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* @file
* Real-Time Driver Model for RT-Socket-CAN, CAN device profile header
*
* @note Copyright (C) 2006 Wolfgang Grandegger <wg@grandegger.com>
*
* @note Copyright (C) 2005, 2006 Sebastian Smolorz
* <Sebastian.Smolorz@stud.uni-hannover.de>
*
* This RTDM CAN device profile header is based on:
*
* include/linux/can.h, include/linux/socket.h, net/can/pf_can.h in
* linux-can.patch, a CAN socket framework for Linux
*
* Copyright (C) 2004, 2005,
* Robert Schwebel, Benedikt Spranger, Marc Kleine-Budde, Pengutronix
*
* This program is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* @ingroup rtcan
*/
/*!
* @ingroup profiles
* @defgroup rtcan CAN Devices
*
* This is the common interface a RTDM-compliant CAN device has to provide.
* Feel free to report bugs and comments on this profile to the "Socketcan"
* mailing list (Socketcan-core@lists.berlios.de) or directly to the authors
* (wg@grandegger.com or Sebastian.Smolorz@stud.uni-hannover.de).
*
* @b Profile @b Revision: 2
* @n
* @n
* @par Device Characteristics
* @n
* @ref rtdm_device.device_flags "Device Flags": @c RTDM_PROTOCOL_DEVICE @n
* @n
* @ref rtdm_device.protocol_family "Protocol Family": @c PF_CAN @n
* @n
* @ref rtdm_device.socket_type "Socket Type": @c SOCK_RAW @n
* @n
* @ref rtdm_device.device_class "Device Class": @c RTDM_CLASS_CAN @n
* @n
*
* @par Supported Operations
* @n
* @b Socket @n
* Environments: non-RT (RT optional, deprecated)@n
* @n
* Specific return values:
* - -EPROTONOSUPPORT (Protocol is not supported by the driver.
* See @ref CAN_PROTO "CAN protocols"
* for possible protocols.)
* .
* @n
* @n
* @b Close @n
* Blocking calls to any of the @ref Send or @ref Recv "Receive" functions
* will be unblocked when the socket is closed and return with an error. @n
* @n
* Environments: non-RT (RT optional, deprecated)@n
* @n
* Specific return values: none @n
* @n
* @n
* @b IOCTL @n
* Mandatory Environments: see @ref CANIOCTLs "below" @n
* Specific return values: see @ref CANIOCTLs "below" @n
* @n
* @n
* @anchor Bind
* @b Bind @n
* Binds a socket to one or all CAN devices (see struct sockaddr_can). If
* a filter list has been defined with setsockopt (see @ref Sockopts),
* it will be used upon reception of CAN frames to decide whether the
* bound socket will receive a frame. If no filter has been defined, the
* socket will receive @b all CAN frames on the specified interface(s). @n
* @n
* Binding to special interface index @c 0 will make the socket receive
* CAN frames from all CAN interfaces. @n
* @n
* Binding to an interface index is also relevant for the @ref Send functions
* because they will transmit a message over the interface the socket is
* bound to when no socket address is given to them. @n
* @n
* @n
* Environments: non-RT (RT optional)@n
* @n
* Specific return values:
* - -EFAULT (It was not possible to access user space memory area at the
* specified address.)
* - -ENOMEM (Not enough memory to fulfill the operation)
* - -EINVAL (Invalid address family, or invalid length of address structure)
* - -ENODEV (Invalid CAN interface index)
* - -ENOSPC (No enough space for filter list)
* - -EBADF (Socket is about to be closed)
* - -EAGAIN (Too many receivers. Old binding (if any) is still active.
* Close some sockets and try again.)
* .
* @n
* @n
* @anchor Sockopts
* <b>Setsockopt, Getsockopt</b>@n
* These functions allow to set and get various socket options. Currently,
* only CAN raw sockets are supported. @n
* @n
* Supported Levels and Options:
* @n
* - Level @b SOL_CAN_RAW : CAN RAW protocol (see @ref CAN_RAW)
* - Option @ref CAN_RAW_FILTER : CAN filter list
* - Option @ref CAN_RAW_ERR_FILTER : CAN error mask
* - Option @ref CAN_RAW_LOOPBACK : CAN TX loopback to local sockets
* .
* .
* @n
* Environments: non-RT (RT optional)@n
* Specific return values: see links to options above. @n
* @n
* @n
* @anchor Recv
* <b>Recv, Recvfrom, Recvmsg</b> @n
* These functions receive CAN messages from a socket. Only one
* message per call can be received, so only one buffer with the correct length
* must be passed. For @c SOCK_RAW, this is the size of struct can_frame. @n
* @n
* Unlike a call to one of the @ref Send functions, a Recv function will not
* return with an error if an interface is down (due to bus-off or setting
* of stop mode) or in sleep mode. Moreover, in such a case there may still
* be some CAN messages in the socket buffer which could be read out
* successfully. @n
* @n
* It is possible to receive a high precision timestamp with every CAN
* message. The condition is a former instruction to the socket via
* @ref RTCAN_RTIOC_TAKE_TIMESTAMP. The timestamp will be copied to the
* @c msg_control buffer of <TT>struct msghdr</TT> if it points to a valid
* memory location with size of @ref nanosecs_abs_t. If this
* is a NULL pointer the timestamp will be discarded silently. @n
* @n
* @b Note: A @c msg_controllen of @c 0 upon completion of the function call
* indicates that no timestamp is available for that message.
* @n
* @n
* Supported Flags [in]:
* - MSG_DONTWAIT (By setting this flag the operation will only succeed if
* it would not block, i.e. if there is a message in the
* socket buffer. This flag takes precedence over a timeout
* specified by @ref RTCAN_RTIOC_RCV_TIMEOUT.)
* - MSG_PEEK (Receive a message but leave it in the socket buffer. The
* next receive operation will get that message again.)
* .
* @n
* Supported Flags [out]: none @n
* @n
* Environments: RT (non-RT optional)@n
* @n
* Specific return values:
* - Non-negative value (Indicating the successful reception of a CAN message.
* For @c SOCK_RAW, this is the size of struct can_frame regardless of
* the actual size of the payload.)
* - -EFAULT (It was not possible to access user space memory area at one
* of the specified addresses.)
* - -EINVAL (Unsupported flag detected, or invalid length of socket address
* buffer, or invalid length of message control buffer)
* - -EMSGSIZE (Zero or more than one iovec buffer passed, or buffer too
* small)
* - -EAGAIN (No data available in non-blocking mode)
* - -EBADF (Socket was closed.)
* - -EINTR (Operation was interrupted explicitly or by signal.)
* - -ETIMEDOUT (Timeout)
* .
* @n
* @n
* @anchor Send
* <b>Send, Sendto, Sendmsg</b> @n
* These functions send out CAN messages. Only one message per call can
* be transmitted, so only one buffer with the correct length must be passed.
* For @c SOCK_RAW, this is the size of struct can_frame. @n
* @n
* The following only applies to @c SOCK_RAW: If a socket address of
* struct sockaddr_can is given, only @c can_ifindex is used. It is also
* possible to omit the socket address. Then the interface the socket is
* bound to will be used for sending messages. @n
* @n
* If an interface goes down (due to bus-off or setting of stop mode) all
* senders that were blocked on this interface will be woken up. @n
* @n
* @n
* Supported Flags:
* - MSG_DONTWAIT (By setting this flag the transmit operation will only
* succeed if it would not block. This flag takes precedence
* over a timeout specified by @ref RTCAN_RTIOC_SND_TIMEOUT.)
* .
* Environments: RT (non-RT optional)@n
* @n
* Specific return values:
* - Non-negative value equal to given buffer size (Indicating the
* successful completion of the function call. See also note.)
* - -EOPNOTSUPP (MSG_OOB flag is not supported.)
* - -EINVAL (Unsupported flag detected @e or: Invalid length of socket
* address @e or: Invalid address family @e or: Data length code
* of CAN frame not between 0 and 15 @e or: CAN standard frame has
* got an ID not between 0 and 2031)
* - -EMSGSIZE (Zero or more than one buffer passed or invalid size of buffer)
* - -EFAULT (It was not possible to access user space memory area at one
* of the specified addresses.)
* - -ENXIO (Invalid CAN interface index - @c 0 is not allowed here - or
* socket not bound or rather bound to all interfaces.)
* - -ENETDOWN (Controller is bus-off or in stopped state.)
* - -ECOMM (Controller is sleeping)
* - -EAGAIN (Cannot transmit without blocking but a non-blocking
* call was requested.)
* - -EINTR (Operation was interrupted explicitly or by signal)
* - -EBADF (Socket was closed.)
* - -ETIMEDOUT (Timeout)
* .
* @b Note: A successful completion of the function call does not implicate a
* successful transmission of the message.
*
* @{
*/
#ifndef _RTCAN_H
#define _RTCAN_H
#ifdef __KERNEL__
#include <linux/net.h>
#include <linux/socket.h>
#include <linux/if.h>
#else /* !__KERNEL__ */
#include <net/if.h>
#endif /* !__KERNEL__ */
#include <rtdm/rtdm.h>
#define RTCAN_PROFILE_VER 2
#ifndef AF_CAN
/** CAN address family */
#define AF_CAN 29
/** CAN protocol family */
#define PF_CAN AF_CAN
#endif
/** CAN socket levels
*
* Used for @ref Sockopts for the particular protocols.
*/
#define SOL_CAN_RAW 103
/** Type of CAN id (see @ref CAN_xxx_MASK and @ref CAN_xxx_FLAG) */
typedef uint32_t can_id_t;
typedef uint32_t canid_t;
/** Type of CAN error mask */
typedef can_id_t can_err_mask_t;
/*!
* @anchor CAN_xxx_MASK @name CAN ID masks
* Bit masks for masking CAN IDs
* @{ */
/** Bit mask for extended CAN IDs */
#define CAN_EFF_MASK 0x1FFFFFFF
/** Bit mask for standard CAN IDs */
#define CAN_SFF_MASK 0x000007FF
/** @} */
/*!
* @anchor CAN_xxx_FLAG @name CAN ID flags
* Flags within a CAN ID indicating special CAN frame attributes
* @{ */
/** Extended frame */
#define CAN_EFF_FLAG 0x80000000
/** Remote transmission frame */
#define CAN_RTR_FLAG 0x40000000
/** Error frame (see @ref Errors), not valid in struct can_filter */
#define CAN_ERR_FLAG 0x20000000
/** Invert CAN filter definition, only valid in struct can_filter */
#define CAN_INV_FILTER CAN_ERR_FLAG
/** @} */
/*!
* @anchor CAN_PROTO @name Particular CAN protocols
* Possible protocols for the PF_CAN protocol family
*
* Currently only the RAW protocol is supported.
* @{ */
/** Raw protocol of @c PF_CAN, applicable to socket type @c SOCK_RAW */
#define CAN_RAW 1
/** @} */
#define CAN_BAUDRATE_UNKNOWN ((uint32_t)-1)
#define CAN_BAUDRATE_UNCONFIGURED 0
/**
* Baudrate definition in bits per second
*/
typedef uint32_t can_baudrate_t;
/**
* Supported CAN bit-time types
*/
enum CAN_BITTIME_TYPE {
/** Standard bit-time definition according to Bosch */
CAN_BITTIME_STD,
/** Hardware-specific BTR bit-time definition */
CAN_BITTIME_BTR
};
/**
* See @ref CAN_BITTIME_TYPE
*/
typedef enum CAN_BITTIME_TYPE can_bittime_type_t;
/**
* Standard bit-time parameters according to Bosch
*/
struct can_bittime_std {
uint32_t brp; /**< Baud rate prescaler */
uint8_t prop_seg; /**< from 1 to 8 */
uint8_t phase_seg1; /**< from 1 to 8 */
uint8_t phase_seg2; /**< from 1 to 8 */
uint8_t sjw:7; /**< from 1 to 4 */
uint8_t sam:1; /**< 1 - enable triple sampling */
};
/**
* Hardware-specific BTR bit-times
*/
struct can_bittime_btr {
uint8_t btr0; /**< Bus timing register 0 */
uint8_t btr1; /**< Bus timing register 1 */
};
/**
* Custom CAN bit-time definition
*/
struct can_bittime {
/** Type of bit-time definition */
can_bittime_type_t type;
union {
/** Standard bit-time */
struct can_bittime_std std;
/** Hardware-spcific BTR bit-time */
struct can_bittime_btr btr;
};
};
/*!
* @anchor CAN_MODE @name CAN operation modes
* Modes into which CAN controllers can be set
* @{ */
enum CAN_MODE {
/*! Set controller in Stop mode (no reception / transmission possible) */
CAN_MODE_STOP = 0,
/*! Set controller into normal operation. @n
* Coming from stopped mode or bus off, the controller begins with no
* errors in @ref CAN_STATE_ACTIVE. */
CAN_MODE_START,
/*! Set controller into Sleep mode. @n
* This is only possible if the controller is not stopped or bus-off. @n
* Notice that sleep mode will only be entered when there is no bus
* activity. If the controller detects bus activity while "sleeping"
* it will go into operating mode again. @n
* To actively leave sleep mode again trigger @c CAN_MODE_START. */
CAN_MODE_SLEEP
};
/** @} */
/** See @ref CAN_MODE */
typedef enum CAN_MODE can_mode_t;
/*!
* @anchor CAN_CTRLMODE @name CAN controller modes
* Special CAN controllers modes, which can be or'ed together.
*
* @note These modes are hardware-dependent. Please consult the hardware
* manual of the CAN controller for more detailed information.
*
* @{ */
/*! Listen-Only mode
*
* In this mode the CAN controller would give no acknowledge to the CAN-bus,
* even if a message is received successfully and messages would not be
* transmitted. This mode might be useful for bus-monitoring, hot-plugging
* or throughput analysis. */
#define CAN_CTRLMODE_LISTENONLY 0x1
/*! Loopback mode
*
* In this mode the CAN controller does an internal loop-back, a message is
* transmitted and simultaneously received. That mode can be used for self
* test operation. */
#define CAN_CTRLMODE_LOOPBACK 0x2
/*! Triple sampling mode
*
* In this mode the CAN controller uses Triple sampling. */
#define CAN_CTRLMODE_3_SAMPLES 0x4
/** @} */
/** See @ref CAN_CTRLMODE */
typedef int can_ctrlmode_t;
/*!
* @anchor CAN_STATE @name CAN controller states
* States a CAN controller can be in.
* @{ */
enum CAN_STATE {
/** CAN controller is error active */
CAN_STATE_ERROR_ACTIVE = 0,
CAN_STATE_ACTIVE = 0,
/** CAN controller is error active, warning level is reached */
CAN_STATE_ERROR_WARNING = 1,
CAN_STATE_BUS_WARNING = 1,
/** CAN controller is error passive */
CAN_STATE_ERROR_PASSIVE = 2,
CAN_STATE_BUS_PASSIVE = 2,
/** CAN controller went into Bus Off */
CAN_STATE_BUS_OFF,
/** CAN controller is scanning to get the baudrate */
CAN_STATE_SCANNING_BAUDRATE,
/** CAN controller is in stopped mode */
CAN_STATE_STOPPED,
/** CAN controller is in Sleep mode */
CAN_STATE_SLEEPING,
};
/** @} */
/** See @ref CAN_STATE */
typedef enum CAN_STATE can_state_t;
#define CAN_STATE_OPERATING(state) ((state) < CAN_STATE_BUS_OFF)
/**
* Filter for reception of CAN messages.
*
* This filter works as follows:
* A received CAN ID is AND'ed bitwise with @c can_mask and then compared to
* @c can_id. This also includes the @ref CAN_EFF_FLAG and @ref CAN_RTR_FLAG
* of @ref CAN_xxx_FLAG. If this comparison is true, the message will be
* received by the socket. The logic can be inverted with the @c can_id flag
* @ref CAN_INV_FILTER :
*
* @code
* if (can_id & CAN_INV_FILTER) {
* if ((received_can_id & can_mask) != (can_id & ~CAN_INV_FILTER))
* accept-message;
* } else {
* if ((received_can_id & can_mask) == can_id)
* accept-message;
* }
* @endcode
*
* Multiple filters can be arranged in a filter list and set with
* @ref Sockopts. If one of these filters matches a CAN ID upon reception
* of a CAN frame, this frame is accepted.
*
*/
typedef struct can_filter {
/** CAN ID which must match with incoming IDs after passing the mask.
* The filter logic can be inverted with the flag @ref CAN_INV_FILTER. */
uint32_t can_id;
/** Mask which is applied to incoming IDs. See @ref CAN_xxx_MASK
* "CAN ID masks" if exactly one CAN ID should come through. */
uint32_t can_mask;
} can_filter_t;
/**
* Socket address structure for the CAN address family
*/
struct sockaddr_can {
/** CAN address family, must be @c AF_CAN */
sa_family_t can_family;
/** Interface index of CAN controller. See @ref SIOCGIFINDEX. */
int can_ifindex;
};
/**
* Raw CAN frame
*
* Central structure for receiving and sending CAN frames.
*/
typedef struct can_frame {
/** CAN ID of the frame
*
* See @ref CAN_xxx_FLAG "CAN ID flags" for special bits.
*/
can_id_t can_id;
/** Size of the payload in bytes */
uint8_t can_dlc;
/** Payload data bytes */
uint8_t data[8] __attribute__ ((aligned(8)));
} can_frame_t;
/*!
* @anchor RTCAN_TIMESTAMPS @name Timestamp switches
* Arguments to pass to @ref RTCAN_RTIOC_TAKE_TIMESTAMP
* @{ */
#define RTCAN_TAKE_NO_TIMESTAMPS 0 /**< Switch off taking timestamps */
#define RTCAN_TAKE_TIMESTAMPS 1 /**< Do take timestamps */
/** @} */
#define RTIOC_TYPE_CAN RTDM_CLASS_CAN
/*!
* @anchor Rawsockopts @name RAW socket options
* Setting and getting CAN RAW socket options.
* @{ */
/**
* CAN filter definition
*
* A CAN raw filter list with elements of struct can_filter can be installed
* with @c setsockopt. This list is used upon reception of CAN frames to
* decide whether the bound socket will receive a frame. An empty filter list
* can also be defined using optlen = 0, which is recommanded for write-only
* sockets.
* @n
* If the socket was already bound with @ref Bind, the old filter list
* gets replaced with the new one. Be aware that already received, but
* not read out CAN frames may stay in the socket buffer.
* @n
* @n
* @param [in] level @b SOL_CAN_RAW
*
* @param [in] optname @b CAN_RAW_FILTER
*
* @param [in] optval Pointer to array of struct can_filter.
*
* @param [in] optlen Size of filter list: count * sizeof( struct can_filter).
* @n
* Environments: non-RT (RT optional)@n
* @n
* Specific return values:
* - -EFAULT (It was not possible to access user space memory area at the
* specified address.)
* - -ENOMEM (Not enough memory to fulfill the operation)
* - -EINVAL (Invalid length "optlen")
* - -ENOSPC (No space to store filter list, check RT-Socket-CAN kernel
* parameters)
* .
*/
#define CAN_RAW_FILTER 0x1
/**
* CAN error mask
*
* A CAN error mask (see @ref Errors) can be set with @c setsockopt. This
* mask is then used to decide if error frames are delivered to this socket
* in case of error condidtions. The error frames are marked with the
* @ref CAN_ERR_FLAG of @ref CAN_xxx_FLAG and must be handled by the
* application properly. A detailed description of the errors can be
* found in the @c can_id and the @c data fields of struct can_frame
* (see @ref Errors for futher details).
*
* @n
* @param [in] level @b SOL_CAN_RAW
*
* @param [in] optname @b CAN_RAW_ERR_FILTER
*
* @param [in] optval Pointer to error mask of type can_err_mask_t.
*
* @param [in] optlen Size of error mask: sizeof(can_err_mask_t).
*
* Environments: non-RT (RT optional)@n
* @n
* Specific return values:
* - -EFAULT (It was not possible to access user space memory area at the
* specified address.)
* - -EINVAL (Invalid length "optlen")
* .
*/
#define CAN_RAW_ERR_FILTER 0x2
/**
* CAN TX loopback
*
* The TX loopback to other local sockets can be selected with this
* @c setsockopt.
*
* @note The TX loopback feature must be enabled in the kernel and then
* the loopback to other local TX sockets is enabled by default.
*
* @n
* @param [in] level @b SOL_CAN_RAW
*
* @param [in] optname @b CAN_RAW_LOOPBACK
*
* @param [in] optval Pointer to integer value.
*
* @param [in] optlen Size of int: sizeof(int).
*
* Environments: non-RT (RT optional)@n
* @n
* Specific return values:
* - -EFAULT (It was not possible to access user space memory area at the
* specified address.)
* - -EINVAL (Invalid length "optlen")
* - -EOPNOTSUPP (not supported, check RT-Socket-CAN kernel parameters).
*/
#define CAN_RAW_LOOPBACK 0x3
/**
* CAN receive own messages
*
* Not supported by RT-Socket-CAN, but defined for compatibility with
* Socket-CAN.
*/
#define CAN_RAW_RECV_OWN_MSGS 0x4
/** @} */
/*!
* @anchor CANIOCTLs @name IOCTLs
* CAN device IOCTLs
* @{ */
/**
* Get CAN interface index by name
*
* @param [in,out] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h). If
* <TT>ifr_name</TT> holds a valid CAN interface name
* <TT>ifr_ifindex</TT> will be filled with the
* corresponding interface index.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*
*/
#ifdef DOXYGEN_CPP /* For Doxygen only, already defined by kernel headers */
#define SIOCGIFINDEX defined_by_kernel_header_file
#endif
/**
* Set baud rate
*
* The baudrate must be specified in bits per second. The driver will
* try to calculate resonable CAN bit-timing parameters. You can use
* @ref SIOCSCANCUSTOMBITTIME to set custom bit-timing.
*
* @param [in] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> must be filled with an instance of
* @ref can_baudrate_t.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
* - -EINVAL: No valid baud rate, see @ref can_baudrate_t.
* - -EDOM : Baud rate not possible.
* - -EAGAIN: Request could not be successully fulfilled. Try again.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* @note Setting the baud rate is a configuration task. It should
* be done deliberately or otherwise CAN messages will likely be lost.
*
* Rescheduling: possible.
*/
#define SIOCSCANBAUDRATE _IOW(RTIOC_TYPE_CAN, 0x01, struct ifreq)
/**
* Get baud rate
*
* @param [in,out] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> will be filled with an instance of
* @ref can_baudrate_t.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
* - -EINVAL: No baud rate was set yet.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define SIOCGCANBAUDRATE _IOWR(RTIOC_TYPE_CAN, 0x02, struct ifreq)
/**
* Set custom bit time parameter
*
* Custem-bit time could be defined in various formats (see
* struct can_bittime).
*
* @param [in] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> must be filled with an instance of
* struct can_bittime.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
* - -EINVAL: No valid baud rate, see @ref can_baudrate_t.
* - -EAGAIN: Request could not be successully fulfilled. Try again.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* @note Setting the bit-time is a configuration task. It should
* be done deliberately or otherwise CAN messages will likely be lost.
*
* Rescheduling: possible.
*/
#define SIOCSCANCUSTOMBITTIME _IOW(RTIOC_TYPE_CAN, 0x03, struct ifreq)
/**
* Get custum bit-time parameters
*
* @param [in,out] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> will be filled with an instance of
* struct can_bittime.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
* - -EINVAL: No baud rate was set yet.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define SIOCGCANCUSTOMBITTIME _IOWR(RTIOC_TYPE_CAN, 0x04, struct ifreq)
/**
* Set operation mode of CAN controller
*
* See @ref CAN_MODE "CAN controller modes" for available modes.
*
* @param [in] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> must be filled with an instance of
* @ref can_mode_t.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
* - -EAGAIN: (@ref CAN_MODE_START, @ref CAN_MODE_STOP) Could not successfully
* set mode, hardware is busy. Try again.
* - -EINVAL: (@ref CAN_MODE_START) Cannot start controller,
* set baud rate first.
* - -ENETDOWN: (@ref CAN_MODE_SLEEP) Cannot go into sleep mode because
controller is stopped or bus off.
* - -EOPNOTSUPP: unknown mode
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* @note Setting a CAN controller into normal operation after a bus-off can
* take some time (128 occurrences of 11 consecutive recessive bits).
* In such a case, although this IOCTL will return immediately with success
* and @ref SIOCGCANSTATE will report @ref CAN_STATE_ACTIVE,
* bus-off recovery may still be in progress. @n
* If a controller is bus-off, setting it into stop mode will return no error
* but the controller remains bus-off.
*
* Rescheduling: possible.
*/
#define SIOCSCANMODE _IOW(RTIOC_TYPE_CAN, 0x05, struct ifreq)
/**
* Get current state of CAN controller
*
* States are divided into main states and additional error indicators. A CAN
* controller is always in exactly one main state. CAN bus errors are
* registered by the CAN hardware and collected by the driver. There is one
* error indicator (bit) per error type. If this IOCTL is triggered the error
* types which occured since the last call of this IOCTL are reported and
* thereafter the error indicators are cleared. See also
* @ref CAN_STATE "CAN controller states".
*
* @param [in,out] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> will be filled with an instance of
* @ref can_mode_t.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: possible.
*/
#define SIOCGCANSTATE _IOWR(RTIOC_TYPE_CAN, 0x06, struct ifreq)
/**
* Set special controller modes
*
* Various special controller modes could be or'ed together (see
* @ref CAN_CTRLMODE for further information).
*
* @param [in] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> must be filled with an instance of
* @ref can_ctrlmode_t.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
* - -EINVAL: No valid baud rate, see @ref can_baudrate_t.
* - -EAGAIN: Request could not be successully fulfilled. Try again.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* @note Setting special controller modes is a configuration task. It should
* be done deliberately or otherwise CAN messages will likely be lost.
*
* Rescheduling: possible.
*/
#define SIOCSCANCTRLMODE _IOW(RTIOC_TYPE_CAN, 0x07, struct ifreq)
/**
* Get special controller modes
*
*
* @param [in] arg Pointer to interface request structure buffer
* (<TT>struct ifreq</TT> from linux/if.h).
* <TT>ifr_name</TT> must hold a valid CAN interface name,
* <TT>ifr_ifru</TT> must be filled with an instance of
* @ref can_ctrlmode_t.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
* - -ENODEV: No device with specified name exists.
* - -EINVAL: No baud rate was set yet.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: possible.
*/
#define SIOCGCANCTRLMODE _IOWR(RTIOC_TYPE_CAN, 0x08, struct ifreq)
/**
* Enable or disable storing a high precision timestamp upon reception of
* a CAN frame.
*
* A newly created socket takes no timestamps by default.
*
* @param [in] arg int variable, see @ref RTCAN_TIMESTAMPS "Timestamp switches"
*
* @return 0 on success.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* @note Activating taking timestamps only has an effect on newly received
* CAN messages from the bus. Frames that already are in the socket buffer do
* not have timestamps if it was deactivated before. See @ref Recv "Receive"
* for more details.
*
* Rescheduling: never.
*/
#define RTCAN_RTIOC_TAKE_TIMESTAMP _IOW(RTIOC_TYPE_CAN, 0x09, int)
/**
* Specify a reception timeout for a socket
*
* Defines a timeout for all receive operations via a
* socket which will take effect when one of the @ref Recv "receive functions"
* is called without the @c MSG_DONTWAIT flag set.
*
* The default value for a newly created socket is an infinite timeout.
*
* @note The setting of the timeout value is not done atomically to avoid
* locks. Please set the value before receiving messages from the socket.
*
* @param [in] arg Pointer to @ref nanosecs_rel_t variable. The value is
* interpreted as relative timeout in nanoseconds in case
* of a positive value.
* See @ref RTDM_TIMEOUT_xxx "Timeouts" for special timeouts.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define RTCAN_RTIOC_RCV_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0A, nanosecs_rel_t)
/**
* Specify a transmission timeout for a socket
*
* Defines a timeout for all send operations via a
* socket which will take effect when one of the @ref Send "send functions"
* is called without the @c MSG_DONTWAIT flag set.
*
* The default value for a newly created socket is an infinite timeout.
*
* @note The setting of the timeout value is not done atomically to avoid
* locks. Please set the value before sending messages to the socket.
*
* @param [in] arg Pointer to @ref nanosecs_rel_t variable. The value is
* interpreted as relative timeout in nanoseconds in case
* of a positive value.
* See @ref RTDM_TIMEOUT_xxx "Timeouts" for special timeouts.
*
* @return 0 on success, otherwise:
* - -EFAULT: It was not possible to access user space memory area at the
* specified address.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define RTCAN_RTIOC_SND_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0B, nanosecs_rel_t)
/** @} */
#define CAN_ERR_DLC 8 /* dlc for error frames */
/*!
* @anchor Errors @name Error mask
* Error class (mask) in @c can_id field of struct can_frame to
* be used with @ref CAN_RAW_ERR_FILTER.
*
* @b Note: Error reporting is hardware dependent and most CAN controllers
* report less detailed error conditions than the SJA1000.
*
* @b Note: In case of a bus-off error condition (@ref CAN_ERR_BUSOFF), the
* CAN controller is @b not restarted automatically. It is the application's
* responsibility to react appropriately, e.g. calling @ref CAN_MODE_START.
*
* @b Note: Bus error interrupts (@ref CAN_ERR_BUSERROR) are enabled when an
* application is calling a @ref Recv function on a socket listening
* on bus errors (using @ref CAN_RAW_ERR_FILTER). After one bus error has
* occured, the interrupt will be disabled to allow the application time for
* error processing and to efficiently avoid bus error interrupt flooding.
* @{ */
/** TX timeout (netdevice driver) */
#define CAN_ERR_TX_TIMEOUT 0x00000001U
/** Lost arbitration (see @ref Error0 "data[0]") */
#define CAN_ERR_LOSTARB 0x00000002U
/** Controller problems (see @ref Error1 "data[1]") */
#define CAN_ERR_CRTL 0x00000004U
/** Protocol violations (see @ref Error2 "data[2]",
@ref Error3 "data[3]") */
#define CAN_ERR_PROT 0x00000008U
/** Transceiver status (see @ref Error4 "data[4]") */
#define CAN_ERR_TRX 0x00000010U
/** Received no ACK on transmission */
#define CAN_ERR_ACK 0x00000020U
/** Bus off */
#define CAN_ERR_BUSOFF 0x00000040U
/** Bus error (may flood!) */
#define CAN_ERR_BUSERROR 0x00000080U
/** Controller restarted */
#define CAN_ERR_RESTARTED 0x00000100U
/** Omit EFF, RTR, ERR flags */
#define CAN_ERR_MASK 0x1FFFFFFFU
/** @} */
/*!
* @anchor Error0 @name Arbitration lost error
* Error in the data[0] field of struct can_frame.
* @{ */
/* arbitration lost in bit ... / data[0] */
#define CAN_ERR_LOSTARB_UNSPEC 0x00 /**< unspecified */
/**< else bit number in bitstream */
/** @} */
/*!
* @anchor Error1 @name Controller problems
* Error in the data[1] field of struct can_frame.
* @{ */
/* error status of CAN-controller / data[1] */
#define CAN_ERR_CRTL_UNSPEC 0x00 /**< unspecified */
#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /**< RX buffer overflow */
#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /**< TX buffer overflow */
#define CAN_ERR_CRTL_RX_WARNING 0x04 /**< reached warning level for RX errors */
#define CAN_ERR_CRTL_TX_WARNING 0x08 /**< reached warning level for TX errors */
#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /**< reached passive level for RX errors */
#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /**< reached passive level for TX errors */
/** @} */
/*!
* @anchor Error2 @name Protocol error type
* Error in the data[2] field of struct can_frame.
* @{ */
/* error in CAN protocol (type) / data[2] */
#define CAN_ERR_PROT_UNSPEC 0x00 /**< unspecified */
#define CAN_ERR_PROT_BIT 0x01 /**< single bit error */
#define CAN_ERR_PROT_FORM 0x02 /**< frame format error */
#define CAN_ERR_PROT_STUFF 0x04 /**< bit stuffing error */
#define CAN_ERR_PROT_BIT0 0x08 /**< unable to send dominant bit */
#define CAN_ERR_PROT_BIT1 0x10 /**< unable to send recessive bit */
#define CAN_ERR_PROT_OVERLOAD 0x20 /**< bus overload */
#define CAN_ERR_PROT_ACTIVE 0x40 /**< active error announcement */
#define CAN_ERR_PROT_TX 0x80 /**< error occured on transmission */
/** @} */
/*!
* @anchor Error3 @name Protocol error location
* Error in the data[3] field of struct can_frame.
* @{ */
/* error in CAN protocol (location) / data[3] */
#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /**< unspecified */
#define CAN_ERR_PROT_LOC_SOF 0x03 /**< start of frame */
#define CAN_ERR_PROT_LOC_ID28_21 0x02 /**< ID bits 28 - 21 (SFF: 10 - 3) */
#define CAN_ERR_PROT_LOC_ID20_18 0x06 /**< ID bits 20 - 18 (SFF: 2 - 0 )*/
#define CAN_ERR_PROT_LOC_SRTR 0x04 /**< substitute RTR (SFF: RTR) */
#define CAN_ERR_PROT_LOC_IDE 0x05 /**< identifier extension */
#define CAN_ERR_PROT_LOC_ID17_13 0x07 /**< ID bits 17-13 */
#define CAN_ERR_PROT_LOC_ID12_05 0x0F /**< ID bits 12-5 */
#define CAN_ERR_PROT_LOC_ID04_00 0x0E /**< ID bits 4-0 */
#define CAN_ERR_PROT_LOC_RTR 0x0C /**< RTR */
#define CAN_ERR_PROT_LOC_RES1 0x0D /**< reserved bit 1 */
#define CAN_ERR_PROT_LOC_RES0 0x09 /**< reserved bit 0 */
#define CAN_ERR_PROT_LOC_DLC 0x0B /**< data length code */
#define CAN_ERR_PROT_LOC_DATA 0x0A /**< data section */
#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /**< CRC sequence */
#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /**< CRC delimiter */
#define CAN_ERR_PROT_LOC_ACK 0x19 /**< ACK slot */
#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /**< ACK delimiter */
#define CAN_ERR_PROT_LOC_EOF 0x1A /**< end of frame */
#define CAN_ERR_PROT_LOC_INTERM 0x12 /**< intermission */
/** @} */
/*!
* @anchor Error4 @name Protocol error location
* Error in the data[4] field of struct can_frame.
* @{ */
/* error status of CAN-transceiver / data[4] */
/* CANH CANL */
#define CAN_ERR_TRX_UNSPEC 0x00 /**< 0000 0000 */
#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /**< 0000 0100 */
#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /**< 0000 0101 */
#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /**< 0000 0110 */
#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /**< 0000 0111 */
#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /**< 0100 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /**< 0101 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /**< 0110 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /**< 0111 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /**< 1000 0000 */
/** @} */
/* controller specific additional information / data[5..7] */
/** @} */
/*!
* @anchor CANutils @name CAN example and utility programs
* @{ */
/** @example rtcanconfig.c */
/** @example rtcansend.c */
/** @example rtcanrecv.c */
/** @example rtcan_rtt.c */
/** @} */
/** @} */
#endif /* _RTCAN_H */
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