rtcan.h

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#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

#define AF_CAN  29

#define PF_CAN  AF_CAN

#endif

#define SOL_CAN_RAW  103

typedef uint32_t can_id_t;
typedef uint32_t canid_t;

typedef can_id_t can_err_mask_t;

#define CAN_EFF_MASK  0x1FFFFFFF

#define CAN_SFF_MASK  0x000007FF

#define CAN_EFF_FLAG  0x80000000

#define CAN_RTR_FLAG  0x40000000

#define CAN_ERR_FLAG  0x20000000

#define CAN_INV_FILTER CAN_ERR_FLAG

#define CAN_RAW  1

#define CAN_BAUDRATE_UNKNOWN       ((uint32_t)-1)
#define CAN_BAUDRATE_UNCONFIGURED  0

typedef uint32_t can_baudrate_t;

enum CAN_BITTIME_TYPE {
        CAN_BITTIME_STD,
        CAN_BITTIME_BTR
};

typedef enum CAN_BITTIME_TYPE can_bittime_type_t;

struct can_bittime_std {
        uint32_t brp;           
        uint8_t prop_seg;       
        uint8_t phase_seg1;     
        uint8_t phase_seg2;     
        uint8_t sjw:7;          
        uint8_t sam:1;          
};

struct can_bittime_btr {

        uint8_t btr0;           
        uint8_t btr1;           
};

struct can_bittime {
        can_bittime_type_t type;

        union {
                struct can_bittime_std std;
                struct can_bittime_btr btr;
        };
};

enum CAN_MODE {
        CAN_MODE_STOP = 0,

        CAN_MODE_START,

        CAN_MODE_SLEEP
};
typedef enum CAN_MODE can_mode_t;

#define CAN_CTRLMODE_LISTENONLY 0x1

#define CAN_CTRLMODE_LOOPBACK   0x2

#define CAN_CTRLMODE_3_SAMPLES  0x4

typedef int can_ctrlmode_t;

enum CAN_STATE {
        CAN_STATE_ERROR_ACTIVE = 0,
        CAN_STATE_ACTIVE = 0,

        CAN_STATE_ERROR_WARNING = 1,
        CAN_STATE_BUS_WARNING = 1,

        CAN_STATE_ERROR_PASSIVE = 2,
        CAN_STATE_BUS_PASSIVE = 2,

        CAN_STATE_BUS_OFF,

        CAN_STATE_SCANNING_BAUDRATE,

        CAN_STATE_STOPPED,

        CAN_STATE_SLEEPING,
};
typedef enum CAN_STATE can_state_t;

#define CAN_STATE_OPERATING(state) ((state) < CAN_STATE_BUS_OFF)

typedef struct can_filter {
        uint32_t can_id;

        uint32_t can_mask;
} can_filter_t;

struct sockaddr_can {
        sa_family_t can_family;

        int can_ifindex;
};

typedef struct can_frame {
        can_id_t can_id;

        uint8_t can_dlc;

        uint8_t data[8] __attribute__ ((aligned(8)));
} can_frame_t;

#define RTCAN_TAKE_NO_TIMESTAMPS        0  
#define RTCAN_TAKE_TIMESTAMPS           1  
#define RTIOC_TYPE_CAN  RTDM_CLASS_CAN

#define CAN_RAW_FILTER          0x1

#define CAN_RAW_ERR_FILTER      0x2

#define CAN_RAW_LOOPBACK        0x3

#define CAN_RAW_RECV_OWN_MSGS   0x4

#ifdef DOXYGEN_CPP /* For Doxygen only, already defined by kernel headers */
#define SIOCGIFINDEX defined_by_kernel_header_file
#endif

#define SIOCSCANBAUDRATE        _IOW(RTIOC_TYPE_CAN, 0x01, struct ifreq)

#define SIOCGCANBAUDRATE        _IOWR(RTIOC_TYPE_CAN, 0x02, struct ifreq)

#define SIOCSCANCUSTOMBITTIME   _IOW(RTIOC_TYPE_CAN, 0x03, struct ifreq)

#define SIOCGCANCUSTOMBITTIME   _IOWR(RTIOC_TYPE_CAN, 0x04, struct ifreq)

#define SIOCSCANMODE            _IOW(RTIOC_TYPE_CAN, 0x05, struct ifreq)

#define SIOCGCANSTATE           _IOWR(RTIOC_TYPE_CAN, 0x06, struct ifreq)

#define SIOCSCANCTRLMODE        _IOW(RTIOC_TYPE_CAN, 0x07, struct ifreq)

#define SIOCGCANCTRLMODE        _IOWR(RTIOC_TYPE_CAN, 0x08, struct ifreq)

#define RTCAN_RTIOC_TAKE_TIMESTAMP _IOW(RTIOC_TYPE_CAN, 0x09, int)

#define RTCAN_RTIOC_RCV_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0A, nanosecs_rel_t)

#define RTCAN_RTIOC_SND_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0B, nanosecs_rel_t)

#define CAN_ERR_DLC  8  /* dlc for error frames */

#define CAN_ERR_TX_TIMEOUT      0x00000001U

#define CAN_ERR_LOSTARB         0x00000002U

#define CAN_ERR_CRTL            0x00000004U

#define CAN_ERR_PROT            0x00000008U

#define CAN_ERR_TRX             0x00000010U

#define CAN_ERR_ACK             0x00000020U

#define CAN_ERR_BUSOFF          0x00000040U

#define CAN_ERR_BUSERROR        0x00000080U

#define CAN_ERR_RESTARTED       0x00000100U

#define CAN_ERR_MASK            0x1FFFFFFFU

/* arbitration lost in bit ... / data[0] */
#define CAN_ERR_LOSTARB_UNSPEC  0x00 
/* error status of CAN-controller / data[1] */
#define CAN_ERR_CRTL_UNSPEC      0x00 
#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 
#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 
#define CAN_ERR_CRTL_RX_WARNING  0x04 
#define CAN_ERR_CRTL_TX_WARNING  0x08 
#define CAN_ERR_CRTL_RX_PASSIVE  0x10 
#define CAN_ERR_CRTL_TX_PASSIVE  0x20 
/* error in CAN protocol (type) / data[2] */
#define CAN_ERR_PROT_UNSPEC     0x00 
#define CAN_ERR_PROT_BIT        0x01 
#define CAN_ERR_PROT_FORM       0x02 
#define CAN_ERR_PROT_STUFF      0x04 
#define CAN_ERR_PROT_BIT0       0x08 
#define CAN_ERR_PROT_BIT1       0x10 
#define CAN_ERR_PROT_OVERLOAD   0x20 
#define CAN_ERR_PROT_ACTIVE     0x40 
#define CAN_ERR_PROT_TX         0x80 
/* error in CAN protocol (location) / data[3] */
#define CAN_ERR_PROT_LOC_UNSPEC  0x00 
#define CAN_ERR_PROT_LOC_SOF     0x03 
#define CAN_ERR_PROT_LOC_ID28_21 0x02 
#define CAN_ERR_PROT_LOC_ID20_18 0x06 
#define CAN_ERR_PROT_LOC_SRTR    0x04 
#define CAN_ERR_PROT_LOC_IDE     0x05 
#define CAN_ERR_PROT_LOC_ID17_13 0x07 
#define CAN_ERR_PROT_LOC_ID12_05 0x0F 
#define CAN_ERR_PROT_LOC_ID04_00 0x0E 
#define CAN_ERR_PROT_LOC_RTR     0x0C 
#define CAN_ERR_PROT_LOC_RES1    0x0D 
#define CAN_ERR_PROT_LOC_RES0    0x09 
#define CAN_ERR_PROT_LOC_DLC     0x0B 
#define CAN_ERR_PROT_LOC_DATA    0x0A 
#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 
#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 
#define CAN_ERR_PROT_LOC_ACK     0x19 
#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B 
#define CAN_ERR_PROT_LOC_EOF     0x1A 
#define CAN_ERR_PROT_LOC_INTERM  0x12 
/* error status of CAN-transceiver / data[4] */
/*                                               CANH CANL */
#define CAN_ERR_TRX_UNSPEC              0x00 
#define CAN_ERR_TRX_CANH_NO_WIRE        0x04 
#define CAN_ERR_TRX_CANH_SHORT_TO_BAT   0x05 
#define CAN_ERR_TRX_CANH_SHORT_TO_VCC   0x06 
#define CAN_ERR_TRX_CANH_SHORT_TO_GND   0x07 
#define CAN_ERR_TRX_CANL_NO_WIRE        0x40 
#define CAN_ERR_TRX_CANL_SHORT_TO_BAT   0x50 
#define CAN_ERR_TRX_CANL_SHORT_TO_VCC   0x60 
#define CAN_ERR_TRX_CANL_SHORT_TO_GND   0x70 
#define CAN_ERR_TRX_CANL_SHORT_TO_CANH  0x80 
/* controller specific additional information / data[5..7] */

#endif /* _RTCAN_H */