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nuttx/include/nuttx/can.h
Peter van der Perk 55d9e5f7af net: Add SocketCAN support
2020-06-15 08:07:19 -06:00

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/************************************************************************************
* include/nuttx/can/can.h
*
* Copyright (C) 2008, 2009, 2011-2012, 2015-2017, 2019 Gregory Nutt. All rights
* reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __INCLUDE_NUTTX_CAN_CAN_H
#define __INCLUDE_NUTTX_CAN_CAN_H
/************************************************************************************
* Included Files
************************************************************************************/
#ifdef CONFIG_CAN_TXREADY
# include <nuttx/wqueue.h>
#endif
#include <queue.h>
#ifdef CONFIG_NET_CAN
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Ioctl Commands *******************************************************************/
/* Ioctl commands supported by the upper half CAN driver.
*
* CANIOC_RTR:
* Description: Send the remote transmission request and wait for the response.
* Argument: A reference to struct canioc_rtr_s
*
* Ioctl commands that may or may not be supported by the lower half CAN driver.
*
* CANIOC_ADD_STDFILTER:
* Description: Add an address filter for a standard 11 bit address.
* Argument: A reference to struct canioc_stdfilter_s
* Returned Value: A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* variable set to indicate the nature of the error.
* Dependencies: None
*
* CANIOC_ADD_EXTFILTER:
* Description: Add an address filter for a extended 29 bit address.
* Argument: A reference to struct canioc_extfilter_s
* Returned Value: A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* variable set to indicate the nature of the error.
* Dependencies: Requires CONFIG_CAN_EXTID=y
*
* CANIOC_DEL_STDFILTER:
* Description: Remove an address filter for a standard 11 bit address.
* Argument: The filter index previously returned by the
* CANIOC_ADD_STDFILTER command
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_DEL_EXTFILTER:
* Description: Remove an address filter for a standard 29 bit address.
* Argument: The filter index previously returned by the
* CANIOC_ADD_EXTFILTER command
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: Requires CONFIG_CAN_EXTID=y
*
* CANIOC_GET_BITTIMING:
* Description: Return the current bit timing settings
* Argument: A pointer to a write-able instance of struct
* canioc_bittiming_s in which current bit timing values
* will be returned.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_SET_BITTIMING:
* Description: Set new current bit timing values
* Argument: A pointer to a read-able instance of struct
* canioc_bittiming_s in which the new bit timing values
* are provided.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_GET_CONNMODES:
* Description: Get the current bus connection modes
* Argument: A pointer to a write-able instance of struct
* canioc_connmodes_s in which the new bus modes will be returned.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_SET_CONNMODES:
* Description: Set new bus connection modes values
* Argument: A pointer to a read-able instance of struct
* canioc_connmodes_s in which the new bus modes are provided.
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*
* CANIOC_BUSOFF_RECOVERY:
* Description: Initiates the BUS-OFF recovery sequence
* Argument: None
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
* Dependencies: None
*/
#define CANIOC_RTR _CANIOC(1)
#define CANIOC_GET_BITTIMING _CANIOC(2)
#define CANIOC_SET_BITTIMING _CANIOC(3)
#define CANIOC_ADD_STDFILTER _CANIOC(4)
#define CANIOC_ADD_EXTFILTER _CANIOC(5)
#define CANIOC_DEL_STDFILTER _CANIOC(6)
#define CANIOC_DEL_EXTFILTER _CANIOC(7)
#define CANIOC_GET_CONNMODES _CANIOC(8)
#define CANIOC_SET_CONNMODES _CANIOC(9)
#define CANIOC_BUSOFF_RECOVERY _CANIOC(10)
#define CAN_FIRST 0x0001 /* First common command */
#define CAN_NCMDS 10 /* Ten common commands */
/* User defined ioctl commands are also supported. These will be forwarded
* by the upper-half CAN driver to the lower-half CAN driver via the co_ioctl()
* method fo the CAN lower-half interface. However, the lower-half driver
* must reserve a block of commands as follows in order prevent IOCTL
* command numbers from overlapping.
*
* This is generally done as follows. The first reservation for CAN driver A would
* look like:
*
* CAN_A_FIRST (CAN_FIRST + CAN_NCMDS) <- First command
* CAN_A_NCMDS 42 <- Number of commands
*
* IOCTL commands for CAN driver A would then be defined in a CAN A header file like:
*
* CANIOC_A_CMD1 _CANIOC(CAN_A_FIRST+0)
* CANIOC_A_CMD2 _CANIOC(CAN_A_FIRST+1)
* CANIOC_A_CMD3 _CANIOC(CAN_A_FIRST+2)
* ...
* CANIOC_A_CMD42 _CANIOC(CAN_A_FIRST+41)
*
* The next reservation would look like:
*
* CAN_B_FIRST (CAN_A_FIRST + CAN_A_NCMDS) <- Next command
* CAN_B_NCMDS 77 <- Number of commands
*/
/* CAN payload length and DLC definitions according to ISO 11898-1 */
#define CAN_MAX_DLC 8
#define CAN_MAX_DLEN 8
/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
#define CANFD_MAX_DLC 15
#define CANFD_MAX_DLEN 64
/* Defined bits for canfd_frame.flags
*
* The use of struct canfd_frame implies the Extended Data Length (EDL) bit to
* be set in the CAN frame bitstream on the wire. The EDL bit switch turns
* the CAN controllers bitstream processor into the CAN FD mode which creates
* two new options within the CAN FD frame specification:
*
* Bit Rate Switch - to indicate a second bitrate is/was used for the payload
* Error State Indicator - represents the error state of the transmitting node
*
* As the CANFD_ESI bit is internally generated by the transmitting CAN
* controller only the CANFD_BRS bit is relevant for real CAN controllers when
* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
* sense for virtual CAN interfaces to test applications with echoed frames.
*/
#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
/************************************************************************************
* Public Types
************************************************************************************/
typedef FAR void *CAN_HANDLE;
struct can_response_s
{
sq_entry_t flink;
/* Message-specific data may follow */
}; /* FIXME remove */
typedef uint32_t canid_t;
/* Controller Area Network Error Message Frame Mask structure
*
* bit 0-28 : error class mask (see include/uapi/linux/can/error.h)
* bit 29-31 : set to zero
*/
typedef uint32_t can_err_mask_t;
/* struct can_frame - basic CAN frame structure
* can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
* can_dlc: frame payload length in byte (0 .. 8) aka data length code
* N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1
* mapping of the 'data length code' to the real payload length
* __pad: padding
* __res0: reserved / padding
* __res1: reserved / padding
* data: CAN frame payload (up to 8 byte)
*/
struct can_frame
{
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
uint8_t can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
uint8_t __pad; /* padding */
uint8_t __res0; /* reserved / padding */
uint8_t __res1; /* reserved / padding */
uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
};
/* struct canfd_frame - CAN flexible data rate frame structure
* can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
* len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
* flags: additional flags for CAN FD
* __res0: reserved / padding
* __res1: reserved / padding
* data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
*/
struct canfd_frame
{
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
uint8_t len; /* frame payload length in byte */
uint8_t flags; /* additional flags for CAN FD */
uint8_t __res0; /* reserved / padding */
uint8_t __res1; /* reserved / padding */
uint8_t data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
};
/* struct can_filter - CAN ID based filter in can_register().
* can_id: relevant bits of CAN ID which are not masked out.
* can_mask: CAN mask (see description)
*
* Description:
* A filter matches, when
*
* <received_can_id> & mask == can_id & mask
*
* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
* filter for error message frames (CAN_ERR_FLAG bit set in mask).
*/
struct can_filter
{
canid_t can_id;
canid_t can_mask;
};
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* CONFIG_CAN */
#endif /* __INCLUDE_NUTTX_CAN_CAN_H */
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