Definitions high-level RAW CAN interface. More...

Detailed Description

Definitions high-level RAW CAN interface.

This file defines the high-level CAN interface to send and receive RAW CAN frame.

Author: Vincent Dupont vince.nosp@m.nt@o.nosp@m.takey.nosp@m.s.co.nosp@m.m; Toon Stegen toon..nosp@m.steg.nosp@m.en@al.nosp@m.tran.nosp@m..com; Aurelien Gonce aurel.nosp@m.ien..nosp@m.gonce.nosp@m.@alt.nosp@m.ran.c.nosp@m.om

Definition in file raw.h.

#include "sched.h"
#include "can/can.h"
#include "can/common.h"
#include "can/device.h"

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#define	RAW_CAN_DEV_UNDEF (-1)
	Default value for undefined interface number.

int	raw_can_send (int ifnum, const struct can_frame *frame, kernel_pid_t pid)
	Send a CAN frame.

int	raw_can_abort (int ifnum, int handle)
	Abort a CAN frame.

int	raw_can_subscribe_rx (int ifnum, struct can_filter filter, kernel_pid_t pid, void param)
	Subscribe to a CAN filter.

int	raw_can_unsubscribe_rx (int ifnum, struct can_filter filter, kernel_pid_t pid, void param)
	Unsubscribe from reception for the given CAN `filter` on `pid` thread.

int	raw_can_free_frame (can_rx_data_t *frame)
	Free a received frame.

int	raw_can_get_can_opt (int ifnum, can_opt_t *opt)
	Get a CAN option `opt` from interface `ifnum`.

int	raw_can_set_can_opt (int ifnum, can_opt_t *opt)
	Set a CAN option `opt` to interface `ifnum`.

int	raw_can_send_mbox (int ifnum, const struct can_frame frame, mbox_t mbox)
	Send a CAN frame.

int	raw_can_subscribe_rx_mbox (int ifnum, struct can_filter filter, mbox_t mbox, void *param)
	Subscribe to a CAN filter.

int	raw_can_unsubscribe_rx_mbox (int ifnum, struct can_filter filter, mbox_t mbox, void *param)
	Unsubscribe from reception for the given CAN `filter` and `mbox`.

int	raw_can_power_down (int ifnum)
	Power down a given interface.

int	raw_can_power_up (int ifnum)
	Power up a given interface.

int	raw_can_get_ifnum_by_name (const char *name)
	Get the interface number of a given interface.

const char *	raw_can_get_name_by_ifnum (int ifnum)
	Get the interface name of a given interface number.

candev_dev_t *	raw_can_get_dev_by_ifnum (int ifnum)
	Get the candev descriptor from a given interface number.

int	raw_can_set_bitrate (int ifnum, uint32_t bitrate, uint32_t sample_point)
	Set the given bitrate/sample_point to the given ifnum.

int	raw_can_set_trx (int ifnum, can_trx_t *trx)
	Set a transceiver for a given interface.

Macro Definition Documentation

◆ RAW_CAN_DEV_UNDEF

#define RAW_CAN_DEV_UNDEF (-1)

Default value for undefined interface number.

Definition at line 47 of file raw.h.

Function Documentation

◆ raw_can_abort()

int raw_can_abort	(	int	ifnum,
		int	handle
	)

Abort a CAN frame.

Abort the frame identified by handle in the interface ifnum If no tx confirmation is received, this function must be called by the upper layer to ensure the driver frees its tx mailbox. The driver is not responsible of tx timeouts.

Parameters

[in]	ifnum	the interface number used to send the frame
[in]	handle	the handle of the frame to abort, it must be the value returned by raw_can_send

Returns: 0 on success; < 0 on error (-ENODEV)

◆ raw_can_free_frame()

int raw_can_free_frame ( can_rx_data_t * frame )

Free a received frame.

This function must be called by the user when a received frame is not needed anymore.

Parameters

[in] frame the frame to free, it must be a pointer to a frame received by the stack

Returns: 0 on success; < 0 on error

◆ raw_can_get_can_opt()

int raw_can_get_can_opt	(	int	ifnum,
		can_opt_t *	opt
	)

Get a CAN option opt from interface ifnum.

Parameters

[in]	ifnum	the interface number
[in,out]	opt	the option to get

Returns: 0 on success; < 0 on error

◆ raw_can_get_dev_by_ifnum()

candev_dev_t * raw_can_get_dev_by_ifnum ( int ifnum )

Get the candev descriptor from a given interface number.

Parameters

[in] ifnum interface number

Returns: pointer to a candev descriptor, NULL if no interface is registered with this number

◆ raw_can_get_ifnum_by_name()

int raw_can_get_ifnum_by_name ( const char * name )

Get the interface number of a given interface.

Parameters

[in] name interface name

Returns: the interface number, RAW_CAN_DEV_UNDEF if not defined

◆ raw_can_get_name_by_ifnum()

const char * raw_can_get_name_by_ifnum ( int ifnum )

Get the interface name of a given interface number.

Parameters

[in] ifnum interface number

Returns: the interface name, NULL if no interface registered with this number

◆ raw_can_power_down()

int raw_can_power_down ( int ifnum )

Power down a given interface.

Parameters

[in] ifnum the interface number to power down

Returns: 0 on success; < 0 on error

◆ raw_can_power_up()

int raw_can_power_up ( int ifnum )

Power up a given interface.

Parameters

[in] ifnum the interface number to power up

Returns: 0 on success; < 0 on error

◆ raw_can_send()

int raw_can_send	(	int	ifnum,
		const struct can_frame *	frame,
		kernel_pid_t	pid
	)

Send a CAN frame.

Send a CAN frame through the ifnum interface. The result is sent to the pid thread via IPC.

Parameters

[in]	ifnum	the interface number to send to
[in]	frame	the frame to send
[in]	pid	the user thread id to whom the result msg will be sent it can be THREAD_PID_UNDEF if no feedback is expected

Returns: a positive handle identifying the sent frame on success; < 0 on error

◆ raw_can_send_mbox()

int raw_can_send_mbox	(	int	ifnum,
		const struct can_frame *	frame,
		mbox_t *	mbox
	)

Send a CAN frame.

Send a CAN frame through the ifnum interface. The result is sent to the mbox thread via mailbox IPC.

Parameters

[in]	ifnum	the interface number to send to
[in]	frame	the frame to send
[in]	mbox	the user mbox to whom the result msg will be sent it can be NULL if no feedback is expected

Returns: a positive handle identifying the sent frame on success; < 0 on error

◆ raw_can_set_bitrate()

int raw_can_set_bitrate	(	int	ifnum,
		uint32_t	bitrate,
		uint32_t	sample_point
	)

Set the given bitrate/sample_point to the given ifnum.

Set the given bitrate and sample_point to the given ifnum. This is a helper function which calculates the right bittiming from bitrate and sample_point.

Parameters

[in]	ifnum	the interface number
[in]	bitrate	the bitrate in bits/s
[in]	sample_point	the sample point in tenth of percent (875 = 87.5%) if not set, the default value of 87.5% is used

Returns: 0 on success; 1 if the bitrate/sample_point couple can not be reached precisely but the bitrate is set; < 0 on error

◆ raw_can_set_can_opt()

int raw_can_set_can_opt	(	int	ifnum,
		can_opt_t *	opt
	)

Set a CAN option opt to interface ifnum.

Parameters

[in]	ifnum	the interface number
[in,out]	opt	the option to set

Returns: 0 on success; < 0 on error

◆ raw_can_set_trx()

int raw_can_set_trx	(	int	ifnum,
		can_trx_t *	trx
	)

Set a transceiver for a given interface.

The interface must be powered down before changing the transceiver.

Parameters

[in]	ifnum	the interface number
[in]	trx	the transceiver to set

Returns: 0 on success; < 0 on error (-EBUSY if device is not powered down)

◆ raw_can_subscribe_rx()

int raw_can_subscribe_rx	(	int	ifnum,
		struct can_filter *	filter,
		kernel_pid_t	pid,
		void *	param
	)

Subscribe to a CAN filter.

This function must be called if a user thread pid wants to receive the CAN frame matching filter on the interface ifnum. The user thread will then receive msg via IPC on reception of frame matching filters.

Parameters

[in]	ifnum	the interface number to listen
[in]	filter	the list of filter to receive
[in]	pid	the thread id of the user
[in]	param	optional user parameter

Returns: the ifnum on success; < 0 on error

◆ raw_can_subscribe_rx_mbox()

int raw_can_subscribe_rx_mbox	(	int	ifnum,
		struct can_filter *	filter,
		mbox_t *	mbox,
		void *	param
	)

Subscribe to a CAN filter.

This function must be called if a user thread waiting on mbox wants to receive the CAN frame matching filter on the interface ifnum. The user thread will then receive msg via mailbox IPC on reception of frame matching filters.

Currently only single frame ID (i.e. filters->can_mask = 0xFFFFFFFF) are supported.

Parameters

[in]	ifnum	the interface number to listen
[in]	filter	the list of filter to receive
[in]	mbox	the mbox of the user
[in]	param	optional user parameter

Returns: the ifnum on success; < 0 on error

◆ raw_can_unsubscribe_rx()

int raw_can_unsubscribe_rx	(	int	ifnum,
		struct can_filter *	filter,
		kernel_pid_t	pid,
		void *	param
	)

Unsubscribe from reception for the given CAN filter on pid thread.

Parameters

[in]	ifnum	the interface number
[in]	filter	the filter to remove
[in]	pid	the thread id of the user
[in]	param	optional user parameter

Returns: 0 on success; < 0 on error

◆ raw_can_unsubscribe_rx_mbox()

int raw_can_unsubscribe_rx_mbox	(	int	ifnum,
		struct can_filter *	filter,
		mbox_t *	mbox,
		void *	param
	)

Unsubscribe from reception for the given CAN filter and mbox.

Parameters

[in]	ifnum	the interface number
[in]	filter	the filter to remove
[in]	mbox	the mbox of the user
[in]	param	optional user parameter

Returns: 0 on success; < 0 on error