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local-nuttx-update/include/nuttx/can.h
Alin Jerpelea cd2fcf5252 include: migrate to SPDX identifier 
Most tools used for compliance and SBOM generation use SPDX identifiers
This change brings us a step closer to an easy SBOM generation.

Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
2024-10-04 08:18:42 +08:00

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/****************************************************************************
* include/nuttx/can.h
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_CAN_H
#define __INCLUDE_NUTTX_CAN_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <stdint.h>
#ifdef CONFIG_NET_CAN
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Special address description flags for the CAN_ID */
#define CAN_EFF_FLAG 0x80000000 /* EFF/SFF is set in the MSB */
#define CAN_RTR_FLAG 0x40000000 /* Remote transmission request */
#define CAN_ERR_FLAG 0x20000000 /* Error message frame */
#define CAN_EVT_FLAG 0x10000000 /* Lower_half use this flags to report state switch event */
/* Valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK 0x000007ff /* Standard frame format (SFF) */
#define CAN_EFF_MASK 0x1fffffff /* Extended frame format (EFF) */
#define CAN_ERR_MASK 0x1fffffff /* Omit EFF, RTR, ERR flags */
#define CAN_SFF_ID_BITS 11
#define CAN_EFF_ID_BITS 29
#define CAN_MTU (sizeof(struct can_frame))
#define CANFD_MTU (sizeof(struct canfd_frame))
/* CAN payload length and DLC definitions according to ISO 11898-1 */
#define CAN_MAX_DLC 8
#define CAN_MAX_DLEN 8
/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
#define CANFD_MAX_DLC 15
#define CANFD_MAX_DLEN 64
/* Defined bits for canfd_frame.flags
*
* The use of struct canfd_frame implies the Extended Data Length (EDL) bit
* to be set in the CAN frame bitstream on the wire. The EDL bit switch turns
* the CAN controllers bitstream processor into the CAN FD mode which creates
* two new options within the CAN FD frame specification:
*
* Bit Rate Switch - to indicate a second bitrate is/was used for the payload
* Error State Indicator - represents the error state of the transmitting
* node
*
* As the CANFD_ESI bit is internally generated by the transmitting CAN
* controller only the CANFD_BRS bit is relevant for real CAN controllers
* when building a CAN FD frame for transmission. Setting the CANFD_ESI bit
* can make sense for virtual CAN interfaces to test applications with echoed
* frames.
*/
#define CANFD_BRS 0x01 /* Bit rate switch (second bitrate for payload data) */
#define CANFD_ESI 0x02 /* Error state indicator of the transmitting node */
#define CANFD_FDF 0x04 /* Mark CAN FD for dual use of struct canfd_frame */
#define CAN_INV_FILTER 0x20000000u /* To be set in can_filter.can_id */
/* PF_CAN protocols */
#define CAN_RAW 1 /* RAW sockets */
#define CAN_BCM 2 /* Broadcast Manager */
#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
#define CAN_MCNET 5 /* Bosch MCNet */
#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
#define CAN_J1939 7 /* SAE J1939 */
#define CAN_NPROTO 8
#define SOL_CAN_BASE 100
#define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW)
/* CAN_RAW socket options */
#define CAN_RAW_FILTER (__SO_PROTOCOL + 0)
/* Set 0 .. n can_filter(s) */
#define CAN_RAW_ERR_FILTER (__SO_PROTOCOL + 1)
/* Set filter for error frames */
#define CAN_RAW_LOOPBACK (__SO_PROTOCOL + 2)
/* Local loopback (default:on) */
#define CAN_RAW_RECV_OWN_MSGS (__SO_PROTOCOL + 3)
/* Receive my own msgs (default:off) */
#define CAN_RAW_FD_FRAMES (__SO_PROTOCOL + 4)
/* Allow CAN FD frames (default:off) */
#define CAN_RAW_JOIN_FILTERS (__SO_PROTOCOL + 5)
/* All filters must match to trigger */
#define CAN_RAW_TX_DEADLINE (__SO_PROTOCOL + 6)
/* Abort frame when deadline passed */
/* CAN filter support (Hardware level filtering) ****************************/
/* Some CAN hardware supports a notion of prioritizing messages that match
* filters. Only two priority levels are currently supported and are encoded
* as defined below:
*/
#define CAN_MSGPRIO_LOW 0
#define CAN_MSGPRIO_HIGH 1
/* Filter type. Not all CAN hardware will support all filter types. */
#define CAN_FILTER_MASK 0 /* Address match under a mask */
#define CAN_FILTER_DUAL 1 /* Dual address match */
#define CAN_FILTER_RANGE 2 /* Match a range of addresses */
/* CAN Error Indications ****************************************************/
/* Error class in can_id */
#define CAN_ERR_TX_TIMEOUT (1 << 0) /* Bit 0: TX timeout */
#define CAN_ERR_LOSTARB (1 << 1) /* Bit 1: Lost arbitration (See CAN_ERR_LOSTARB_* definitions) */
#define CAN_ERR_CRTL (1 << 2) /* Bit 2: Controller error (See CAN_ERR_CRTL_* definitions) */
#define CAN_ERR_PROT (1 << 3) /* Bit 3: Protocol error (see CAN_ERR_PROT_* definitions) */
#define CAN_ERR_TRX (1 << 4) /* Bit 4: Transceiver error (See CAN_TRX_* definitions) */
#define CAN_ERR_ACK (1 << 5) /* Bit 5: No ACK received on transmission */
#define CAN_ERR_BUSOFF (1 << 6) /* Bit 6: Bus off */
#define CAN_ERR_BUSERROR (1 << 7) /* Bit 7: Bus error */
#define CAN_ERR_RESTARTED (1 << 8) /* Bit 8: Controller restarted */
#define CAN_ERR_CNT (1 << 9) /* Tx error counter / data[6]
* Rx error counter / data[7]
*/
/* The remaining definitions described the error report payload that follows
* the CAN header.
*/
#define CAN_ERR_DLC (8) /* DLC of error report */
/* Data[0]: Arbitration lost in ch_error. */
#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* Unspecified error */
#define CAN_ERR_LOSTARB_BIT(n) (n) /* Bit number in the bit stream */
/* Data[1]: Error status of CAN-controller */
#define CAN_ERR_CRTL_UNSPEC 0x00 /* Unspecified error */
#define CAN_ERR_CRTL_RX_OVERFLOW (1 << 0) /* Bit 0: RX buffer overflow */
#define CAN_ERR_CRTL_TX_OVERFLOW (1 << 1) /* Bit 1: TX buffer overflow */
#define CAN_ERR_CRTL_RX_WARNING (1 << 2) /* Bit 2: Reached warning level for RX errors */
#define CAN_ERR_CRTL_TX_WARNING (1 << 3) /* Bit 3: Reached warning level for TX errors */
#define CAN_ERR_CRTL_RX_PASSIVE (1 << 4) /* Bit 4: Reached passive level for RX errors */
#define CAN_ERR_CRTL_TX_PASSIVE (1 << 5) /* Bit 5: Reached passive level for TX errors */
/* Data[2]: Error in CAN protocol. This provides the type of the error. */
#define CAN_ERR_PROT_UNSPEC 0x00 /* Unspecified error */
#define CAN_ERR_PROT_BIT (1 << 0) /* Bit 0: Single bit error */
#define CAN_ERR_PROT_FORM (1 << 1) /* Bit 1: Frame format error */
#define CAN_ERR_PROT_STUFF (1 << 2) /* Bit 2: Bit stuffing error */
#define CAN_ERR_PROT_BIT0 (1 << 3) /* Bit 3: Unable to send dominant bit */
#define CAN_ERR_PROT_BIT1 (1 << 4) /* Bit 4: Unable to send recessive bit */
#define CAN_ERR_PROT_OVERLOAD (1 << 5) /* Bit 5: Bus overload */
#define CAN_ERR_PROT_ACTIVE (1 << 6) /* Bit 6: Active error announcement */
#define CAN_ERR_PROT_TX (1 << 7) /* Bit 7: Error occurred on transmission */
/* Data[3]: Error in CAN protocol. This provides the loation of the error */
#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* Unspecified error */
#define CAN_ERR_PROT_LOC_SOF 0x01 /* start of frame */
#define CAN_ERR_PROT_LOC_ID0 0x02 /* ID bits 0-4 */
#define CAN_ERR_PROT_LOC_ID1 0x03 /* ID bits 5-12 */
#define CAN_ERR_PROT_LOC_ID2 0x04 /* ID bits 13-17 */
#define CAN_ERR_PROT_LOC_ID3 0x05 /* ID bits 21-28 */
#define CAN_ERR_PROT_LOC_ID4 0x06 /* ID bits 18-20 */
#define CAN_ERR_PROT_LOC_IDE 0x07 /* Identifier extension */
#define CAN_ERR_PROT_LOC_RTR 0x08 /* RTR */
#define CAN_ERR_PROT_LOC_SRTR 0x09 /* Substitute RTR */
#define CAN_ERR_PROT_LOC_RES0 0x0a /* Reserved bit 0 */
#define CAN_ERR_PROT_LOC_RES1 0x0b /* Reserved bit 1 */
#define CAN_ERR_PROT_LOC_DLC 0x0c /* Data length code */
#define CAN_ERR_PROT_LOC_DATA 0x0d /* Data section */
#define CAN_ERR_PROT_LOC_CRC_SEQ 0x0e /* CRC sequence */
#define CAN_ERR_PROT_LOC_CRC_DEL 0x0f /* CRC delimiter */
#define CAN_ERR_PROT_LOC_ACK 0x10 /* ACK slot */
#define CAN_ERR_PROT_LOC_ACK_DEL 0x11 /* ACK delimiter */
#define CAN_ERR_PROT_LOC_EOF 0x12 /* End of frame */
#define CAN_ERR_PROT_LOC_INTERM 0x13 /* Intermission */
/* Data[4]: Error status of CAN-transceiver */
#define CAN_ERR_TRX_UNSPEC 0x00 /* Unspecified error */
#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
/* CAN state thresholds
*
* Error counter Error state
* -----------------------------------
* 0 - 95 Error-active
* 96 - 127 Error-warning
* 128 - 255 Error-passive
* 256 and greater Bus-off
*/
#define CAN_ERROR_WARNING_THRESHOLD 96
#define CAN_ERROR_PASSIVE_THRESHOLD 128
#define CAN_BUS_OFF_THRESHOLD 256
/****************************************************************************
* Public Types
****************************************************************************/
/* Controller Area Network Identifier structure
*
* bit 0-28: CAN identifier (11/29 bit)
* bit 29: error message frame flag (0 = data frame, 1 = error message)
* bit 30: remote transmission request flag (1 = rtr frame)
* bit 31: frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
*/
typedef uint32_t canid_t;
/* Controller Area Network Error Message Frame Mask structure
*
* bit 0-28 : error class mask
* bit 29-31 : set to zero
*/
typedef uint32_t can_err_mask_t;
/* struct can_frame - basic CAN frame structure
* can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
* can_dlc: frame payload length in byte (0 .. 8) aka data length code
* N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1
* mapping of the 'data length code' to the real payload length
* __pad: padding
* __res0: reserved / padding
* __res1: reserved / padding
* data: CAN frame payload (up to 8 byte)
*/
struct can_frame
{
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
uint8_t can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
uint8_t __pad; /* padding */
uint8_t __res0; /* reserved / padding */
uint8_t __res1; /* reserved / padding */
uint8_t data[CAN_MAX_DLEN];
};
/* struct canfd_frame - CAN flexible data rate frame structure
* can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
* len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
* flags: additional flags for CAN FD
* __res0: reserved / padding
* __res1: reserved / padding
* data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
*/
struct canfd_frame
{
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
uint8_t len; /* frame payload length in byte */
uint8_t flags; /* additional flags for CAN FD */
uint8_t __res0; /* reserved / padding */
uint8_t __res1; /* reserved / padding */
uint8_t data[CANFD_MAX_DLEN];
};
/* The sockaddr structure for CAN sockets
*
* can_family: Address family number AF_CAN.
* can_ifindex: CAN network interface index.
* can_addr: Protocol specific address information
*/
struct sockaddr_can
{
sa_family_t can_family;
int16_t can_ifindex;
union
{
/* Transport protocol class address information */
struct
{
canid_t rx_id;
canid_t tx_id;
} tp;
/* J1939 address information */
struct
{
/* 8 byte name when using dynamic addressing */
uint64_t name;
/* pgn:
* 8 bit: PS in PDU2 case, else 0
* 8 bit: PF
* 1 bit: DP
* 1 bit: reserved
*/
uint32_t pgn;
/* 1 byte address */
uint8_t addr;
} j1939;
} can_addr;
};
/* struct can_filter - CAN ID based filter in can_register().
* can_id: Relevant bits of CAN ID which are not masked out.
* can_mask: CAN mask (see description)
*
* Description:
* A filter matches, when
*
* <received_can_id> & mask == can_id & mask
*
* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
* filter for error message frames (CAN_ERR_FLAG bit set in mask).
*/
struct can_filter
{
canid_t can_id;
canid_t can_mask;
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* CONFIG_CAN */
#endif /* __INCLUDE_NUTTX_CAN_H */
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