can.h

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/*
 * Copyright (C) 2016 OTA keys S.A.
 *
 * This file is subject to the terms and conditions of the GNU Lesser General
 * Public License v2.1. See the file LICENSE in the top level directory for more
 * details.
 */
 
#pragma once

 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
 
#if defined(__linux__)
 
#include <linux/can.h>
#include <libsocketcan.h>
 
#else

#define CAN_MAX_DLEN (8)    
#define CANFD_MAX_DLEN (64) 

/* special address description flags for the CAN_ID */
#define CAN_EFF_FLAG (0x80000000U) 
#define CAN_RTR_FLAG (0x40000000U) 
#define CAN_ERR_FLAG (0x20000000U) 
 
/* valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK (0x000007FFU) 
#define CAN_EFF_MASK (0x1FFFFFFFU) 
#define CAN_ERR_MASK (0x1FFFFFFFU) 

#define CANFD_BRS 0x01 
#define CANFD_ESI 0x02 
#define CANFD_FDF 0x04 

 enum can_state {
     CAN_STATE_ERROR_ACTIVE = 0,     
     CAN_STATE_ERROR_WARNING,        
     CAN_STATE_ERROR_PASSIVE,        
     CAN_STATE_BUS_OFF,              
     CAN_STATE_STOPPED,              
     CAN_STATE_SLEEPING,             
     CAN_STATE_MAX
 };

typedef uint32_t canid_t;

struct can_frame {
    canid_t can_id;     
    union {
        uint8_t len;    
        uint8_t can_dlc;
    };
    uint8_t __pad;      
    uint8_t __res0;     
    uint8_t __res1;     
    uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
};
 
#ifdef MODULE_FDCAN
struct canfd_frame {
    canid_t can_id;  
    uint8_t len; 
    uint8_t flags;   
    uint8_t __res0;  
    uint8_t __res1;  
    uint8_t data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
};
#endif

struct can_filter {
    canid_t can_id;    
    canid_t can_mask;  
#if (MODULE_CAN_RX_MAILBOX)
    uint8_t target_mailbox; 
#endif
};

struct can_bittiming {
    uint32_t bitrate;      
    uint32_t sample_point; 
    uint32_t tq;           
    uint32_t prop_seg;     
    uint32_t phase_seg1;   
    uint32_t phase_seg2;   
    uint32_t sjw;          
    uint32_t brp;          
};

struct can_bittiming_const {
    uint32_t tseg1_min;  
    uint32_t tseg1_max;  
    uint32_t tseg2_min;  
    uint32_t tseg2_max;  
    uint32_t sjw_max;    
    uint32_t brp_min;    
    uint32_t brp_max;    
    uint32_t brp_inc;    
};
 
#endif /* defined(__linux__) */

#ifdef MODULE_FDCAN
typedef struct canfd_frame can_frame_t;
#else
typedef struct can_frame can_frame_t;
#endif
 
#ifdef __cplusplus
}
#endif