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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 sys_can_dll Data Link Layer
* @ingroup sys_can
* @brief CAN Data Link Layer
*
* The Data Link Layer is composed of the device, router, pkt and dll files.
* It can be used to send and receive raw CAN frames through multiple CAN
* controllers.
* @{
*
* @file
* @brief Definitions high-level CAN interface
*
* @author Vincent Dupont <vincent@otakeys.com>
* @author Toon Stegen <toon.stegen@altran.com>
*/
#ifndef CAN_CAN_H
#define CAN_CAN_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#if defined(__linux__)
#include <linux/can.h>
#include <libsocketcan.h>
#else
/**
* @brief Max data length for a CAN frame
*/
#define CAN_MAX_DLEN (8)
/**
* @name CAN_ID flags and masks
* @{
*/
/* special address description flags for the CAN_ID */
#define CAN_EFF_FLAG (0x80000000U) /**< EFF/SFF is set in the MSB */
#define CAN_RTR_FLAG (0x40000000U) /**< remote transmission request */
#define CAN_ERR_FLAG (0x20000000U) /**< error message frame */
/* valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK (0x000007FFU) /**< standard frame format (SFF) */
#define CAN_EFF_MASK (0x1FFFFFFFU) /**< extended frame format (EFF) */
#define CAN_ERR_MASK (0x1FFFFFFFU) /**< omit EFF, RTR, ERR flags */
/** @} */
/**
* @brief CAN operational and error states
*/
enum can_state {
CAN_STATE_ERROR_ACTIVE = 0, /**< RX/TX error count < 96 */
CAN_STATE_ERROR_WARNING, /**< RX/TX error count < 128 */
CAN_STATE_ERROR_PASSIVE, /**< RX/TX error count < 256 */
CAN_STATE_BUS_OFF, /**< RX/TX error count >= 256 */
CAN_STATE_STOPPED, /**< Device is stopped */
CAN_STATE_SLEEPING, /**< Device is sleeping */
CAN_STATE_MAX
};
/**
* @brief Controller Area Network Identifier structure
*
* bit 0-28 : CAN identifier (11/29 bit) right aligned for 11 bit
* bit 29 : error message frame flag (0 = data frame, 1 = error message)
* bit 30 : remote transmission request flag (1 = rtr frame)
* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
*/
typedef uint32_t canid_t;
/**
* @brief Controller Area Network frame
*/
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 */
/** Frame data */
uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
};
/**
* @brief Controller Area Network filter
*/
struct can_filter {
canid_t can_id; /**< CAN ID */
canid_t can_mask; /**< Mask */
};
/**
* @brief CAN bit-timing parameters
*
* For further information, please read chapter "8 BIT TIMING
* REQUIREMENTS" of the "Bosch CAN Specification version 2.0"
* at http://www.semiconductors.bosch.de/pdf/can2spec.pdf.
*/
struct can_bittiming {
uint32_t bitrate; /**< Bit-rate in bits/second */
uint32_t sample_point; /**< Sample point in one-tenth of a percent */
uint32_t tq; /**< Time quanta (TQ) in nanoseconds */
uint32_t prop_seg; /**< Propagation segment in TQs */
uint32_t phase_seg1; /**< Phase buffer segment 1 in TQs */
uint32_t phase_seg2; /**< Phase buffer segment 2 in TQs */
uint32_t sjw; /**< Synchronisation jump width in TQs */
uint32_t brp; /**< Bit-rate prescaler */
};
/**
* @brief CAN hardware-dependent bit-timing constant
*
* Used for calculating and checking bit-timing parameters
*/
struct can_bittiming_const {
uint32_t tseg1_min; /**< Time segment 1 = prop_seg + phase_seg1, min value */
uint32_t tseg1_max; /**< Time segment 1, max value */
uint32_t tseg2_min; /**< Time segment 2 = phase_seg2, min value */
uint32_t tseg2_max; /**< Time segment 2, max value */
uint32_t sjw_max; /**< Synchronisation jump width */
uint32_t brp_min; /**< Bit-rate prescaler, min value */
uint32_t brp_max; /**< Bit-rate prescaler, max value */
uint32_t brp_inc; /**< Bit-rate prescaler, increment */
};
#endif /* defined(__linux__) */
#ifdef __cplusplus
}
#endif
#endif /* CAN_CAN_H */
/** @} */
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