include/rtdm/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>

#ifndef AF_CAN

#define AF_CAN  29

#define PF_CAN  AF_CAN

#endif

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 
enum CAN_PROTO {

    CAN_PROTO_RAW,
    CAN_PROTO_MAX
};
#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

typedef int can_ctrlmode_t;

enum CAN_STATE {
    CAN_STATE_ACTIVE = 0,

    CAN_STATE_BUS_WARNING,

    CAN_STATE_BUS_PASSIVE,

    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];
} can_frame_t;



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


#define SOL_CAN_RAW 103

#define CAN_RAW_FILTER      0x1

#define CAN_RAW_ERR_FILTER  0x2

#define CAN_RAW_TX_LOOPBACK  0x3

#ifndef SIOCGIFINDEX
#define SIOCGIFINDEX \
            _IOWR(RTIOC_TYPE_CAN, 0x00, struct ifreq)
#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 */

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