/**
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* @file
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* Real-Time Driver Model for RT-Socket-CAN, CAN device profile header
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*
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* @note Copyright (C) 2006 Wolfgang Grandegger <wg@grandegger.com>
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*
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* @note Copyright (C) 2005, 2006 Sebastian Smolorz
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* <Sebastian.Smolorz@stud.uni-hannover.de>
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*
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* This RTDM CAN device profile header is based on:
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*
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* include/linux/can.h, include/linux/socket.h, net/can/pf_can.h in
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* linux-can.patch, a CAN socket framework for Linux
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*
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* Copyright (C) 2004, 2005,
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* Robert Schwebel, Benedikt Spranger, Marc Kleine-Budde, Pengutronix
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*
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* This program is free software; you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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*
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*/
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#ifndef _RTDM_UAPI_CAN_H
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#define _RTDM_UAPI_CAN_H
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/**
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* @addtogroup rtdm_can
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* @{
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*/
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#define RTCAN_PROFILE_VER 2
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#ifndef AF_CAN
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/** CAN address family */
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#define AF_CAN 29
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/** CAN protocol family */
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#define PF_CAN AF_CAN
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#endif
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/** CAN socket levels
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*
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* Used for @ref Sockopts for the particular protocols.
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*/
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#define SOL_CAN_RAW 103
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/** Type of CAN id (see @ref CAN_xxx_MASK and @ref CAN_xxx_FLAG) */
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typedef uint32_t can_id_t;
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typedef uint32_t canid_t;
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/** Type of CAN error mask */
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typedef can_id_t can_err_mask_t;
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/*!
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* @anchor CAN_xxx_MASK @name CAN ID masks
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* Bit masks for masking CAN IDs
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* @{ */
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/** Bit mask for extended CAN IDs */
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#define CAN_EFF_MASK 0x1FFFFFFF
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/** Bit mask for standard CAN IDs */
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#define CAN_SFF_MASK 0x000007FF
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/** @} */
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/*!
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* @anchor CAN_xxx_FLAG @name CAN ID flags
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* Flags within a CAN ID indicating special CAN frame attributes
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* @{ */
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/** Extended frame */
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#define CAN_EFF_FLAG 0x80000000
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/** Remote transmission frame */
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#define CAN_RTR_FLAG 0x40000000
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/** Error frame (see @ref Errors), not valid in struct can_filter */
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#define CAN_ERR_FLAG 0x20000000
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/** Invert CAN filter definition, only valid in struct can_filter */
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#define CAN_INV_FILTER CAN_ERR_FLAG
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/** @} */
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/*!
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* @anchor CAN_PROTO @name Particular CAN protocols
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* Possible protocols for the PF_CAN protocol family
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*
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* Currently only the RAW protocol is supported.
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* @{ */
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/** Raw protocol of @c PF_CAN, applicable to socket type @c SOCK_RAW */
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#define CAN_RAW 1
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/** @} */
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#define CAN_BAUDRATE_UNKNOWN ((uint32_t)-1)
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#define CAN_BAUDRATE_UNCONFIGURED 0
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/**
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* Baudrate definition in bits per second
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*/
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typedef uint32_t can_baudrate_t;
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/**
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* Supported CAN bit-time types
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*/
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enum CAN_BITTIME_TYPE {
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/** Standard bit-time definition according to Bosch */
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CAN_BITTIME_STD,
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/** Hardware-specific BTR bit-time definition */
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CAN_BITTIME_BTR
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};
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/**
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* See @ref CAN_BITTIME_TYPE
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*/
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typedef enum CAN_BITTIME_TYPE can_bittime_type_t;
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/**
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* Standard bit-time parameters according to Bosch
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*/
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struct can_bittime_std {
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uint32_t brp; /**< Baud rate prescaler */
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uint8_t prop_seg; /**< from 1 to 8 */
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uint8_t phase_seg1; /**< from 1 to 8 */
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uint8_t phase_seg2; /**< from 1 to 8 */
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uint8_t sjw:7; /**< from 1 to 4 */
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uint8_t sam:1; /**< 1 - enable triple sampling */
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};
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/**
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* Hardware-specific BTR bit-times
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*/
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struct can_bittime_btr {
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uint8_t btr0; /**< Bus timing register 0 */
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uint8_t btr1; /**< Bus timing register 1 */
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};
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/**
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* Custom CAN bit-time definition
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*/
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struct can_bittime {
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/** Type of bit-time definition */
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can_bittime_type_t type;
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union {
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/** Standard bit-time */
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struct can_bittime_std std;
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/** Hardware-spcific BTR bit-time */
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struct can_bittime_btr btr;
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};
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};
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/*!
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* @anchor CAN_MODE @name CAN operation modes
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* Modes into which CAN controllers can be set
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* @{ */
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enum CAN_MODE {
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/*! Set controller in Stop mode (no reception / transmission possible) */
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CAN_MODE_STOP = 0,
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/*! Set controller into normal operation. @n
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* Coming from stopped mode or bus off, the controller begins with no
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* errors in @ref CAN_STATE_ACTIVE. */
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CAN_MODE_START,
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/*! Set controller into Sleep mode. @n
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* This is only possible if the controller is not stopped or bus-off. @n
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* Notice that sleep mode will only be entered when there is no bus
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* activity. If the controller detects bus activity while "sleeping"
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* it will go into operating mode again. @n
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* To actively leave sleep mode again trigger @c CAN_MODE_START. */
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CAN_MODE_SLEEP
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};
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/** @} */
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/** See @ref CAN_MODE */
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typedef enum CAN_MODE can_mode_t;
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/*!
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* @anchor CAN_CTRLMODE @name CAN controller modes
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* Special CAN controllers modes, which can be or'ed together.
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*
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* @note These modes are hardware-dependent. Please consult the hardware
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* manual of the CAN controller for more detailed information.
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*
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* @{ */
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/*! Listen-Only mode
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*
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* In this mode the CAN controller would give no acknowledge to the CAN-bus,
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* even if a message is received successfully and messages would not be
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* transmitted. This mode might be useful for bus-monitoring, hot-plugging
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* or throughput analysis. */
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#define CAN_CTRLMODE_LISTENONLY 0x1
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/*! Loopback mode
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*
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* In this mode the CAN controller does an internal loop-back, a message is
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* transmitted and simultaneously received. That mode can be used for self
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* test operation. */
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#define CAN_CTRLMODE_LOOPBACK 0x2
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/*! Triple sampling mode
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*
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* In this mode the CAN controller uses Triple sampling. */
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#define CAN_CTRLMODE_3_SAMPLES 0x4
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/** @} */
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/** See @ref CAN_CTRLMODE */
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typedef int can_ctrlmode_t;
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/*!
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* @anchor CAN_STATE @name CAN controller states
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* States a CAN controller can be in.
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* @{ */
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enum CAN_STATE {
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/** CAN controller is error active */
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CAN_STATE_ERROR_ACTIVE = 0,
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/** CAN controller is active */
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CAN_STATE_ACTIVE = 0,
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/** CAN controller is error active, warning level is reached */
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CAN_STATE_ERROR_WARNING = 1,
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/** CAN controller is error active, warning level is reached */
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CAN_STATE_BUS_WARNING = 1,
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/** CAN controller is error passive */
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CAN_STATE_ERROR_PASSIVE = 2,
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/** CAN controller is error passive */
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CAN_STATE_BUS_PASSIVE = 2,
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/** CAN controller went into Bus Off */
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CAN_STATE_BUS_OFF,
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/** CAN controller is scanning to get the baudrate */
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CAN_STATE_SCANNING_BAUDRATE,
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/** CAN controller is in stopped mode */
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CAN_STATE_STOPPED,
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/** CAN controller is in Sleep mode */
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CAN_STATE_SLEEPING,
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};
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/** @} */
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/** See @ref CAN_STATE */
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typedef enum CAN_STATE can_state_t;
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#define CAN_STATE_OPERATING(state) ((state) < CAN_STATE_BUS_OFF)
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/**
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* Filter for reception of CAN messages.
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*
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* This filter works as follows:
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* A received CAN ID is AND'ed bitwise with @c can_mask and then compared to
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* @c can_id. This also includes the @ref CAN_EFF_FLAG and @ref CAN_RTR_FLAG
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* of @ref CAN_xxx_FLAG. If this comparison is true, the message will be
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* received by the socket. The logic can be inverted with the @c can_id flag
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* @ref CAN_INV_FILTER :
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*
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* @code
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* if (can_id & CAN_INV_FILTER) {
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* if ((received_can_id & can_mask) != (can_id & ~CAN_INV_FILTER))
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* accept-message;
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* } else {
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* if ((received_can_id & can_mask) == can_id)
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* accept-message;
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* }
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* @endcode
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*
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* Multiple filters can be arranged in a filter list and set with
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* @ref Sockopts. If one of these filters matches a CAN ID upon reception
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* of a CAN frame, this frame is accepted.
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*
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*/
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typedef struct can_filter {
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/** CAN ID which must match with incoming IDs after passing the mask.
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* The filter logic can be inverted with the flag @ref CAN_INV_FILTER. */
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uint32_t can_id;
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/** Mask which is applied to incoming IDs. See @ref CAN_xxx_MASK
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* "CAN ID masks" if exactly one CAN ID should come through. */
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uint32_t can_mask;
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} can_filter_t;
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/**
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* Socket address structure for the CAN address family
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*/
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struct sockaddr_can {
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/** CAN address family, must be @c AF_CAN */
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sa_family_t can_family;
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/** Interface index of CAN controller. See @ref SIOCGIFINDEX. */
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int can_ifindex;
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};
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/**
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* Raw CAN frame
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*
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* Central structure for receiving and sending CAN frames.
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*/
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typedef struct can_frame {
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/** CAN ID of the frame
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*
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* See @ref CAN_xxx_FLAG "CAN ID flags" for special bits.
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*/
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can_id_t can_id;
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/** Size of the payload in bytes */
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uint8_t can_dlc;
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/** Payload data bytes */
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uint8_t data[8] __attribute__ ((aligned(8)));
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} can_frame_t;
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/**
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* CAN interface request descriptor
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*
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* Parameter block for submitting CAN control requests.
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*/
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struct can_ifreq {
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union {
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char ifrn_name[IFNAMSIZ];
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} ifr_ifrn;
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union {
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struct can_bittime bittime;
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can_baudrate_t baudrate;
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can_ctrlmode_t ctrlmode;
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can_mode_t mode;
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can_state_t state;
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int ifru_ivalue;
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} ifr_ifru;
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};
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/*!
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* @anchor RTCAN_TIMESTAMPS @name Timestamp switches
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* Arguments to pass to @ref RTCAN_RTIOC_TAKE_TIMESTAMP
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* @{ */
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#define RTCAN_TAKE_NO_TIMESTAMPS 0 /**< Switch off taking timestamps */
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#define RTCAN_TAKE_TIMESTAMPS 1 /**< Do take timestamps */
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/** @} */
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#define RTIOC_TYPE_CAN RTDM_CLASS_CAN
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/*!
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* @anchor Rawsockopts @name RAW socket options
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* Setting and getting CAN RAW socket options.
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* @{ */
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/**
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* CAN filter definition
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*
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* A CAN raw filter list with elements of struct can_filter can be installed
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* with @c setsockopt. This list is used upon reception of CAN frames to
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* decide whether the bound socket will receive a frame. An empty filter list
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* can also be defined using optlen = 0, which is recommanded for write-only
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* sockets.
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* @n
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* If the socket was already bound with @ref Bind, the old filter list
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* gets replaced with the new one. Be aware that already received, but
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* not read out CAN frames may stay in the socket buffer.
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* @n
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* @n
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* @param [in] level @b SOL_CAN_RAW
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*
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* @param [in] optname @b CAN_RAW_FILTER
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*
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* @param [in] optval Pointer to array of struct can_filter.
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*
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* @param [in] optlen Size of filter list: count * sizeof( struct can_filter).
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* @n
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* @coretags{task-unrestricted}
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* @n
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* Specific return values:
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* - -EFAULT (It was not possible to access user space memory area at the
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* specified address.)
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* - -ENOMEM (Not enough memory to fulfill the operation)
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* - -EINVAL (Invalid length "optlen")
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* - -ENOSPC (No space to store filter list, check RT-Socket-CAN kernel
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* parameters)
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* .
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*/
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#define CAN_RAW_FILTER 0x1
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/**
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* CAN error mask
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*
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* A CAN error mask (see @ref Errors) can be set with @c setsockopt. This
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* mask is then used to decide if error frames are delivered to this socket
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* in case of error condidtions. The error frames are marked with the
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* @ref CAN_ERR_FLAG of @ref CAN_xxx_FLAG and must be handled by the
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* application properly. A detailed description of the errors can be
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* found in the @c can_id and the @c data fields of struct can_frame
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* (see @ref Errors for futher details).
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*
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* @n
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* @param [in] level @b SOL_CAN_RAW
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*
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* @param [in] optname @b CAN_RAW_ERR_FILTER
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*
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* @param [in] optval Pointer to error mask of type can_err_mask_t.
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*
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* @param [in] optlen Size of error mask: sizeof(can_err_mask_t).
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*
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* @coretags{task-unrestricted}
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* @n
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* Specific return values:
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* - -EFAULT (It was not possible to access user space memory area at the
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* specified address.)
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* - -EINVAL (Invalid length "optlen")
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* .
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*/
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#define CAN_RAW_ERR_FILTER 0x2
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/**
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* CAN TX loopback
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*
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* The TX loopback to other local sockets can be selected with this
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* @c setsockopt.
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*
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* @note The TX loopback feature must be enabled in the kernel and then
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* the loopback to other local TX sockets is enabled by default.
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*
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* @n
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* @param [in] level @b SOL_CAN_RAW
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*
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* @param [in] optname @b CAN_RAW_LOOPBACK
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*
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* @param [in] optval Pointer to integer value.
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*
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* @param [in] optlen Size of int: sizeof(int).
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*
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* @coretags{task-unrestricted}
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* @n
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* Specific return values:
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* - -EFAULT (It was not possible to access user space memory area at the
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* specified address.)
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* - -EINVAL (Invalid length "optlen")
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* - -EOPNOTSUPP (not supported, check RT-Socket-CAN kernel parameters).
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*/
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#define CAN_RAW_LOOPBACK 0x3
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/**
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* CAN receive own messages
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*
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* Not supported by RT-Socket-CAN, but defined for compatibility with
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* Socket-CAN.
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*/
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#define CAN_RAW_RECV_OWN_MSGS 0x4
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/** @} */
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/*!
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* @anchor CANIOCTLs @name IOCTLs
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* CAN device IOCTLs
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*
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* @deprecated Passing \c struct \c ifreq as a request descriptor
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* for CAN IOCTLs is still accepted for backward compatibility,
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* however it is recommended to switch to \c struct \c can_ifreq at
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* the first opportunity.
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*
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* @{ */
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/**
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* Get CAN interface index by name
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*
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* @param [in,out] arg Pointer to interface request structure buffer
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* (<TT>struct can_ifreq</TT>). If
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* <TT>ifr_name</TT> holds a valid CAN interface
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* name <TT>ifr_ifindex</TT> will be filled with
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* the corresponding interface index.
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*
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* @return 0 on success, otherwise:
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* - -EFAULT: It was not possible to access user space memory area at the
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* specified address.
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* - -ENODEV: No device with specified name exists.
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*
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* @coretags{task-unrestricted}
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*/
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#ifdef DOXYGEN_CPP /* For Doxygen only, already defined by kernel headers */
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#define SIOCGIFINDEX defined_by_kernel_header_file
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#endif
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/**
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* Set baud rate
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*
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* The baudrate must be specified in bits per second. The driver will
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* try to calculate resonable CAN bit-timing parameters. You can use
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* @ref SIOCSCANCUSTOMBITTIME to set custom bit-timing.
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*
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* @param [in] arg Pointer to interface request structure buffer
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* (<TT>struct can_ifreq</TT>).
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* <TT>ifr_name</TT> must hold a valid CAN interface name,
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* <TT>ifr_ifru</TT> must be filled with an instance of
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* @ref can_baudrate_t.
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*
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* @return 0 on success, otherwise:
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* - -EFAULT: It was not possible to access user space memory area at the
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* specified address.
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* - -ENODEV: No device with specified name exists.
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* - -EINVAL: No valid baud rate, see @ref can_baudrate_t.
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* - -EDOM : Baud rate not possible.
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* - -EAGAIN: Request could not be successully fulfilled. Try again.
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*
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* @coretags{task-unrestricted, might-switch}
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*
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* @note Setting the baud rate is a configuration task. It should
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* be done deliberately or otherwise CAN messages will likely be lost.
|
*/
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#define SIOCSCANBAUDRATE _IOW(RTIOC_TYPE_CAN, 0x01, struct can_ifreq)
|
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/**
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* Get baud rate
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*
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* @param [in,out] arg Pointer to interface request structure buffer
|
* (<TT>struct can_ifreq</TT>).
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* <TT>ifr_name</TT> must hold a valid CAN interface name,
|
* <TT>ifr_ifru</TT> will be filled with an instance of
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* @ref can_baudrate_t.
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*
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* @return 0 on success, otherwise:
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* - -EFAULT: It was not possible to access user space memory area at the
|
* specified address.
|
* - -ENODEV: No device with specified name exists.
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* - -EINVAL: No baud rate was set yet.
|
*
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* @coretags{task-unrestricted}
|
*/
|
#define SIOCGCANBAUDRATE _IOWR(RTIOC_TYPE_CAN, 0x02, struct can_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 can_ifreq</TT>).
|
* <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.
|
*
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* @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.
|
*
|
* @coretags{task-unrestricted, might-switch}
|
*
|
* @note Setting the bit-time is a configuration task. It should
|
* be done deliberately or otherwise CAN messages will likely be lost.
|
*/
|
#define SIOCSCANCUSTOMBITTIME _IOW(RTIOC_TYPE_CAN, 0x03, struct can_ifreq)
|
|
/**
|
* Get custom bit-time parameters
|
*
|
* @param [in,out] arg Pointer to interface request structure buffer
|
* (<TT>struct can_ifreq</TT>).
|
* <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.
|
*
|
* @coretags{task-unrestricted}
|
*/
|
#define SIOCGCANCUSTOMBITTIME _IOWR(RTIOC_TYPE_CAN, 0x04, struct can_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 can_ifreq</TT>).
|
* <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
|
*
|
* @coretags{task-unrestricted, might-switch}
|
*
|
* @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.
|
*/
|
#define SIOCSCANMODE _IOW(RTIOC_TYPE_CAN, 0x05, struct can_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 can_ifreq</TT>).
|
* <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.
|
*
|
* @coretags{task-unrestricted, might-switch}
|
*/
|
#define SIOCGCANSTATE _IOWR(RTIOC_TYPE_CAN, 0x06, struct can_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 can_ifreq</TT>).
|
* <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.
|
*
|
* @coretags{task-unrestricted, might-switch}
|
*
|
* @note Setting special controller modes is a configuration task. It should
|
* be done deliberately or otherwise CAN messages will likely be lost.
|
*/
|
#define SIOCSCANCTRLMODE _IOW(RTIOC_TYPE_CAN, 0x07, struct can_ifreq)
|
|
/**
|
* Get special controller modes
|
*
|
*
|
* @param [in] arg Pointer to interface request structure buffer
|
* (<TT>struct can_ifreq</TT>).
|
* <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.
|
*
|
* @coretags{task-unrestricted, might-switch}
|
*/
|
#define SIOCGCANCTRLMODE _IOWR(RTIOC_TYPE_CAN, 0x08, struct can_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.
|
*
|
* @coretags{task-unrestricted}
|
*
|
* @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.
|
*/
|
#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.
|
*
|
* @coretags{task-unrestricted}
|
*/
|
#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.
|
*
|
* @coretags{task-unrestricted}
|
*/
|
#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 */
|
/** @} */
|
|
/** @} */
|
|
#endif /* !_RTDM_UAPI_CAN_H */
|
