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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.
*/
/**
* @ingroup can
* @defgroup can_common Common
* @brief CAN stack common definitions
*
* This module defines the common part of the CAN stack, including structures
* and messages.
*
* @{
*
*
* @file
* @brief Definitions of high-level CAN interface
*
* @author Vincent Dupont <vincent@otakeys.com>
*/
#ifndef CAN_COMMON_H
#define CAN_COMMON_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <sys/uio.h>
#include "timex.h"
#include "thread.h"
#ifdef MODULE_CAN_MBOX
#include "mbox.h"
#endif
#include "net/gnrc/pktbuf.h"
/**
* @brief CAN options
*/
typedef enum {
CANOPT_BITTIMING, /**< bit timing parameter */
CANOPT_RX_FILTERS, /**< rx filters */
CANOPT_TEC, /**< Transmit Error Counter */
CANOPT_REC, /**< Receive Error Counter*/
CANOPT_LEC, /**< Last Error Code */
CANOPT_CLOCK, /**< controller main clock */
CANOPT_BITTIMING_CONST, /**< controller bittiming parameters */
CANOPT_STATE, /**< set controller state @ref canopt_state_t */
} canopt_t;
/**
* @brief CAN state options
*
* CAN state options to be used with @p CANOPT_STATE
*/
typedef enum {
CANOPT_STATE_OFF, /**< powered off */
CANOPT_STATE_SLEEP, /**< sleep mode */
CANOPT_STATE_LISTEN_ONLY, /**< listen only mode */
CANOPT_STATE_ON, /**< power on, rx / tx mode */
} canopt_state_t;
/**
* @brief Structure to pass a CAN option
*/
typedef struct {
canopt_t opt; /**< the option to get/set */
uint16_t context; /**< (optional) context for that option */
void *data; /**< data to set or buffer to read into */
uint16_t data_len; /**< size of the data / the buffer */
} can_opt_t;
/**
* @brief Messages which can be sent through the CAN stack
*/
enum can_msg {
/* High level messages */
CAN_MSG_ACK = 0x100, /**< acknowledgment */
CAN_MSG_SEND_FRAME, /**< send a frame */
CAN_MSG_ABORT_FRAME, /**< abort a frame */
CAN_MSG_SET, /**< set an option */
CAN_MSG_GET, /**< get an option */
CAN_MSG_SET_FILTER, /**< set a filter */
CAN_MSG_REMOVE_FILTER, /**< remove a filter */
CAN_MSG_POWER_UP, /**< power up */
CAN_MSG_POWER_DOWN, /**< power down */
#if defined(MODULE_CAN_TRX) || defined(DOXYGEN)
CAN_MSG_SET_TRX, /**< set a transceiver */
#endif
/* candev internal messages */
CAN_MSG_EVENT = 0x200, /**< driver event */
CAN_MSG_WAKE_UP, /**< driver has been woken up by bus */
CAN_MSG_TX_CONFIRMATION, /**< a frame has been sent */
CAN_MSG_RX_INDICATION, /**< a frame has been received */
CAN_MSG_TX_ERROR, /**< there was an error when transmitting */
CAN_MSG_RX_ERROR, /**< there was an error when receiving */
CAN_MSG_BUS_OFF, /**< bus-off detected */
CAN_MSG_ERROR_PASSIVE, /**< driver switched in error passive */
CAN_MSG_ERROR_WARNING, /**< driver reached error warning */
#if defined(MODULE_CAN_PM) || defined(DOXYGEN)
CAN_MSG_PM, /**< power management event */
#endif
/* isotp messages */
#if defined(MODULE_CAN_ISOTP) || defined(DOXYGEN)
CAN_MSG_ISOTP_RX_TIMEOUT = 0x400, /**< isotp rx timeout */
CAN_MSG_ISOTP_TX_TIMEOUT, /**< isotp tx timeout */
#endif
};
/**
* @brief Received data structure
*
* This structure is used when a layer sends received data
* to the upper layer
*/
typedef struct can_rx_data {
struct iovec data; /**< iovec containing received data */
void *arg; /**< upper layer private param */
gnrc_pktsnip_t *snip; /**< pointer to the allocated snip */
} can_rx_data_t;
/**
* @brief registry entry types
*/
typedef enum {
CAN_TYPE_DEFAULT = 0, /**< default entry (use msg) */
#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
CAN_TYPE_MBOX, /**< mbox entry */
#endif
} can_reg_type_t;
/**
* @brief registry entry
*
* This structure is used through the stack to describe how to contact
* the upper layer and which CAN interface to use
*/
typedef struct can_reg_entry {
struct can_reg_entry *next; /**< next for linked list */
int ifnum; /**< interface number for the entry */
union {
kernel_pid_t pid; /**< pid of the thread when using msg */
#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
mbox_t *mbox; /**< mbox pointer */
#endif
} target; /**< entry target */
#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
can_reg_type_t type; /**< entry type */
#endif
} can_reg_entry_t;
#ifdef __cplusplus
}
#endif
#endif /* CAN_COMMON_H */
/** @} */