remove Read-ahead buffering */ /* CAN-specific content follows */ uint8_t protocol; /* Selected CAN protocol */ int16_t crefs; /* Reference count */ /* The following is a list of poll structures of threads waiting for * socket events. */ struct can_poll_s pollinfo[4]; /* FIXME make dynamic */ #ifdef CONFIG_NET_CANPROTO_OPTIONS int32_t loopback; int32_t recv_own_msgs; #ifdef CONFIG_NET_CAN_CANFD int32_t fd_frames; #endif struct can_filter filters[CONFIG_NET_CAN_RAW_FILTER_MAX]; int32_t filter_count; # ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE int32_t tx_deadline; # endif #endif #ifdef CONFIG_NET_TIMESTAMP FAR struct socket *psock; /* Needed to get SO_TIMESTAMP value */ #endif }; /**************************************************************************** * Public Data ****************************************************************************/ #ifdef __cplusplus # define EXTERN extern "C" extern "C" { #else # define EXTERN extern #endif EXTERN const struct sock_intf_s g_can_sockif; /**************************************************************************** * Public Function Prototypes ****************************************************************************/ struct sockaddr_can; /* Forward reference */ /**************************************************************************** * Name: can_initialize() * * Description: * Initialize the NetLink connection structures. Called once and only * from the networking layer. * ****************************************************************************/ void can_initialize(void); /**************************************************************************** * Name: can_alloc() * * Description: * Allocate a new, uninitialized NetLink connection structure. This is * normally something done by the implementation of the socket() API * ****************************************************************************/ FAR struct can_conn_s *can_alloc(void); /**************************************************************************** * Name: can_free() * * Description: * Free a NetLink connection structure that is no longer in use. This * should be done by the implementation of close(). * ****************************************************************************/ void can_free(FAR struct can_conn_s *conn); /**************************************************************************** * Name: can_nextconn() * * Description: * Traverse the list of allocated NetLink connections * * Assumptions: * This function is called from NetLink device logic. * ****************************************************************************/ FAR struct can_conn_s *can_nextconn(FAR struct can_conn_s *conn); /**************************************************************************** * Name: can_callback * * Description: * Inform the application holding the packet socket of a change in state. * * Returned Value: * OK if packet has been processed, otherwise ERROR. * * Assumptions: * This function is called from network logic at with the network locked. * ****************************************************************************/ uint16_t can_callback(FAR struct net_driver_s *dev, FAR struct can_conn_s *conn, uint16_t flags); /**************************************************************************** * Name: can_datahandler * * Description: * Handle data that is not accepted by the application. This may be called * either (1) from the data receive logic if it cannot buffer the data, or * (2) from the CAN event logic is there is no listener in place ready to * receive the data. * * Input Parameters: * conn - A pointer to the CAN connection structure * buffer - A pointer to the buffer to be copied to the read-ahead * buffers * buflen - The number of bytes to copy to the read-ahead buffer. * * Returned Value: * The number of bytes actually buffered is returned. This will be either * zero or equal to buflen; partial packets are not buffered. * * Assumptions: * - The caller has checked that CAN_NEWDATA is set in flags and that is no * other handler available to process the incoming data. * - Called from network stack logic with the network stack locked * ****************************************************************************/ uint16_t can_datahandler(FAR struct can_conn_s *conn, FAR uint8_t *buffer, uint16_t buflen); /**************************************************************************** * Name: can_recvmsg * * Description: * recvmsg() receives messages from a socket, and may be used to receive * data on a socket whether or not it is connection-oriented. * * If from is not NULL, and the underlying protocol provides the source * address, this source address is filled in. The argument 'msg_namelen' * initialized to the size of the buffer associated with from, and modified * on return to indicate the actual size of the address stored there. * * Input Parameters: * psock A pointer to a NuttX-specific, internal socket structure * msg Buffer to receive the message * flags Receive flags (ignored) * ****************************************************************************/ ssize_t can_recvmsg(FAR struct socket *psock, FAR struct msghdr *msg, int flags); /**************************************************************************** * Name: can_poll * * Description: * Poll a CAN connection structure for availability of TX data * * Input Parameters: * dev - The device driver structure to use in the send operation * conn - The CAN "connection" to poll for TX data * * Returned Value: * None * * Assumptions: * Called from network stack logic with the network stack locked * ****************************************************************************/ void can_poll(FAR struct net_driver_s *dev, FAR struct can_conn_s *conn); /**************************************************************************** * Name: can_sendmsg * * Description: * The can_sendmsg() call may be used only when the packet socket is * in a connected state (so that the intended recipient is known). * * Input Parameters: * psock An instance of the internal socket structure. * msg CAN frame and optional CMSG * flags Send flags (ignored) * * Returned Value: * On success, returns the number of characters sent. On error, * a negated errno value is retruend. See sendmsg() for the complete list * of return values. * ****************************************************************************/ ssize_t can_sendmsg(FAR struct socket *psock, FAR struct msghdr *msg, int flags); /**************************************************************************** * Name: can_readahead_signal * * Description: * Read-ahead data has been buffered. Signal all threads waiting for * read-ahead data to become available. * * When read-ahead data becomes available, *all* of the workers waiting * for read-ahead data will be executed. If there are multiple workers * waiting for read-ahead data then only the first to execute will get the * data. Others will need to call can_readahead_notifier_setup() once * again. * * Input Parameters: * conn - The CAN connection where read-ahead data was just buffered. * * Returned Value: * None. * ****************************************************************************/ #ifdef CONFIG_NET_CAN_NOTIFIER void can_readahead_signal(FAR struct can_conn_s *conn); #endif /**************************************************************************** * Name: can_setsockopt * * Description: * can_setsockopt() sets the CAN-protocol option specified by the * 'option' argument to the value pointed to by the 'value' argument for * the socket specified by the 'psock' argument. * * See for the a complete list of values of CAN protocol * options. * * Input Parameters: * psock Socket structure of socket to operate on * option identifies the option to set * value Points to the argument value * value_len The length of the argument value * * Returned Value: * Returns zero (OK) on success. On failure, it returns a negated errno * value to indicate the nature of the error. See psock_setcockopt() for * the list of possible error values. * ****************************************************************************/ #ifdef CONFIG_NET_CANPROTO_OPTIONS int can_setsockopt(FAR struct socket *psock, int option, FAR const void *value, socklen_t value_len); #endif /**************************************************************************** * Name: can_getsockopt * * Description: * can_getsockopt() retrieves the value for the option specified by the * 'option' argument for the socket specified by the 'psock' argument. If * the size of the option value is greater than 'value_len', the value * stored in the object pointed to by the 'value' argument will be silently * truncated. Otherwise, the length pointed to by the 'value_len' argument * will be modified to indicate the actual length of the 'value'. * * See a complete list of values for the socket-level * 'option' argument. Protocol-specific options are are protocol specific * header files (such as netpacket/can.h for the case of the CAN protocol). * * Input Parameters: * psock Socket structure of the socket to query * level Protocol level to set the option * option identifies the option to get * value Points to the argument value * value_len The length of the argument value * * Returned Value: * Returns zero (OK) on success. On failure, it returns a negated errno * value to indicate the nature of the error. See psock_getsockopt() for * the complete list of appropriate return error codes. * ****************************************************************************/ #ifdef CONFIG_NET_CANPROTO_OPTIONS int can_getsockopt(FAR struct socket *psock, int option, FAR void *value, FAR socklen_t *value_len); #endif #undef EXTERN #ifdef __cplusplus } #endif #endif /* CONFIG_NET_CAN */ #endif /* __NET_CAN_CAN_H */