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 elopes
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/*
* Copyright (C) 2016 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for
* more details.
*/
/**
* @defgroup drivers_candev CAN device driver interface
* @ingroup drivers_can
* @brief Definitions for low-level CAN driver interface
* @{
*
* This is the CAN controller generic driver interface
*
* @file
* @brief Definitions for low-level CAN driver interface
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Toon Stegen <toon.stegen@altran.com>
*/
#ifndef CAN_CANDEV_H
#define CAN_CANDEV_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdlib.h>
#include "can/can.h"
#include "can/common.h"
#include "mutex.h"
/**
* @brief Possible event types that are sent from the device driver to the
* upper layer
*/
typedef enum {
CANDEV_EVENT_NOEVENT, /**< no event, used internally */
CANDEV_EVENT_ISR, /**< driver needs its ISR handled */
CANDEV_EVENT_WAKE_UP, /**< driver has been woken up by bus */
CANDEV_EVENT_TX_CONFIRMATION, /**< a packet has been sent */
CANDEV_EVENT_TIMEOUT_TX_CONF, /**< tx conf timeout received */
CANDEV_EVENT_RX_INDICATION, /**< a packet has been received */
CANDEV_EVENT_TX_ERROR, /**< there was an error when transmitting */
CANDEV_EVENT_RX_ERROR, /**< there was an error when receiving */
CANDEV_EVENT_BUS_OFF, /**< bus-off detected */
CANDEV_EVENT_ERROR_PASSIVE, /**< driver switched in error passive */
CANDEV_EVENT_ERROR_WARNING, /**< driver reached error warning */
/* expand this list if needed */
} candev_event_t;
/**
* @brief Forward declaration for candev struct
*/
typedef struct candev candev_t;
/**
* @brief Event callback for signaling event to upper layers
*
* @param[in] dev CAN device descriptor
* @param[in] type type of the event
* @param[in] arg event argument
*/
typedef void (*candev_event_cb_t)(candev_t *dev, candev_event_t event, void *arg);
/**
* @brief Structure to hold driver state
*
* Supposed to be extended by driver implementations.
* The extended structure should contain all variable driver state.
*/
struct candev {
const struct candev_driver *driver; /**< ptr to that driver's interface. */
candev_event_cb_t event_callback; /**< callback for device events */
void *isr_arg; /**< argument to pass on isr event */
struct can_bittiming bittiming; /**< device bittimings */
enum can_state state; /**< device state */
};
/**
* @brief Structure to hold driver interface -> function mapping
*/
typedef struct candev_driver {
/**
* @brief Send packet
*
* @param[in] dev CAN device descriptor
* @param[in] frame CAN frame to send
*
* @return < 0 on error
* @return mailbox id >= 0 if OK
*/
int (*send)(candev_t *dev, const struct can_frame *frame);
/**
* @brief Abort a packet sending
*
* @param[in] dev CAN device descriptor
* @param[in] frame CAN frame to abort
*
* @return < 0 on error
* @return 0 on OK
*/
int (*abort)(candev_t *dev, const struct can_frame *frame);
/**
* @brief the driver's initialization function
*
* @param[in] dev CAN device descriptor
*
* @return < 0 on error, 0 on success
*/
int (*init)(candev_t *dev);
/**
* @brief a driver's user-space ISR handler
*
* @param[in] dev CAN device descriptor
*/
void (*isr)(candev_t *dev);
/**
* @brief Get an option value from a given CAN device
*
* @param[in] dev CAN device descriptor
* @param[in] opt option type
* @param[out] value pointer to store the option's value in
* @param[in] max_len maximal amount of byte that fit into @p value
*
* @return number of bytes written to @p value
* @return <0 on error
*/
int (*get)(candev_t *dev, canopt_t opt, void *value, size_t max_len);
/**
* @brief Set an option value for a given CAN device
*
* @param[in] dev CAN device descriptor
* @param[in] opt option type
* @param[in] value value to set
* @param[in] value_len the length of @p value
*
* @return number of bytes used from @p value
* @return <0 on error
*/
int (*set)(candev_t *dev, canopt_t opt, void *value, size_t value_len);
/**
* @brief Set a receive @p filter
*
* @param[in] dev CAN device descriptor
* @param[in] filter filter to set
*
* @return a positive filter number
* @return <0 on error
*/
int (*set_filter)(candev_t *dev, const struct can_filter *filter);
/**
* @brief Remove a @p filter
*
* @param[in] dev CAN device descriptor
* @param[in] filter filter to remove
*
* @return 0 on success
* @return <0 on error
*/
int (*remove_filter)(candev_t *dev, const struct can_filter *filter);
} candev_driver_t;
#ifdef __cplusplus
}
#endif
#endif /* CAN_CANDEV_H */
/** @} */
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