can.h

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/*
 * Copyright (c) 2021 Vestas Wind Systems A/S
 * Copyright (c) 2018 Alexander Wachter
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_DRIVERS_CAN_H_
#define ZEPHYR_INCLUDE_DRIVERS_CAN_H_
 
#include <zephyr/types.h>
#include <device.h>
#include <string.h>
#include <sys/util.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define CAN_STD_ID_MASK 0x7FFU
#define CAN_MAX_STD_ID  CAN_STD_ID_MASK
#define CAN_EXT_ID_MASK 0x1FFFFFFFU
#define CAN_MAX_EXT_ID  CAN_EXT_ID_MASK
#define CAN_MAX_DLC     8U
#define CANFD_MAX_DLC   CONFIG_CANFD_MAX_DLC
 
#ifndef CONFIG_CANFD_MAX_DLC
#define CAN_MAX_DLEN    8U
#else
#if CONFIG_CANFD_MAX_DLC <= 8
#define CAN_MAX_DLEN    CONFIG_CANFD_MAX_DLC
#elif CONFIG_CANFD_MAX_DLC <= 12
#define CAN_MAX_DLEN    (CONFIG_CANFD_MAX_DLC + (CONFIG_CANFD_MAX_DLC - 8U) * 4U)
#elif CONFIG_CANFD_MAX_DLC == 13
#define CAN_MAX_DLEN    32U
#elif CONFIG_CANFD_MAX_DLC == 14
#define CAN_MAX_DLEN    48U
#elif CONFIG_CANFD_MAX_DLC == 15
#define CAN_MAX_DLEN    64U
#endif
#endif /* CONFIG_CANFD_MAX_DLC */
 
enum can_mode {
        CAN_NORMAL_MODE,
        CAN_SILENT_MODE,
        CAN_LOOPBACK_MODE,
        CAN_SILENT_LOOPBACK_MODE
};
 
enum can_state {
        CAN_ERROR_ACTIVE,
        CAN_ERROR_WARNING,
        CAN_ERROR_PASSIVE,
        CAN_BUS_OFF,
};
 
enum can_ide {
        CAN_STANDARD_IDENTIFIER,
        CAN_EXTENDED_IDENTIFIER
};
 
enum can_rtr {
        CAN_DATAFRAME,
        CAN_REMOTEREQUEST
};
 
struct zcan_frame {
        uint32_t id      : 29;
        uint32_t fd      : 1;
        uint32_t rtr     : 1;
        uint32_t id_type : 1;
        uint8_t dlc;
        uint8_t brs : 1;
        uint8_t res : 7; /* reserved/padding. */
#if defined(CONFIG_CAN_RX_TIMESTAMP) || defined(__DOXYGEN__)
        uint16_t timestamp;
#else
        uint8_t res0;  /* reserved/padding. */
        uint8_t res1;  /* reserved/padding. */
#endif
        union {
                uint8_t data[CAN_MAX_DLEN];
                uint32_t data_32[ceiling_fraction(CAN_MAX_DLEN, sizeof(uint32_t))];
        };
};
 
struct zcan_filter {
        uint32_t id           : 29;
        uint32_t res0         : 1;
        uint32_t rtr          : 1;
        uint32_t id_type      : 1;
        uint32_t id_mask      : 29;
        uint32_t res1         : 1;
        uint32_t rtr_mask     : 1;
        uint32_t res2         : 1;
};
 
struct can_bus_err_cnt {
        uint8_t tx_err_cnt;
        uint8_t rx_err_cnt;
};
 
struct can_timing {
        uint16_t sjw;
        uint16_t prop_seg;
        uint16_t phase_seg1;
        uint16_t phase_seg2;
        uint16_t prescaler;
};
 
typedef void (*can_tx_callback_t)(int error, void *user_data);
 
typedef void (*can_rx_callback_t)(struct zcan_frame *frame, void *user_data);
 
typedef void (*can_state_change_callback_t)(enum can_state state,
                                            struct can_bus_err_cnt err_cnt,
                                            void *user_data);
 
typedef int (*can_set_timing_t)(const struct device *dev,
                                const struct can_timing *timing,
                                const struct can_timing *timing_data);
 
typedef int (*can_set_mode_t)(const struct device *dev, enum can_mode mode);
 
typedef int (*can_send_t)(const struct device *dev,
                          const struct zcan_frame *frame,
                          k_timeout_t timeout, can_tx_callback_t callback,
                          void *user_data);
 
typedef int (*can_add_rx_filter_t)(const struct device *dev,
                                   can_rx_callback_t callback,
                                   void *user_data,
                                   const struct zcan_filter *filter);
 
typedef void (*can_remove_rx_filter_t)(const struct device *dev, int filter_id);
 
typedef int (*can_recover_t)(const struct device *dev, k_timeout_t timeout);
 
typedef int (*can_get_state_t)(const struct device *dev, enum can_state *state,
                               struct can_bus_err_cnt *err_cnt);
 
typedef void(*can_set_state_change_callback_t)(const struct device *dev,
                                               can_state_change_callback_t callback,
                                               void *user_data);
 
typedef int (*can_get_core_clock_t)(const struct device *dev, uint32_t *rate);
 
typedef int (*can_get_max_filters_t)(const struct device *dev, enum can_ide id_type);
 
__subsystem struct can_driver_api {
        can_set_mode_t set_mode;
        can_set_timing_t set_timing;
        can_send_t send;
        can_add_rx_filter_t add_rx_filter;
        can_remove_rx_filter_t remove_rx_filter;
#if !defined(CONFIG_CAN_AUTO_BUS_OFF_RECOVERY) || defined(__DOXYGEN__)
        can_recover_t recover;
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
        can_get_state_t get_state;
        can_set_state_change_callback_t set_state_change_callback;
        can_get_core_clock_t get_core_clock;
        can_get_max_filters_t get_max_filters;
        /* Min values for the timing registers */
        struct can_timing timing_min;
        /* Max values for the timing registers */
        struct can_timing timing_max;
#if defined(CONFIG_CAN_FD_MODE) || defined(__DOXYGEN__)
        /* Min values for the timing registers during the data phase */
        struct can_timing timing_min_data;
        /* Max values for the timing registers during the data phase */
        struct can_timing timing_max_data;
#endif /* CONFIG_CAN_FD_MODE */
};
 
__syscall int can_get_core_clock(const struct device *dev, uint32_t *rate);
 
static inline int z_impl_can_get_core_clock(const struct device *dev, uint32_t *rate)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->get_core_clock(dev, rate);
}
 
int can_calc_timing(const struct device *dev, struct can_timing *res,
                    uint32_t bitrate, uint16_t sample_pnt);
 
#if defined(CONFIG_CAN_FD_MODE) || defined(__DOXYGEN__)
int can_calc_timing_data(const struct device *dev, struct can_timing *res,
                         uint32_t bitrate, uint16_t sample_pnt);
#endif /* CONFIG_CAN_FD_MODE */
 
int can_calc_prescaler(const struct device *dev, struct can_timing *timing,
                       uint32_t bitrate);
 
#define CAN_SJW_NO_CHANGE 0
 
__syscall int can_set_timing(const struct device *dev,
                             const struct can_timing *timing,
                             const struct can_timing *timing_data);
 
static inline int z_impl_can_set_timing(const struct device *dev,
                                        const struct can_timing *timing,
                                        const struct can_timing *timing_data)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->set_timing(dev, timing, timing_data);
}
 
__syscall int can_set_mode(const struct device *dev, enum can_mode mode);
 
static inline int z_impl_can_set_mode(const struct device *dev, enum can_mode mode)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->set_mode(dev, mode);
}
 
static inline int can_set_bitrate(const struct device *dev,
                                  uint32_t bitrate,
                                  uint32_t bitrate_data)
{
        struct can_timing timing;
#ifdef CONFIG_CAN_FD_MODE
        struct can_timing timing_data;
#endif
        int ret;
 
        ret = can_calc_timing(dev, &timing, bitrate, 875);
        if (ret < 0) {
                return -EINVAL;
        }
 
        timing.sjw = CAN_SJW_NO_CHANGE;
 
#ifdef CONFIG_CAN_FD_MODE
        ret = can_calc_timing_data(dev, &timing_data, bitrate_data, 875);
        if (ret < 0) {
                return -EINVAL;
        }
 
        timing_data.sjw = CAN_SJW_NO_CHANGE;
 
        return can_set_timing(dev, &timing, &timing_data);
#else /* CONFIG_CAN_FD_MODE */
        return can_set_timing(dev, &timing, NULL);
#endif /* !CONFIG_CAN_FD_MODE */
}
 
__syscall int can_send(const struct device *dev, const struct zcan_frame *frame,
                       k_timeout_t timeout, can_tx_callback_t callback,
                       void *user_data);
 
static inline int z_impl_can_send(const struct device *dev, const struct zcan_frame *frame,
                                  k_timeout_t timeout, can_tx_callback_t callback,
                                  void *user_data)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->send(dev, frame, timeout, callback, user_data);
}
 
static inline int can_add_rx_filter(const struct device *dev, can_rx_callback_t callback,
                                    void *user_data, const struct zcan_filter *filter)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->add_rx_filter(dev, callback, user_data, filter);
}
 
#define CAN_MSGQ_DEFINE(name, max_frames) \
        K_MSGQ_DEFINE(name, sizeof(struct zcan_frame), max_frames, 4)
 
__syscall int can_add_rx_filter_msgq(const struct device *dev, struct k_msgq *msgq,
                                     const struct zcan_filter *filter);
 
__syscall void can_remove_rx_filter(const struct device *dev, int filter_id);
 
static inline void z_impl_can_remove_rx_filter(const struct device *dev, int filter_id)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->remove_rx_filter(dev, filter_id);
}
 
__syscall int can_get_max_filters(const struct device *dev, enum can_ide id_type);
 
static inline int z_impl_can_get_max_filters(const struct device *dev, enum can_ide id_type)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        if (api->get_max_filters == NULL) {
                return -ENOSYS;
        }
 
        return api->get_max_filters(dev, id_type);
}
 
__syscall int can_get_state(const struct device *dev, enum can_state *state,
                            struct can_bus_err_cnt *err_cnt);
 
static inline int z_impl_can_get_state(const struct device *dev, enum can_state *state,
                                       struct can_bus_err_cnt *err_cnt)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->get_state(dev, state, err_cnt);
}
 
#if !defined(CONFIG_CAN_AUTO_BUS_OFF_RECOVERY) || defined(__DOXYGEN__)
__syscall int can_recover(const struct device *dev, k_timeout_t timeout);
 
static inline int z_impl_can_recover(const struct device *dev, k_timeout_t timeout)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        return api->recover(dev, timeout);
}
#else /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
/* This implementation prevents inking errors for auto recovery */
static inline int z_impl_can_recover(const struct device *dev, k_timeout_t timeout)
{
        return 0;
}
#endif /* !CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
 
static inline void can_set_state_change_callback(const struct device *dev,
                                                 can_state_change_callback_t callback,
                                                 void *user_data)
{
        const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
 
        api->set_state_change_callback(dev, callback, user_data);
}
 
static inline uint8_t can_dlc_to_bytes(uint8_t dlc)
{
        static const uint8_t dlc_table[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 12,
                                            16, 20, 24, 32, 48, 64};
 
        return dlc > 0x0F ? 64 : dlc_table[dlc];
}
 
static inline uint8_t can_bytes_to_dlc(uint8_t num_bytes)
{
        return num_bytes <= 8  ? num_bytes :
               num_bytes <= 12 ? 9 :
               num_bytes <= 16 ? 10 :
               num_bytes <= 20 ? 11 :
               num_bytes <= 24 ? 12 :
               num_bytes <= 32 ? 13 :
               num_bytes <= 48 ? 14 :
               15;
}
 
typedef uint32_t canid_t;
 
struct can_frame {
        canid_t can_id;
 
        uint8_t can_dlc;
 
        uint8_t pad;   /* padding. */
        uint8_t res0;  /* reserved/padding. */
        uint8_t res1;  /* reserved/padding. */
        uint8_t data[CAN_MAX_DLEN];
};
 
struct can_filter {
        canid_t can_id;
        canid_t can_mask;
};
 
static inline void can_copy_frame_to_zframe(const struct can_frame *frame,
                                            struct zcan_frame *zframe)
{
        zframe->id_type = (frame->can_id & BIT(31)) >> 31;
        zframe->rtr = (frame->can_id & BIT(30)) >> 30;
        zframe->id = frame->can_id & BIT_MASK(29);
        zframe->dlc = frame->can_dlc;
        memcpy(zframe->data, frame->data, sizeof(zframe->data));
}
 
static inline void can_copy_zframe_to_frame(const struct zcan_frame *zframe,
                                            struct can_frame *frame)
{
        frame->can_id = (zframe->id_type << 31) | (zframe->rtr << 30) | zframe->id;
        frame->can_dlc = zframe->dlc;
        memcpy(frame->data, zframe->data, sizeof(frame->data));
}
 
static inline void can_copy_filter_to_zfilter(const struct can_filter *filter,
                                              struct zcan_filter *zfilter)
{
        zfilter->id_type = (filter->can_id & BIT(31)) >> 31;
        zfilter->rtr = (filter->can_id & BIT(30)) >> 30;
        zfilter->id = filter->can_id & BIT_MASK(29);
        zfilter->rtr_mask = (filter->can_mask & BIT(30)) >> 30;
        zfilter->id_mask = filter->can_mask & BIT_MASK(29);
}
 
static inline void can_copy_zfilter_to_filter(const struct zcan_filter *zfilter,
                                              struct can_filter *filter)
{
        filter->can_id = (zfilter->id_type << 31) |
                (zfilter->rtr << 30) | zfilter->id;
        filter->can_mask = (zfilter->rtr_mask << 30) |
                (zfilter->id_type << 31) | zfilter->id_mask;
}
 
#define CAN_TX_OK          (0)          __DEPRECATED_MACRO
#define CAN_TX_ERR         (-EIO)       __DEPRECATED_MACRO
#define CAN_TX_ARB_LOST    (-EBUSY)     __DEPRECATED_MACRO
#define CAN_TX_BUS_OFF     (-ENETDOWN)  __DEPRECATED_MACRO
#define CAN_TX_UNKNOWN     (CAN_TX_ERR) __DEPRECATED_MACRO
#define CAN_TX_EINVAL      (-EINVAL)    __DEPRECATED_MACRO
#define CAN_NO_FREE_FILTER (-ENOSPC)    __DEPRECATED_MACRO
#define CAN_TIMEOUT        (-EAGAIN)    __DEPRECATED_MACRO
 
__deprecated static inline int can_configure(const struct device *dev, enum can_mode mode,
                                             uint32_t bitrate)
{
        int err;
 
        if (bitrate > 0) {
                err = can_set_bitrate(dev, bitrate, bitrate);
                if (err != 0) {
                        return err;
                }
        }
 
        return can_set_mode(dev, mode);
}
 
#ifndef CONFIG_CAN_WORKQ_FRAMES_BUF_CNT
#define CONFIG_CAN_WORKQ_FRAMES_BUF_CNT 4
#endif
 
struct can_frame_buffer {
        struct zcan_frame buf[CONFIG_CAN_WORKQ_FRAMES_BUF_CNT];
        uint16_t head;
        uint16_t tail;
};
 
struct zcan_work {
        struct k_work work_item;
        struct k_work_q *work_queue;
        struct can_frame_buffer buf;
        can_rx_callback_t cb;
        void *cb_arg;
};
 
__deprecated int can_attach_workq(const struct device *dev, struct k_work_q  *work_q,
                                  struct zcan_work *work, can_rx_callback_t callback,
                                  void *user_data, const struct zcan_filter *filter);
 
__deprecated static inline int can_attach_isr(const struct device *dev, can_rx_callback_t isr,
                                              void *user_data, const struct zcan_filter *filter)
{
        return can_add_rx_filter(dev, isr, user_data, filter);
}
 
#define CAN_DEFINE_MSGQ(name, size) CAN_MSGQ_DEFINE(name, size) __DEPRECATED_MACRO
 
__deprecated static inline int can_attach_msgq(const struct device *dev, struct k_msgq *msg_q,
                                               const struct zcan_filter *filter)
{
        return can_add_rx_filter_msgq(dev, msg_q, filter);
}
 
__deprecated static inline void can_detach(const struct device *dev, int filter_id)
{
        can_remove_rx_filter(dev, filter_id);
}
 
__deprecated static inline void can_register_state_change_isr(const struct device *dev,
                                                              can_state_change_callback_t isr)
{
        can_set_state_change_callback(dev, isr, NULL);
}
 
__deprecated static inline int can_write(const struct device *dev, const uint8_t *data,
                                         uint8_t length, uint32_t id, enum can_rtr rtr,
                                         k_timeout_t timeout)
{
        struct zcan_frame frame;
 
        if (length > 8) {
                return -EINVAL;
        }
 
        frame.id = id;
 
        if (id > CAN_MAX_STD_ID) {
                frame.id_type = CAN_EXTENDED_IDENTIFIER;
        } else {
                frame.id_type = CAN_STANDARD_IDENTIFIER;
        }
 
        frame.dlc = length;
        frame.rtr = rtr;
        memcpy(frame.data, data, length);
 
        return can_send(dev, &frame, timeout, NULL, NULL);
}
 
#ifdef __cplusplus
}
#endif
 
#include <syscalls/can.h>
 
#endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_H_ */