can.h File Reference

#include <zephyr/types.h>
#include <zephyr/device.h>
#include <string.h>
#include <zephyr/sys/util.h>
#include <zephyr/stats/stats.h>
#include <syscalls/can.h>

Go to the source code of this file.

Data Structures
struct	zcan_frame
	CAN frame structure. More...
struct	zcan_filter
	CAN filter structure. More...
struct	can_bus_err_cnt
	CAN controller error counters. More...
struct	can_timing
	CAN bus timing structure. More...
struct	can_device_state
	CAN specific device state which allows for CAN device class specific additions. More...
struct	can_frame
	CAN frame for Linux SocketCAN compatibility. More...
struct	can_filter
	CAN filter for Linux SocketCAN compatibility. More...

Macros
#define	CAN_STATS_BIT0_ERROR_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), bit0_error)
	Increment the bit0 error counter for a CAN device. More...
#define	CAN_STATS_BIT1_ERROR_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), bit1_error)
	Increment the bit1 (recessive) error counter for a CAN device. More...
#define	CAN_STATS_STUFF_ERROR_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), stuff_error)
	Increment the stuffing error counter for a CAN device. More...
#define	CAN_STATS_CRC_ERROR_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), crc_error)
	Increment the CRC error counter for a CAN device. More...
#define	CAN_STATS_FORM_ERROR_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), form_error)
	Increment the form error counter for a CAN device. More...
#define	CAN_STATS_ACK_ERROR_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), ack_error)
	Increment the acknowledge error counter for a CAN device. More...
#define	CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm_device, data_ptr, cfg_ptr, level, prio, api_ptr, ...)
	Like DEVICE_DT_DEFINE() with CAN device specifics. More...
#define	CAN_DEVICE_DT_INST_DEFINE(inst, ...)    CAN_DEVICE_DT_DEFINE(DT_DRV_INST(inst), __VA_ARGS__)
	Like CAN_DEVICE_DT_DEFINE() for an instance of a DT_DRV_COMPAT compatible. More...
CAN frame definitions
#define	CAN_STD_ID_MASK   0x7FFU
	Bit mask for a standard (11-bit) CAN identifier. More...
#define	CAN_MAX_STD_ID   CAN_STD_ID_MASK
	Maximum value for a standard (11-bit) CAN identifier. More...
#define	CAN_EXT_ID_MASK   0x1FFFFFFFU
	Bit mask for an extended (29-bit) CAN identifier. More...
#define	CAN_MAX_EXT_ID   CAN_EXT_ID_MASK
	Maximum value for an extended (29-bit) CAN identifier. More...
#define	CAN_MAX_DLC   8U
	Maximum data length code for CAN 2.0A/2.0B. More...
#define	CANFD_MAX_DLC   CONFIG_CANFD_MAX_DLC
	Maximum data length code for CAN-FD. More...
CAN controller mode flags
#define	CAN_MODE_NORMAL   0
#define	CAN_MODE_LOOPBACK   BIT(0)
#define	CAN_MODE_LISTENONLY   BIT(1)
#define	CAN_MODE_FD   BIT(2)

Typedefs
typedef uint32_t	can_mode_t
	Provides a type to hold CAN controller configuration flags. More...
typedef void(*	can_tx_callback_t) (const struct device *dev, int error, void *user_data)
	Defines the application callback handler function signature. More...
typedef void(*	can_rx_callback_t) (const struct device *dev, struct zcan_frame *frame, void *user_data)
	Defines the application callback handler function signature for receiving. More...
typedef void(*	can_state_change_callback_t) (const struct device *dev, enum can_state state, struct can_bus_err_cnt err_cnt, void *user_data)
	Defines the state change callback handler function signature. More...

Enumerations
enum	can_state { CAN_ERROR_ACTIVE , CAN_ERROR_WARNING , CAN_ERROR_PASSIVE , CAN_BUS_OFF }
	Defines the state of the CAN bus. More...
enum	can_ide { CAN_STANDARD_IDENTIFIER , CAN_EXTENDED_IDENTIFIER }
	Defines if the CAN frame has a standard (11-bit) or extended (29-bit) CAN identifier. More...
enum	can_rtr { CAN_DATAFRAME , CAN_REMOTEREQUEST }
	Defines if the CAN frame is a data frame or a Remote Transmission Request (RTR) frame. More...

Functions
Transmitting CAN frames
int	can_send (const struct device *dev, const struct zcan_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
	Queue a CAN frame for transmission on the CAN bus. More...
CAN bus error reporting and handling
int	can_get_state (const struct device *dev, enum can_state *state, struct can_bus_err_cnt *err_cnt)
	Get current CAN controller state. More...
int	can_recover (const struct device *dev, k_timeout_t timeout)
	Recover from bus-off state. More...
static void	can_set_state_change_callback (const struct device *dev, can_state_change_callback_t callback, void *user_data)
	Set a callback for CAN controller state change events. More...
CAN utility functions
static uint8_t	can_dlc_to_bytes (uint8_t dlc)
	Convert from Data Length Code (DLC) to the number of data bytes. More...
static uint8_t	can_bytes_to_dlc (uint8_t num_bytes)
	Convert from number of bytes to Data Length Code (DLC) More...

CAN controller configuration
#define	CAN_SJW_NO_CHANGE   0
int	can_get_core_clock (const struct device *dev, uint32_t *rate)
	Get the CAN core clock rate. More...
int	can_get_max_bitrate (const struct device *dev, uint32_t *max_bitrate)
	Get maximum supported bitrate. More...
const struct can_timing *	can_get_timing_min (const struct device *dev)
	Get the minimum supported timing parameter values. More...
const struct can_timing *	can_get_timing_max (const struct device *dev)
	Get the maximum supported timing parameter values. More...
int	can_calc_timing (const struct device *dev, struct can_timing *res, uint32_t bitrate, uint16_t sample_pnt)
	Calculate timing parameters from bitrate and sample point. More...
const struct can_timing *	can_get_timing_data_min (const struct device *dev)
	Get the minimum supported timing parameter values for the data phase. More...
const struct can_timing *	can_get_timing_data_max (const struct device *dev)
	Get the maximum supported timing parameter values for the data phase. More...
int	can_calc_timing_data (const struct device *dev, struct can_timing *res, uint32_t bitrate, uint16_t sample_pnt)
	Calculate timing parameters for the data phase. More...
int	can_set_timing_data (const struct device *dev, const struct can_timing *timing_data)
	Configure the bus timing for the data phase of a CAN-FD controller. More...
int	can_set_bitrate_data (const struct device *dev, uint32_t bitrate_data)
	Set the bitrate for the data phase of the CAN-FD controller. More...
int	can_calc_prescaler (const struct device *dev, struct can_timing *timing, uint32_t bitrate)
	Fill in the prescaler value for a given bitrate and timing. More...
int	can_set_timing (const struct device *dev, const struct can_timing *timing)
	Configure the bus timing of a CAN controller. More...
int	can_set_mode (const struct device *dev, can_mode_t mode)
	Set the CAN controller to the given operation mode. More...
int	can_set_bitrate (const struct device *dev, uint32_t bitrate)
	Set the bitrate of the CAN controller. More...

Receiving CAN frames
#define	CAN_MSGQ_DEFINE(name, max_frames)    K_MSGQ_DEFINE(name, sizeof(struct zcan_frame), max_frames, 4)
	Statically define and initialize a CAN RX message queue. More...
static int	can_add_rx_filter (const struct device *dev, can_rx_callback_t callback, void *user_data, const struct zcan_filter *filter)
	Add a callback function for a given CAN filter. More...
int	can_add_rx_filter_msgq (const struct device *dev, struct k_msgq *msgq, const struct zcan_filter *filter)
	Wrapper function for adding a message queue for a given filter. More...
void	can_remove_rx_filter (const struct device *dev, int filter_id)
	Remove a CAN RX filter. More...
int	can_get_max_filters (const struct device *dev, enum can_ide id_type)
	Get maximum number of RX filters. More...

Linux SocketCAN compatibility
The following structures and functions provide compatibility with the CAN frame and CAN filter formats used by Linux SocketCAN.
typedef uint32_t	canid_t
static void	can_copy_frame_to_zframe (const struct can_frame *frame, struct zcan_frame *zframe)
	Translate a can_frame struct to a zcan_frame struct. More...
static void	can_copy_zframe_to_frame (const struct zcan_frame *zframe, struct can_frame *frame)
	Translate a zcan_frame struct to a can_frame struct. More...
static void	can_copy_filter_to_zfilter (const struct can_filter *filter, struct zcan_filter *zfilter)
	Translate a can_filter struct to a zcan_filter struct. More...
static void	can_copy_zfilter_to_filter (const struct zcan_filter *zfilter, struct can_filter *filter)
	Translate a zcan_filter struct to a can_filter struct. More...