can.h File Reference

Controller Area Network (CAN) driver API. More...

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

Go to the source code of this file.

Data Structures
struct	can_frame
	CAN frame structure. More...
struct	can_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...

Macros
#define	CAN_STATS_BIT_ERROR_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), bit_error)
	Increment the bit error counter for a CAN device.
#define	CAN_STATS_BIT0_ERROR_INC(dev_)
	Increment the bit0 error counter for a CAN device.
#define	CAN_STATS_BIT1_ERROR_INC(dev_)
	Increment the bit1 (recessive) error counter for a CAN device.
#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.
#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.
#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.
#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.
#define	CAN_STATS_RX_OVERRUN_INC(dev_)    STATS_INC(Z_CAN_GET_STATS(dev_), rx_overrun)
	Increment the RX overrun counter for a CAN device.
#define	CAN_STATS_RESET(dev_)    stats_reset(&(Z_CAN_GET_STATS(dev_).s_hdr))
	Zero all statistics for a CAN device.
#define	CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level, prio, api, ...)
	Like DEVICE_DT_DEFINE() with CAN device specifics.
#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.
CAN frame definitions
#define	CAN_STD_ID_MASK   0x7FFU
	Bit mask for a standard (11-bit) CAN identifier.
#define	CAN_MAX_STD_ID   CAN_STD_ID_MASK __DEPRECATED_MACRO
	Maximum value for a standard (11-bit) CAN identifier.
#define	CAN_EXT_ID_MASK   0x1FFFFFFFU
	Bit mask for an extended (29-bit) CAN identifier.
#define	CAN_MAX_EXT_ID   CAN_EXT_ID_MASK __DEPRECATED_MACRO
	Maximum value for an extended (29-bit) CAN identifier.
#define	CAN_MAX_DLC   8U
	Maximum data length code for CAN 2.0A/2.0B.
#define	CANFD_MAX_DLC   15U
	Maximum data length code for CAN FD.
CAN controller mode flags
#define	CAN_MODE_NORMAL   0
	Normal mode.
#define	CAN_MODE_LOOPBACK   BIT(0)
	Controller is in loopback mode (receives own frames).
#define	CAN_MODE_LISTENONLY   BIT(1)
	Controller is not allowed to send dominant bits.
#define	CAN_MODE_FD   BIT(2)
	Controller allows transmitting/receiving CAN FD frames.
#define	CAN_MODE_ONE_SHOT   BIT(3)
	Controller does not retransmit in case of lost arbitration or missing ACK.
#define	CAN_MODE_3_SAMPLES   BIT(4)
	Controller uses triple sampling mode.
#define	CAN_MODE_MANUAL_RECOVERY   BIT(5)
	Controller requires manual recovery after entering bus-off state.
CAN frame flags
#define	CAN_FRAME_IDE   BIT(0)
	Frame uses extended (29-bit) CAN ID.
#define	CAN_FRAME_RTR   BIT(1)
	Frame is a Remote Transmission Request (RTR)
#define	CAN_FRAME_FDF   BIT(2)
	Frame uses CAN FD format (FDF)
#define	CAN_FRAME_BRS   BIT(3)
	Frame uses CAN FD Baud Rate Switch (BRS).
#define	CAN_FRAME_ESI   BIT(4)
	CAN FD Error State Indicator (ESI).
CAN filter flags
#define	CAN_FILTER_IDE   BIT(0)
	Filter matches frames with extended (29-bit) CAN IDs.

Typedefs
typedef uint32_t	can_mode_t
	Provides a type to hold CAN controller configuration flags.
typedef void(*	can_tx_callback_t) (const struct device *dev, int error, void *user_data)
	Defines the application callback handler function signature.
typedef void(*	can_rx_callback_t) (const struct device *dev, struct can_frame *frame, void *user_data)
	Defines the application callback handler function signature for receiving.
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.

Enumerations
enum	can_state {   CAN_STATE_ERROR_ACTIVE , CAN_STATE_ERROR_WARNING , CAN_STATE_ERROR_PASSIVE , CAN_STATE_BUS_OFF ,   CAN_STATE_STOPPED }
	Defines the state of the CAN controller. More...

Functions
CAN controller configuration
int	can_get_core_clock (const struct device *dev, uint32_t *rate)
	Get the CAN core clock rate.
uint32_t	can_get_bitrate_min (const struct device *dev)
	Get minimum supported bitrate.
static int	can_get_min_bitrate (const struct device *dev, uint32_t *min_bitrate)
	Get minimum supported bitrate.
uint32_t	can_get_bitrate_max (const struct device *dev)
	Get maximum supported bitrate.
static int	can_get_max_bitrate (const struct device *dev, uint32_t *max_bitrate)
	Get maximum supported bitrate.
const struct can_timing *	can_get_timing_min (const struct device *dev)
	Get the minimum supported timing parameter values.
const struct can_timing *	can_get_timing_max (const struct device *dev)
	Get the maximum supported timing parameter values.
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.
const struct can_timing *	can_get_timing_data_min (const struct device *dev)
	Get the minimum supported timing parameter values for the data phase.
const struct can_timing *	can_get_timing_data_max (const struct device *dev)
	Get the maximum supported timing parameter values for the data phase.
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.
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.
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.
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.
int	can_set_timing (const struct device *dev, const struct can_timing *timing)
	Configure the bus timing of a CAN controller.
int	can_get_capabilities (const struct device *dev, can_mode_t *cap)
	Get the supported modes of the CAN controller.
const struct device *	can_get_transceiver (const struct device *dev)
	Get the CAN transceiver associated with the CAN controller.
int	can_start (const struct device *dev)
	Start the CAN controller.
int	can_stop (const struct device *dev)
	Stop the CAN controller.
int	can_set_mode (const struct device *dev, can_mode_t mode)
	Set the CAN controller to the given operation mode.
can_mode_t	can_get_mode (const struct device *dev)
	Get the operation mode of the CAN controller.
int	can_set_bitrate (const struct device *dev, uint32_t bitrate)
	Set the bitrate of the CAN controller.
Transmitting CAN frames
int	can_send (const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
	Queue a CAN frame for transmission on the CAN bus.
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.
int	can_recover (const struct device *dev, k_timeout_t timeout)
	Recover from bus-off state.
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.
CAN statistics
uint32_t	can_stats_get_bit_errors (const struct device *dev)
	Get the bit error counter for a CAN device.
uint32_t	can_stats_get_bit0_errors (const struct device *dev)
	Get the bit0 error counter for a CAN device.
uint32_t	can_stats_get_bit1_errors (const struct device *dev)
	Get the bit1 error counter for a CAN device.
uint32_t	can_stats_get_stuff_errors (const struct device *dev)
	Get the stuffing error counter for a CAN device.
uint32_t	can_stats_get_crc_errors (const struct device *dev)
	Get the CRC error counter for a CAN device.
uint32_t	can_stats_get_form_errors (const struct device *dev)
	Get the form error counter for a CAN device.
uint32_t	can_stats_get_ack_errors (const struct device *dev)
	Get the acknowledge error counter for a CAN device.
uint32_t	can_stats_get_rx_overruns (const struct device *dev)
	Get the RX overrun counter for a CAN device.
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.
static uint8_t	can_bytes_to_dlc (uint8_t num_bytes)
	Convert from number of bytes to Data Length Code (DLC)
static bool	can_frame_matches_filter (const struct can_frame *frame, const struct can_filter *filter)
	Check if a CAN frame matches a CAN filter.

Receiving CAN frames
#define	CAN_MSGQ_DEFINE(name, max_frames)    K_MSGQ_DEFINE(name, sizeof(struct can_frame), max_frames, 4)
	Statically define and initialize a CAN RX message queue.
int	can_add_rx_filter (const struct device *dev, can_rx_callback_t callback, void *user_data, const struct can_filter *filter)
	Add a callback function for a given CAN filter.
int	can_add_rx_filter_msgq (const struct device *dev, struct k_msgq *msgq, const struct can_filter *filter)
	Simple wrapper function for adding a message queue for a given filter.
void	can_remove_rx_filter (const struct device *dev, int filter_id)
	Remove a CAN RX filter.
int	can_get_max_filters (const struct device *dev, bool ide)
	Get maximum number of RX filters.

Detailed Description

Controller Area Network (CAN) driver API.