a752c7ab
 elopes
add first test an...
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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_conn Connection
* @ingroup sys_can
* @brief conn interface for CAN stack
*
* This is the user interface to send and receive raw CAN frames or ISO-TP datagrams
*
* @{
*
* @file
* @brief Definitions of generic CAN interface
*
* @author Vincent Dupont <vincent@otakeys.com>
*
*/
#ifndef CAN_CONN_RAW_H
#define CAN_CONN_RAW_H
#ifdef __cplusplus
extern "C" {
#endif
#include "can/can.h"
#include "can/raw.h"
#include "mbox.h"
#ifndef CONN_CAN_RAW_MBOX_SIZE
/**
* @brief Mailbox size of a conn_can_raw_t
*/
#define CONN_CAN_RAW_MBOX_SIZE (16)
#endif
/**
* @name flags values
* @{
*/
#define CONN_CAN_DONTWAIT (1) /**< Do not wait for Tx confirmation when sending */
#define CONN_CAN_RECVONLY (2) /**< Do not send anything on the bus */
/** @} */
/**
* @brief RAW CAN connection
*/
typedef struct conn_can_raw {
int ifnum; /**< Interface number of the can device */
int flags; /**< Config flags for that conn object */
size_t count; /**< number of filters set */
struct can_filter *filter; /**< list of filter */
mbox_t mbox; /**< mbox */
/**
* message queue
*/
msg_t mbox_queue[CONN_CAN_RAW_MBOX_SIZE];
} conn_can_raw_t;
/**
* @brief Create can connection socket
*
* @param[inout] conn CAN connection
* @param[in] filter list of filters to set
* @param[in] count number of filters in @p filter
* @param[in] ifnum can device Interface
* @param[in] flags conn flags to set (CONN_CAN_RECVONLY)
*
* @post @p filter must remain allocated until @p conn is closed
*
* @return 0 if socket was successfully connected
* @return any other negative number in case of an error
*/
int conn_can_raw_create(conn_can_raw_t *conn, struct can_filter *filter, size_t count,
int ifnum, int flags);
/**
* @brief Close can connection socket
*
* @param[in] conn CAN connection
*
* @return 0 if conn is closed correctly
* @return any other negative number in case of an error.
*/
int conn_can_raw_close(conn_can_raw_t *conn);
/**
* @brief Generic can receive
*
* @param[in] conn CAN connection
* @param[out] frame CAN frame to receive
* @param[in] timeout timeout in us, 0 for infinite
*
* @return the number of bytes received
* @return any other negative number in case of an error
*/
int conn_can_raw_recv(conn_can_raw_t *conn, struct can_frame *frame, uint32_t timeout);
/**
* @brief Generic can send
*
* @param[in] conn CAN connection
* @param[in] frame frame to send
* @param[in] flags make function blocked or not
* (CONN_CAN_DONTWAIT to ignore tx confirmation)
*
* @return the number of bytes sent
* @return any other negative number in case of an error
*/
int conn_can_raw_send(conn_can_raw_t *conn, const struct can_frame *frame, int flags);
/**
* @brief Set raw CAN filters
*
* If filters were already set for this connection, it first unsets the previous filters
* and sets the new ones.
*
* @param[in] conn CAN connection
* @param[in] filter list of filters to set
* @param[in] count number of filters in @p filter
*
* @pre previously set filters must be allocated until the end of the call
* @post @p filter must remain allocated until @p conn is closed or
* conn_can_raw_set_filter() is called
*
* @return 0 if can filters were successfully set
* @return any other negative number in case of an error
*/
int conn_can_raw_set_filter(conn_can_raw_t *conn, struct can_filter *filter, size_t count);
#ifdef __cplusplus
}
#endif
#endif /* CAN_CONN_RAW_H */
/** @} */
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