Zephyr API Documentation 4.0.0-rc2
A Scalable Open Source RTOS
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can.h
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1/*
2 * Copyright (c) 2021 Vestas Wind Systems A/S
3 * Copyright (c) 2018 Karsten Koenig
4 * Copyright (c) 2018 Alexander Wachter
5 *
6 * SPDX-License-Identifier: Apache-2.0
7 */
8
14#ifndef ZEPHYR_INCLUDE_DRIVERS_CAN_H_
15#define ZEPHYR_INCLUDE_DRIVERS_CAN_H_
16
17#include <errno.h>
18
19#include <zephyr/types.h>
20#include <zephyr/device.h>
21#include <zephyr/kernel.h>
22#include <string.h>
23#include <zephyr/sys_clock.h>
24#include <zephyr/sys/util.h>
25
26#ifdef __cplusplus
27extern "C" {
28#endif
29
47#define CAN_STD_ID_MASK 0x7FFU
53#define CAN_MAX_STD_ID CAN_STD_ID_MASK __DEPRECATED_MACRO
57#define CAN_EXT_ID_MASK 0x1FFFFFFFU
63#define CAN_MAX_EXT_ID CAN_EXT_ID_MASK __DEPRECATED_MACRO
67#define CAN_MAX_DLC 8U
71#define CANFD_MAX_DLC 15U
72
77#ifndef CONFIG_CAN_FD_MODE
78#define CAN_MAX_DLEN 8U
79#else
80#define CAN_MAX_DLEN 64U
81#endif /* CONFIG_CAN_FD_MODE */
82
95#define CAN_MODE_NORMAL 0
96
98#define CAN_MODE_LOOPBACK BIT(0)
99
101#define CAN_MODE_LISTENONLY BIT(1)
102
104#define CAN_MODE_FD BIT(2)
105
107#define CAN_MODE_ONE_SHOT BIT(3)
108
110#define CAN_MODE_3_SAMPLES BIT(4)
111
113#define CAN_MODE_MANUAL_RECOVERY BIT(5)
114
126
142
151#define CAN_FRAME_IDE BIT(0)
152
154#define CAN_FRAME_RTR BIT(1)
155
157#define CAN_FRAME_FDF BIT(2)
158
160#define CAN_FRAME_BRS BIT(3)
161
165#define CAN_FRAME_ESI BIT(4)
166
172struct can_frame {
179#if defined(CONFIG_CAN_RX_TIMESTAMP) || defined(__DOXYGEN__)
188#else
191 uint16_t reserved;
193#endif
195 union {
197 uint8_t data[CAN_MAX_DLEN];
199 uint32_t data_32[DIV_ROUND_UP(CAN_MAX_DLEN, sizeof(uint32_t))];
200 };
201};
202
211#define CAN_FILTER_IDE BIT(0)
212
228
238
283
292typedef void (*can_tx_callback_t)(const struct device *dev, int error, void *user_data);
293
301typedef void (*can_rx_callback_t)(const struct device *dev, struct can_frame *frame,
302 void *user_data);
303
312typedef void (*can_state_change_callback_t)(const struct device *dev,
313 enum can_state state,
314 struct can_bus_err_cnt err_cnt,
315 void *user_data);
316
336#define CAN_CALC_TDCO(_timing_data, _tdco_min, _tdco_max) \
337 CLAMP((1U + _timing_data->prop_seg + _timing_data->phase_seg1) * _timing_data->prescaler, \
338 _tdco_min, _tdco_max)
339
346struct can_driver_config {
348 const struct device *phy;
350 uint32_t min_bitrate;
352 uint32_t max_bitrate;
354 uint32_t bitrate;
356 uint16_t sample_point;
357#ifdef CONFIG_CAN_FD_MODE
359 uint16_t sample_point_data;
361 uint32_t bitrate_data;
362#endif /* CONFIG_CAN_FD_MODE */
363};
364
372#define CAN_DT_DRIVER_CONFIG_GET(node_id, _min_bitrate, _max_bitrate) \
373 { \
374 .phy = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, phys)), \
375 .min_bitrate = DT_CAN_TRANSCEIVER_MIN_BITRATE(node_id, _min_bitrate), \
376 .max_bitrate = DT_CAN_TRANSCEIVER_MAX_BITRATE(node_id, _max_bitrate), \
377 .bitrate = DT_PROP_OR(node_id, bitrate, \
378 DT_PROP_OR(node_id, bus_speed, CONFIG_CAN_DEFAULT_BITRATE)), \
379 .sample_point = DT_PROP_OR(node_id, sample_point, 0), \
380 IF_ENABLED(CONFIG_CAN_FD_MODE, \
381 (.bitrate_data = DT_PROP_OR(node_id, bitrate_data, \
382 DT_PROP_OR(node_id, bus_speed_data, CONFIG_CAN_DEFAULT_BITRATE_DATA)), \
383 .sample_point_data = DT_PROP_OR(node_id, sample_point_data, 0),)) \
384 }
385
394#define CAN_DT_DRIVER_CONFIG_INST_GET(inst, _min_bitrate, _max_bitrate) \
395 CAN_DT_DRIVER_CONFIG_GET(DT_DRV_INST(inst), _min_bitrate, _max_bitrate)
396
403struct can_driver_data {
405 can_mode_t mode;
407 bool started;
409 can_state_change_callback_t state_change_cb;
411 void *state_change_cb_user_data;
412};
413
418typedef int (*can_set_timing_t)(const struct device *dev,
419 const struct can_timing *timing);
420
425typedef int (*can_set_timing_data_t)(const struct device *dev,
426 const struct can_timing *timing_data);
427
432typedef int (*can_get_capabilities_t)(const struct device *dev, can_mode_t *cap);
433
438typedef int (*can_start_t)(const struct device *dev);
439
444typedef int (*can_stop_t)(const struct device *dev);
445
450typedef int (*can_set_mode_t)(const struct device *dev, can_mode_t mode);
451
459typedef int (*can_send_t)(const struct device *dev,
460 const struct can_frame *frame,
461 k_timeout_t timeout, can_tx_callback_t callback,
462 void *user_data);
463
468typedef int (*can_add_rx_filter_t)(const struct device *dev,
469 can_rx_callback_t callback,
470 void *user_data,
471 const struct can_filter *filter);
472
477typedef void (*can_remove_rx_filter_t)(const struct device *dev, int filter_id);
478
483typedef int (*can_recover_t)(const struct device *dev, k_timeout_t timeout);
484
489typedef int (*can_get_state_t)(const struct device *dev, enum can_state *state,
490 struct can_bus_err_cnt *err_cnt);
491
496typedef void(*can_set_state_change_callback_t)(const struct device *dev,
498 void *user_data);
499
504typedef int (*can_get_core_clock_t)(const struct device *dev, uint32_t *rate);
505
510typedef int (*can_get_max_filters_t)(const struct device *dev, bool ide);
511
512__subsystem struct can_driver_api {
513 can_get_capabilities_t get_capabilities;
514 can_start_t start;
515 can_stop_t stop;
516 can_set_mode_t set_mode;
517 can_set_timing_t set_timing;
518 can_send_t send;
519 can_add_rx_filter_t add_rx_filter;
520 can_remove_rx_filter_t remove_rx_filter;
521#if defined(CONFIG_CAN_MANUAL_RECOVERY_MODE) || defined(__DOXYGEN__)
522 can_recover_t recover;
523#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */
524 can_get_state_t get_state;
525 can_set_state_change_callback_t set_state_change_callback;
526 can_get_core_clock_t get_core_clock;
527 can_get_max_filters_t get_max_filters;
528 /* Min values for the timing registers */
529 struct can_timing timing_min;
530 /* Max values for the timing registers */
531 struct can_timing timing_max;
532#if defined(CONFIG_CAN_FD_MODE) || defined(__DOXYGEN__)
533 can_set_timing_data_t set_timing_data;
534 /* Min values for the timing registers during the data phase */
535 struct can_timing timing_data_min;
536 /* Max values for the timing registers during the data phase */
537 struct can_timing timing_data_max;
538#endif /* CONFIG_CAN_FD_MODE */
539};
540
543#if defined(CONFIG_CAN_STATS) || defined(__DOXYGEN__)
544
545#include <zephyr/stats/stats.h>
546
550STATS_SECT_ENTRY32(bit_error)
551STATS_SECT_ENTRY32(bit0_error)
552STATS_SECT_ENTRY32(bit1_error)
553STATS_SECT_ENTRY32(stuff_error)
554STATS_SECT_ENTRY32(crc_error)
555STATS_SECT_ENTRY32(form_error)
556STATS_SECT_ENTRY32(ack_error)
557STATS_SECT_ENTRY32(rx_overrun)
559
561STATS_NAME(can, bit_error)
562STATS_NAME(can, bit0_error)
563STATS_NAME(can, bit1_error)
564STATS_NAME(can, stuff_error)
565STATS_NAME(can, crc_error)
566STATS_NAME(can, form_error)
567STATS_NAME(can, ack_error)
568STATS_NAME(can, rx_overrun)
569STATS_NAME_END(can);
570
581 struct stats_can stats;
582};
583
589#define Z_CAN_GET_STATS(dev_) \
590 CONTAINER_OF(dev_->state, struct can_device_state, devstate)->stats
591
610#define CAN_STATS_BIT_ERROR_INC(dev_) \
611 STATS_INC(Z_CAN_GET_STATS(dev_), bit_error)
612
624#define CAN_STATS_BIT0_ERROR_INC(dev_) \
625 do { \
626 STATS_INC(Z_CAN_GET_STATS(dev_), bit0_error); \
627 CAN_STATS_BIT_ERROR_INC(dev_); \
628 } while (0)
629
641#define CAN_STATS_BIT1_ERROR_INC(dev_) \
642 do { \
643 STATS_INC(Z_CAN_GET_STATS(dev_), bit1_error); \
644 CAN_STATS_BIT_ERROR_INC(dev_); \
645 } while (0)
646
655#define CAN_STATS_STUFF_ERROR_INC(dev_) \
656 STATS_INC(Z_CAN_GET_STATS(dev_), stuff_error)
657
666#define CAN_STATS_CRC_ERROR_INC(dev_) \
667 STATS_INC(Z_CAN_GET_STATS(dev_), crc_error)
668
677#define CAN_STATS_FORM_ERROR_INC(dev_) \
678 STATS_INC(Z_CAN_GET_STATS(dev_), form_error)
679
688#define CAN_STATS_ACK_ERROR_INC(dev_) \
689 STATS_INC(Z_CAN_GET_STATS(dev_), ack_error)
690
700#define CAN_STATS_RX_OVERRUN_INC(dev_) \
701 STATS_INC(Z_CAN_GET_STATS(dev_), rx_overrun)
702
711#define CAN_STATS_RESET(dev_) \
712 stats_reset(&(Z_CAN_GET_STATS(dev_).s_hdr))
713
719#define Z_CAN_DEVICE_STATE_DEFINE(dev_id) \
720 static struct can_device_state Z_DEVICE_STATE_NAME(dev_id) \
721 __attribute__((__section__(".z_devstate")))
722
729#define Z_CAN_INIT_FN(dev_id, init_fn) \
730 static inline int UTIL_CAT(dev_id, _init)(const struct device *dev) \
731 { \
732 struct can_device_state *state = \
733 CONTAINER_OF(dev->state, struct can_device_state, devstate); \
734 stats_init(&state->stats.s_hdr, STATS_SIZE_32, 8, \
735 STATS_NAME_INIT_PARMS(can)); \
736 stats_register(dev->name, &(state->stats.s_hdr)); \
737 if (!is_null_no_warn(init_fn)) { \
738 return init_fn(dev); \
739 } \
740 \
741 return 0; \
742 }
743
766#define CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level, \
767 prio, api, ...) \
768 Z_CAN_DEVICE_STATE_DEFINE(Z_DEVICE_DT_DEV_ID(node_id)); \
769 Z_CAN_INIT_FN(Z_DEVICE_DT_DEV_ID(node_id), init_fn) \
770 Z_DEVICE_DEFINE(node_id, Z_DEVICE_DT_DEV_ID(node_id), \
771 DEVICE_DT_NAME(node_id), \
772 &UTIL_CAT(Z_DEVICE_DT_DEV_ID(node_id), _init), \
773 pm, data, config, level, prio, api, \
774 &(Z_DEVICE_STATE_NAME(Z_DEVICE_DT_DEV_ID(node_id)).devstate), \
775 __VA_ARGS__)
776
777#else /* CONFIG_CAN_STATS */
778
779#define CAN_STATS_BIT_ERROR_INC(dev_)
780#define CAN_STATS_BIT0_ERROR_INC(dev_)
781#define CAN_STATS_BIT1_ERROR_INC(dev_)
782#define CAN_STATS_STUFF_ERROR_INC(dev_)
783#define CAN_STATS_CRC_ERROR_INC(dev_)
784#define CAN_STATS_FORM_ERROR_INC(dev_)
785#define CAN_STATS_ACK_ERROR_INC(dev_)
786#define CAN_STATS_RX_OVERRUN_INC(dev_)
787#define CAN_STATS_RESET(dev_)
788
789#define CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level, \
790 prio, api, ...) \
791 DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level, \
792 prio, api, __VA_ARGS__)
793
794#endif /* CONFIG_CAN_STATS */
795
803#define CAN_DEVICE_DT_INST_DEFINE(inst, ...) \
804 CAN_DEVICE_DT_DEFINE(DT_DRV_INST(inst), __VA_ARGS__)
805
824__syscall int can_get_core_clock(const struct device *dev, uint32_t *rate);
825
826static inline int z_impl_can_get_core_clock(const struct device *dev, uint32_t *rate)
827{
828 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
829
830 return api->get_core_clock(dev, rate);
831}
832
849__syscall uint32_t can_get_bitrate_min(const struct device *dev);
850
851static inline uint32_t z_impl_can_get_bitrate_min(const struct device *dev)
852{
853 const struct can_driver_config *common = (const struct can_driver_config *)dev->config;
854
855 return common->min_bitrate;
856}
857
880__deprecated static inline int can_get_min_bitrate(const struct device *dev, uint32_t *min_bitrate)
881{
882 *min_bitrate = can_get_bitrate_min(dev);
883
884 return 0;
885}
886
903__syscall uint32_t can_get_bitrate_max(const struct device *dev);
904
905static inline uint32_t z_impl_can_get_bitrate_max(const struct device *dev)
906{
907 const struct can_driver_config *common = (const struct can_driver_config *)dev->config;
908
909 return common->max_bitrate;
910}
911
934__deprecated static inline int can_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
935{
936 *max_bitrate = can_get_bitrate_max(dev);
937
938 return 0;
939}
940
948__syscall const struct can_timing *can_get_timing_min(const struct device *dev);
949
950static inline const struct can_timing *z_impl_can_get_timing_min(const struct device *dev)
951{
952 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
953
954 return &api->timing_min;
955}
956
964__syscall const struct can_timing *can_get_timing_max(const struct device *dev);
965
966static inline const struct can_timing *z_impl_can_get_timing_max(const struct device *dev)
967{
968 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
969
970 return &api->timing_max;
971}
972
999__syscall int can_calc_timing(const struct device *dev, struct can_timing *res,
1000 uint32_t bitrate, uint16_t sample_pnt);
1001
1015__syscall const struct can_timing *can_get_timing_data_min(const struct device *dev);
1016
1017#ifdef CONFIG_CAN_FD_MODE
1018static inline const struct can_timing *z_impl_can_get_timing_data_min(const struct device *dev)
1019{
1020 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1021
1022 return &api->timing_data_min;
1023}
1024#endif /* CONFIG_CAN_FD_MODE */
1025
1039__syscall const struct can_timing *can_get_timing_data_max(const struct device *dev);
1040
1041#ifdef CONFIG_CAN_FD_MODE
1042static inline const struct can_timing *z_impl_can_get_timing_data_max(const struct device *dev)
1043{
1044 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1045
1046 return &api->timing_data_max;
1047}
1048#endif /* CONFIG_CAN_FD_MODE */
1049
1070__syscall int can_calc_timing_data(const struct device *dev, struct can_timing *res,
1071 uint32_t bitrate, uint16_t sample_pnt);
1072
1090__syscall int can_set_timing_data(const struct device *dev,
1091 const struct can_timing *timing_data);
1092
1121__syscall int can_set_bitrate_data(const struct device *dev, uint32_t bitrate_data);
1122
1143__deprecated int can_calc_prescaler(const struct device *dev, struct can_timing *timing,
1144 uint32_t bitrate);
1145
1159__syscall int can_set_timing(const struct device *dev,
1160 const struct can_timing *timing);
1161
1175__syscall int can_get_capabilities(const struct device *dev, can_mode_t *cap);
1176
1177static inline int z_impl_can_get_capabilities(const struct device *dev, can_mode_t *cap)
1178{
1179 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1180
1181 return api->get_capabilities(dev, cap);
1182}
1183
1193__syscall const struct device *can_get_transceiver(const struct device *dev);
1194
1195static const struct device *z_impl_can_get_transceiver(const struct device *dev)
1196{
1197 const struct can_driver_config *common = (const struct can_driver_config *)dev->config;
1198
1199 return common->phy;
1200}
1201
1219__syscall int can_start(const struct device *dev);
1220
1221static inline int z_impl_can_start(const struct device *dev)
1222{
1223 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1224
1225 return api->start(dev);
1226}
1227
1243__syscall int can_stop(const struct device *dev);
1244
1245static inline int z_impl_can_stop(const struct device *dev)
1246{
1247 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1248
1249 return api->stop(dev);
1250}
1251
1262__syscall int can_set_mode(const struct device *dev, can_mode_t mode);
1263
1264static inline int z_impl_can_set_mode(const struct device *dev, can_mode_t mode)
1265{
1266 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1267
1268 return api->set_mode(dev, mode);
1269}
1270
1278__syscall can_mode_t can_get_mode(const struct device *dev);
1279
1280static inline can_mode_t z_impl_can_get_mode(const struct device *dev)
1281{
1282 const struct can_driver_data *common = (const struct can_driver_data *)dev->data;
1283
1284 return common->mode;
1285}
1286
1312__syscall int can_set_bitrate(const struct device *dev, uint32_t bitrate);
1313
1366__syscall int can_send(const struct device *dev, const struct can_frame *frame,
1367 k_timeout_t timeout, can_tx_callback_t callback,
1368 void *user_data);
1369
1401int can_add_rx_filter(const struct device *dev, can_rx_callback_t callback,
1402 void *user_data, const struct can_filter *filter);
1403
1414#define CAN_MSGQ_DEFINE(name, max_frames) \
1415 K_MSGQ_DEFINE(name, sizeof(struct can_frame), max_frames, 4)
1416
1443__syscall int can_add_rx_filter_msgq(const struct device *dev, struct k_msgq *msgq,
1444 const struct can_filter *filter);
1445
1455__syscall void can_remove_rx_filter(const struct device *dev, int filter_id);
1456
1457static inline void z_impl_can_remove_rx_filter(const struct device *dev, int filter_id)
1458{
1459 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1460
1461 api->remove_rx_filter(dev, filter_id);
1462}
1463
1477__syscall int can_get_max_filters(const struct device *dev, bool ide);
1478
1479static inline int z_impl_can_get_max_filters(const struct device *dev, bool ide)
1480{
1481 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1482
1483 if (api->get_max_filters == NULL) {
1484 return -ENOSYS;
1485 }
1486
1487 return api->get_max_filters(dev, ide);
1488}
1489
1511__syscall int can_get_state(const struct device *dev, enum can_state *state,
1512 struct can_bus_err_cnt *err_cnt);
1513
1514static inline int z_impl_can_get_state(const struct device *dev, enum can_state *state,
1515 struct can_bus_err_cnt *err_cnt)
1516{
1517 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1518
1519 return api->get_state(dev, state, err_cnt);
1520}
1521
1539__syscall int can_recover(const struct device *dev, k_timeout_t timeout);
1540
1541#ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE
1542static inline int z_impl_can_recover(const struct device *dev, k_timeout_t timeout)
1543{
1544 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1545
1546 if (api->recover == NULL) {
1547 return -ENOSYS;
1548 }
1549
1550 return api->recover(dev, timeout);
1551}
1552#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */
1553
1567static inline void can_set_state_change_callback(const struct device *dev,
1569 void *user_data)
1570{
1571 const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
1572
1573 api->set_state_change_callback(dev, callback, user_data);
1574}
1575
1596__syscall uint32_t can_stats_get_bit_errors(const struct device *dev);
1597
1598#ifdef CONFIG_CAN_STATS
1599static inline uint32_t z_impl_can_stats_get_bit_errors(const struct device *dev)
1600{
1601 return Z_CAN_GET_STATS(dev).bit_error;
1602}
1603#endif /* CONFIG_CAN_STATS */
1604
1619__syscall uint32_t can_stats_get_bit0_errors(const struct device *dev);
1620
1621#ifdef CONFIG_CAN_STATS
1622static inline uint32_t z_impl_can_stats_get_bit0_errors(const struct device *dev)
1623{
1624 return Z_CAN_GET_STATS(dev).bit0_error;
1625}
1626#endif /* CONFIG_CAN_STATS */
1627
1642__syscall uint32_t can_stats_get_bit1_errors(const struct device *dev);
1643
1644#ifdef CONFIG_CAN_STATS
1645static inline uint32_t z_impl_can_stats_get_bit1_errors(const struct device *dev)
1646{
1647 return Z_CAN_GET_STATS(dev).bit1_error;
1648}
1649#endif /* CONFIG_CAN_STATS */
1650
1663__syscall uint32_t can_stats_get_stuff_errors(const struct device *dev);
1664
1665#ifdef CONFIG_CAN_STATS
1666static inline uint32_t z_impl_can_stats_get_stuff_errors(const struct device *dev)
1667{
1668 return Z_CAN_GET_STATS(dev).stuff_error;
1669}
1670#endif /* CONFIG_CAN_STATS */
1671
1684__syscall uint32_t can_stats_get_crc_errors(const struct device *dev);
1685
1686#ifdef CONFIG_CAN_STATS
1687static inline uint32_t z_impl_can_stats_get_crc_errors(const struct device *dev)
1688{
1689 return Z_CAN_GET_STATS(dev).crc_error;
1690}
1691#endif /* CONFIG_CAN_STATS */
1692
1705__syscall uint32_t can_stats_get_form_errors(const struct device *dev);
1706
1707#ifdef CONFIG_CAN_STATS
1708static inline uint32_t z_impl_can_stats_get_form_errors(const struct device *dev)
1709{
1710 return Z_CAN_GET_STATS(dev).form_error;
1711}
1712#endif /* CONFIG_CAN_STATS */
1713
1726__syscall uint32_t can_stats_get_ack_errors(const struct device *dev);
1727
1728#ifdef CONFIG_CAN_STATS
1729static inline uint32_t z_impl_can_stats_get_ack_errors(const struct device *dev)
1730{
1731 return Z_CAN_GET_STATS(dev).ack_error;
1732}
1733#endif /* CONFIG_CAN_STATS */
1734
1748__syscall uint32_t can_stats_get_rx_overruns(const struct device *dev);
1749
1750#ifdef CONFIG_CAN_STATS
1751static inline uint32_t z_impl_can_stats_get_rx_overruns(const struct device *dev)
1752{
1753 return Z_CAN_GET_STATS(dev).rx_overrun;
1754}
1755#endif /* CONFIG_CAN_STATS */
1756
1773{
1774 static const uint8_t dlc_table[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 12,
1775 16, 20, 24, 32, 48, 64};
1776
1777 return dlc_table[MIN(dlc, ARRAY_SIZE(dlc_table) - 1)];
1778}
1779
1787static inline uint8_t can_bytes_to_dlc(uint8_t num_bytes)
1788{
1789 return num_bytes <= 8 ? num_bytes :
1790 num_bytes <= 12 ? 9 :
1791 num_bytes <= 16 ? 10 :
1792 num_bytes <= 20 ? 11 :
1793 num_bytes <= 24 ? 12 :
1794 num_bytes <= 32 ? 13 :
1795 num_bytes <= 48 ? 14 :
1796 15;
1797}
1798
1806static inline bool can_frame_matches_filter(const struct can_frame *frame,
1807 const struct can_filter *filter)
1808{
1809 if ((frame->flags & CAN_FRAME_IDE) != 0 && (filter->flags & CAN_FILTER_IDE) == 0) {
1810 /* Extended (29-bit) ID frame, standard (11-bit) filter */
1811 return false;
1812 }
1813
1814 if ((frame->flags & CAN_FRAME_IDE) == 0 && (filter->flags & CAN_FILTER_IDE) != 0) {
1815 /* Standard (11-bit) ID frame, extended (29-bit) filter */
1816 return false;
1817 }
1818
1819 if ((frame->id ^ filter->id) & filter->mask) {
1820 /* Masked ID mismatch */
1821 return false;
1822 }
1823
1824 return true;
1825}
1826
1833#ifdef __cplusplus
1834}
1835#endif
1836
1837#include <zephyr/syscalls/can.h>
1838
1839#endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_H_ */
System error numbers.
static ssize_t send(int sock, const void *buf, size_t len, int flags)
POSIX wrapper for zsock_send.
Definition socket.h:867
void(* can_state_change_callback_t)(const struct device *dev, enum can_state state, struct can_bus_err_cnt err_cnt, void *user_data)
Defines the state change callback handler function signature.
Definition can.h:312
int can_set_bitrate(const struct device *dev, uint32_t bitrate)
Set the bitrate of the CAN controller.
int can_set_bitrate_data(const struct device *dev, uint32_t bitrate_data)
Set the bitrate for the data phase of the CAN FD controller.
uint32_t can_mode_t
Provides a type to hold CAN controller configuration flags.
Definition can.h:125
uint32_t can_stats_get_stuff_errors(const struct device *dev)
Get the stuffing error counter for a CAN device.
int can_stop(const struct device *dev)
Stop the CAN controller.
int can_set_timing(const struct device *dev, const struct can_timing *timing)
Configure the bus timing of a CAN controller.
uint32_t can_get_bitrate_max(const struct device *dev)
Get maximum supported bitrate.
uint32_t can_stats_get_bit_errors(const struct device *dev)
Get the bit error counter for a CAN device.
uint32_t can_stats_get_crc_errors(const struct device *dev)
Get the CRC error counter for a CAN device.
uint32_t can_get_bitrate_min(const struct device *dev)
Get minimum supported bitrate.
int can_calc_timing_data(const struct device *dev, struct can_timing *res, uint32_t bitrate, uint16_t sample_pnt)
Calculate timing parameters for the data phase.
int can_send(const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
Queue a CAN frame for transmission on the CAN bus.
const struct can_timing * can_get_timing_data_max(const struct device *dev)
Get the maximum supported timing parameter values for the data phase.
int can_get_core_clock(const struct device *dev, uint32_t *rate)
Get the CAN core clock rate.
int can_get_capabilities(const struct device *dev, can_mode_t *cap)
Get the supported modes of the CAN controller.
uint32_t can_stats_get_bit1_errors(const struct device *dev)
Get the bit1 error counter for a CAN device.
uint32_t can_stats_get_ack_errors(const struct device *dev)
Get the acknowledge error counter for a CAN device.
int can_get_max_filters(const struct device *dev, bool ide)
Get maximum number of RX filters.
const struct can_timing * can_get_timing_min(const struct device *dev)
Get the minimum supported timing parameter values.
int can_set_timing_data(const struct device *dev, const struct can_timing *timing_data)
Configure the bus timing for the data phase of a CAN FD controller.
const struct can_timing * can_get_timing_data_min(const struct device *dev)
Get the minimum supported timing parameter values for the data phase.
uint32_t can_stats_get_bit0_errors(const struct device *dev)
Get the bit0 error counter for a CAN device.
int can_calc_prescaler(const struct device *dev, struct can_timing *timing, uint32_t bitrate)
Fill in the prescaler value for a given bitrate and timing.
void can_remove_rx_filter(const struct device *dev, int filter_id)
Remove a CAN RX filter.
static uint8_t can_bytes_to_dlc(uint8_t num_bytes)
Convert from number of bytes to Data Length Code (DLC)
Definition can.h:1787
uint32_t can_stats_get_rx_overruns(const struct device *dev)
Get the RX overrun counter for a CAN device.
#define CAN_FRAME_IDE
Frame uses extended (29-bit) CAN ID.
Definition can.h:151
static uint8_t can_dlc_to_bytes(uint8_t dlc)
Convert from Data Length Code (DLC) to the number of data bytes.
Definition can.h:1772
int can_add_rx_filter_msgq(const struct device *dev, struct k_msgq *msgq, const struct can_filter *filter)
Simple wrapper function for adding a message queue for a given filter.
void(* can_rx_callback_t)(const struct device *dev, struct can_frame *frame, void *user_data)
Defines the application callback handler function signature for receiving.
Definition can.h:301
static bool can_frame_matches_filter(const struct can_frame *frame, const struct can_filter *filter)
Check if a CAN frame matches a CAN filter.
Definition can.h:1806
void(* can_tx_callback_t)(const struct device *dev, int error, void *user_data)
Defines the application callback handler function signature.
Definition can.h:292
int can_get_state(const struct device *dev, enum can_state *state, struct can_bus_err_cnt *err_cnt)
Get current CAN controller state.
can_mode_t can_get_mode(const struct device *dev)
Get the operation mode of the CAN controller.
const struct can_timing * can_get_timing_max(const struct device *dev)
Get the maximum supported timing parameter values.
uint32_t can_stats_get_form_errors(const struct device *dev)
Get the form error counter for a CAN device.
int can_calc_timing(const struct device *dev, struct can_timing *res, uint32_t bitrate, uint16_t sample_pnt)
Calculate timing parameters from bitrate and sample point.
int can_recover(const struct device *dev, k_timeout_t timeout)
Recover from bus-off state.
can_state
Defines the state of the CAN controller.
Definition can.h:130
static void can_set_state_change_callback(const struct device *dev, can_state_change_callback_t callback, void *user_data)
Set a callback for CAN controller state change events.
Definition can.h:1567
static int can_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
Get maximum supported bitrate.
Definition can.h:934
const struct device * can_get_transceiver(const struct device *dev)
Get the CAN transceiver associated with the CAN controller.
int can_set_mode(const struct device *dev, can_mode_t mode)
Set the CAN controller to the given operation mode.
int can_start(const struct device *dev)
Start the CAN controller.
int can_add_rx_filter(const struct device *dev, can_rx_callback_t callback, void *user_data, const struct can_filter *filter)
Add a callback function for a given CAN filter.
static int can_get_min_bitrate(const struct device *dev, uint32_t *min_bitrate)
Get minimum supported bitrate.
Definition can.h:880
#define CAN_FILTER_IDE
Filter matches frames with extended (29-bit) CAN IDs.
Definition can.h:211
@ CAN_STATE_ERROR_ACTIVE
Error-active state (RX/TX error count < 96).
Definition can.h:132
@ CAN_STATE_ERROR_WARNING
Error-warning state (RX/TX error count < 128).
Definition can.h:134
@ CAN_STATE_STOPPED
CAN controller is stopped and does not participate in CAN communication.
Definition can.h:140
@ CAN_STATE_BUS_OFF
Bus-off state (RX/TX error count >= 256).
Definition can.h:138
@ CAN_STATE_ERROR_PASSIVE
Error-passive state (RX/TX error count < 256).
Definition can.h:136
#define MIN(a, b)
Obtain the minimum of two values.
Definition util.h:400
#define ARRAY_SIZE(array)
Number of elements in the given array.
Definition util.h:120
#define DIV_ROUND_UP(n, d)
Divide and round up.
Definition util.h:352
#define ENOSYS
Function not implemented.
Definition errno.h:82
Public kernel APIs.
state
Definition parser_state.h:29
Statistics.
#define STATS_NAME_END(name__)
Definition stats.h:391
#define STATS_NAME(name__, entry__)
Definition stats.h:390
#define STATS_SECT_END
Ends a stats group struct definition.
Definition stats.h:89
#define STATS_SECT_ENTRY32(var__)
Definition stats.h:359
#define STATS_NAME_START(name__)
Definition stats.h:389
#define STATS_SECT_START(group__)
Definition stats.h:354
__UINT32_TYPE__ uint32_t
Definition stdint.h:90
__UINT8_TYPE__ uint8_t
Definition stdint.h:88
__UINT16_TYPE__ uint16_t
Definition stdint.h:89
CAN controller error counters.
Definition can.h:232
uint8_t tx_err_cnt
Value of the CAN controller transmit error counter.
Definition can.h:234
uint8_t rx_err_cnt
Value of the CAN controller receive error counter.
Definition can.h:236
CAN specific device state which allows for CAN device class specific additions.
Definition can.h:577
struct device_state devstate
Common device state.
Definition can.h:579
struct stats_can stats
CAN device statistics.
Definition can.h:581
CAN filter structure.
Definition can.h:218
uint32_t mask
CAN identifier matching mask.
Definition can.h:224
uint8_t flags
Flags.
Definition can.h:226
uint32_t id
CAN identifier to match.
Definition can.h:220
CAN frame structure.
Definition can.h:172
uint8_t dlc
Data Length Code (DLC) indicating data length in bytes.
Definition can.h:176
uint8_t flags
Flags.
Definition can.h:178
uint32_t id
Standard (11-bit) or extended (29-bit) CAN identifier.
Definition can.h:174
uint8_t data[CAN_MAX_DLEN]
Payload data accessed as unsigned 8 bit values.
Definition can.h:197
uint32_t data_32[DIV_ROUND_UP(CAN_MAX_DLEN, sizeof(uint32_t))]
Payload data accessed as unsigned 32 bit values.
Definition can.h:199
uint16_t timestamp
Captured value of the free-running timer in the CAN controller when this frame was received.
Definition can.h:187
CAN bus timing structure.
Definition can.h:271
uint16_t sjw
Synchronisation jump width.
Definition can.h:273
uint16_t phase_seg2
Phase segment 2.
Definition can.h:279
uint16_t prescaler
Prescaler value.
Definition can.h:281
uint16_t phase_seg1
Phase segment 1.
Definition can.h:277
uint16_t prop_seg
Propagation segment.
Definition can.h:275
Runtime device dynamic structure (in RAM) per driver instance.
Definition device.h:380
Runtime device structure (in ROM) per driver instance.
Definition device.h:412
void * data
Address of the device instance private data.
Definition device.h:422
const void * api
Address of the API structure exposed by the device instance.
Definition device.h:418
const void * config
Address of device instance config information.
Definition device.h:416
Message Queue Structure.
Definition kernel.h:4503
Kernel timeout type.
Definition sys_clock.h:65
Misc utilities.
Variables needed for system clock.