CAN Interface. More...

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_frame
	CAN frame for Linux SocketCAN compatibility. More...

struct	can_filter
	CAN filter for Linux SocketCAN compatibility. More...

Typedefs
typedef void(*	can_tx_callback_t) (int error, void *user_data)
	Defines the application callback handler function signature. More...

typedef void(*	can_rx_callback_t) (struct zcan_frame frame, void user_data)
	Defines the application callback handler function signature for receiving. More...

typedef void(*	can_state_change_callback_t) (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_mode { CAN_NORMAL_MODE , CAN_SILENT_MODE , CAN_LOOPBACK_MODE , CAN_SILENT_LOOPBACK_MODE }
	Defines the mode of the CAN controller. More...

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...

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...

CAN controller configuration
int	can_get_core_clock (const struct device dev, uint32_t rate)
	Get the CAN core clock rate. 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...

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_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, const struct can_timing *timing_data)
	Configure the bus timing of a CAN controller. More...

int	can_set_mode (const struct device *dev, enum can_mode mode)
	Set the CAN controller to the given operation mode. More...

static int	can_set_bitrate (const struct device *dev, uint32_t bitrate, uint32_t bitrate_data)
	Set the bitrate of the CAN controller. More...

#define	CAN_SJW_NO_CHANGE 0

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)
	Transmit a CAN frame on the CAN bus. More...

Receiving CAN frames
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...

#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...

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 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...

Detailed Description

CAN Interface.

Macro Definition Documentation

◆ CAN_EXT_ID_MASK

#define CAN_EXT_ID_MASK 0x1FFFFFFFU

#include <include/drivers/can.h>

Bit mask for an extended (29-bit) CAN identifier.

◆ CAN_MAX_DLC

#define CAN_MAX_DLC 8U

#include <include/drivers/can.h>

Maximum data length code for CAN 2.0A/2.0B.

◆ CAN_MAX_EXT_ID

#define CAN_MAX_EXT_ID CAN_EXT_ID_MASK

#include <include/drivers/can.h>

Maximum value for an extended (29-bit) CAN identifier.

◆ CAN_MAX_STD_ID

#define CAN_MAX_STD_ID CAN_STD_ID_MASK

#include <include/drivers/can.h>

Maximum value for a standard (11-bit) CAN identifier.

◆ CAN_MSGQ_DEFINE

#define CAN_MSGQ_DEFINE	(	name,
		max_frames
	)	K_MSGQ_DEFINE(name, sizeof(struct zcan_frame), max_frames, 4)

#include <include/drivers/can.h>

Statically define and initialize a CAN RX message queue.

The message queue's ring buffer contains space for max_frames CAN frames.

See also: can_add_rx_filter_msgq()

Parameters

name	Name of the message queue.
max_frames	Maximum number of CAN frames that can be queued.

◆ CAN_SJW_NO_CHANGE

#define CAN_SJW_NO_CHANGE 0

#include <include/drivers/can.h>

Synchronization Jump Width (SJW) value to indicate that the SJW should not be changed by the timing calculation.

◆ CAN_STD_ID_MASK

#define CAN_STD_ID_MASK 0x7FFU

#include <include/drivers/can.h>

Bit mask for a standard (11-bit) CAN identifier.

◆ CANFD_MAX_DLC

#define CANFD_MAX_DLC CONFIG_CANFD_MAX_DLC

#include <include/drivers/can.h>

Maximum data length code for CAN-FD.

Typedef Documentation

◆ can_rx_callback_t

can_rx_callback_t

#include <include/drivers/can.h>

Defines the application callback handler function signature for receiving.

Parameters

frame	Received frame.
user_data	User data provided when the filter was added.

◆ can_state_change_callback_t

can_state_change_callback_t

#include <include/drivers/can.h>

Defines the state change callback handler function signature.

Parameters

state	State of the CAN controller.
err_cnt	CAN controller error counter values.
user_data	User data provided the callback was set.

◆ can_tx_callback_t

can_tx_callback_t

#include <include/drivers/can.h>

Defines the application callback handler function signature.

Parameters

error	Status of the performed send operation. See the list of return values for can_send() for value descriptions.
user_data	User data provided when the frame was sent.

◆ canid_t

typedef uint32_t canid_t

#include <include/drivers/can.h>

CAN Identifier structure for Linux SocketCAN compatibility.

The fields in this type are:

+------+--------------------------------------------------------------+
| Bits | Description                                                  |
+======+==============================================================+
| 0-28 | CAN identifier (11/29 bit)                                   |
+------+--------------------------------------------------------------+
|  29  | Error message frame flag (0 = data frame, 1 = error message) |
+------+--------------------------------------------------------------+
|  30  | Remote transmission request flag (1 = RTR frame)             |
+------+--------------------------------------------------------------+
|  31  | Frame format flag (0 = standard 11 bit, 1 = extended 29 bit) |
+------+--------------------------------------------------------------+

Enumeration Type Documentation

◆ can_ide

enum can_ide

#include <include/drivers/can.h>

Defines if the CAN frame has a standard (11-bit) or extended (29-bit) CAN identifier.

Enumerator
CAN_STANDARD_IDENTIFIER	Standard (11-bit) CAN identifier.
CAN_EXTENDED_IDENTIFIER	Extended (29-bit) CAN identifier.

◆ can_mode

enum can_mode

#include <include/drivers/can.h>

Defines the mode of the CAN controller.

Enumerator
CAN_NORMAL_MODE	Normal mode.
CAN_SILENT_MODE	Controller is not allowed to send dominant bits.
CAN_LOOPBACK_MODE	Controller is in loopback mode (receives own frames).
CAN_SILENT_LOOPBACK_MODE	Combination of loopback and silent modes.

◆ can_rtr

enum can_rtr

#include <include/drivers/can.h>

Defines if the CAN frame is a data frame or a Remote Transmission Request (RTR) frame.

Enumerator
CAN_DATAFRAME	Data frame.
CAN_REMOTEREQUEST	Remote Transmission Request (RTR) frame.

◆ can_state

enum can_state

#include <include/drivers/can.h>

Defines the state of the CAN bus.

Enumerator
CAN_ERROR_ACTIVE	Error-active state (RX/TX error count < 96).
CAN_ERROR_WARNING	Error-warning state (RX/TX error count < 128).
CAN_ERROR_PASSIVE	Error-passive state (RX/TX error count < 256).
CAN_BUS_OFF	Bus-off state (RX/TX error count >= 256).

Function Documentation

◆ can_add_rx_filter()

static int can_add_rx_filter	(	const struct device *	dev,
		can_rx_callback_t	callback,
		void *	user_data,
		const struct zcan_filter *	filter
	)

inlinestatic

#include <include/drivers/can.h>

Add a callback function for a given CAN filter.

Add a callback to CAN identifiers specified by a filter. When a recevied CAN frame matching the filter is received by the CAN controller, the callback function is called in interrupt context.

If a frame matches more than one attached filter, the priority of the match is hardware dependent.

The same callback function can be used for multiple filters.

Parameters

dev	Pointer to the device structure for the driver instance.
callback	This function is called by the CAN controller driver whenever a frame matching the filter is received.
user_data	User data to pass to callback function.
filter	Pointer to a zcan_filter structure defining the filter.

Return values

filter_id	on success.
-ENOSPC	if there are no free filters.

◆ can_add_rx_filter_msgq()

int can_add_rx_filter_msgq	(	const struct device *	dev,
		struct k_msgq *	msgq,
		const struct zcan_filter *	filter
	)

#include <include/drivers/can.h>

Wrapper function for adding a message queue for a given filter.

Wrapper function for can_add_rx_filter() which puts received CAN frames matching the filter in a message queue instead of calling a callback.

If a frame matches more than one attached filter, the priority of the match is hardware dependent.

The same message queue can be used for multiple filters.

Note: The message queue must be initialized before calling this function and the caller must have appropriate permissions on it.

Parameters

dev	Pointer to the device structure for the driver instance.
msgq	Pointer to the already initialized k_msgq struct.
filter	Pointer to a zcan_filter structure defining the filter.

Return values

filter_id	on success.
-ENOSPC	if there are no free filters.

◆ can_bytes_to_dlc()

static uint8_t can_bytes_to_dlc ( uint8_t num_bytes )

inlinestatic

#include <include/drivers/can.h>

Convert from number of bytes to Data Length Code (DLC)

Parameters

num_bytes Number of bytes.

Return values

Data	Length Code (DLC).

◆ can_calc_prescaler()

int can_calc_prescaler	(	const struct device *	dev,
		struct can_timing *	timing,
		uint32_t	bitrate
	)

#include <include/drivers/can.h>

Fill in the prescaler value for a given bitrate and timing.

Fill the prescaler value in the timing struct. The sjw, prop_seg, phase_seg1 and phase_seg2 must be given.

The returned bitrate error is reminder of the devision of the clock rate by the bitrate times the timing segments.

Parameters

dev	Pointer to the device structure for the driver instance.
timing	Result is written into the can_timing struct provided.
bitrate	Target bitrate.

Return values

0	or positive bitrate error.
Negative	error code on error.

◆ can_calc_timing()

int can_calc_timing	(	const struct device *	dev,
		struct can_timing *	res,
		uint32_t	bitrate,
		uint16_t	sample_pnt
	)

#include <include/drivers/can.h>

Calculate timing parameters from bitrate and sample point.

Calculate the timing parameters from a given bitrate in bits/s and the sampling point in permill (1/1000) of the entire bit time. The bitrate must alway match perfectly. If no result can be reached for the given parameters, -EINVAL is returned.

Note: The requested sample_pnt will not always be matched perfectly. The algorithm calculates the best possible match.

Parameters

	dev	Pointer to the device structure for the driver instance.
[out]	res	Result is written into the can_timing struct provided.
	bitrate	Target bitrate in bits/s.
	sample_pnt	Sampling point in permill of the entire bit time.

Return values

0	or positive sample point error on success.
-EINVAL	if there is no solution for the desired values.
-EIO	if can_get_core_clock() is not available.

◆ can_calc_timing_data()

int can_calc_timing_data	(	const struct device *	dev,
		struct can_timing *	res,
		uint32_t	bitrate,
		uint16_t	sample_pnt
	)

#include <include/drivers/can.h>

Calculate timing parameters for the data phase.

Same as can_calc_timing() but with the maximum and minimum values from the data phase.

Note

embed:rst:inline :kconfig:`CONFIG_CAN_FD_MODE`

must be selected for this function to be available.

Parameters

	dev	Pointer to the device structure for the driver instance.
[out]	res	Result is written into the can_timing struct provided.
	bitrate	Target bitrate for the data phase in bits/s
	sample_pnt	Sampling point for the data phase in permille of the entire bit time.

Return values

0	or positive sample point error on success.
-EINVAL	if there is no solution for the desired values.
-EIO	if can_get_core_clock() is not available.

◆ can_copy_filter_to_zfilter()

static void can_copy_filter_to_zfilter	(	const struct can_filter *	filter,
		struct zcan_filter *	zfilter
	)

inlinestatic

#include <include/drivers/can.h>

Translate a can_filter struct to a zcan_filter struct.

Parameters

filter	Pointer to can_filter struct.
zfilter	Pointer to zcan_filter struct.

◆ can_copy_frame_to_zframe()

static void can_copy_frame_to_zframe	(	const struct can_frame *	frame,
		struct zcan_frame *	zframe
	)

inlinestatic

#include <include/drivers/can.h>

Translate a can_frame struct to a zcan_frame struct.

Parameters

frame	Pointer to can_frame struct.
zframe	Pointer to zcan_frame struct.

◆ can_copy_zfilter_to_filter()

static void can_copy_zfilter_to_filter	(	const struct zcan_filter *	zfilter,
		struct can_filter *	filter
	)

inlinestatic

#include <include/drivers/can.h>

Translate a zcan_filter struct to a can_filter struct.

Parameters

zfilter	Pointer to zcan_filter struct.
filter	Pointer to can_filter struct.

◆ can_copy_zframe_to_frame()

static void can_copy_zframe_to_frame	(	const struct zcan_frame *	zframe,
		struct can_frame *	frame
	)

inlinestatic

#include <include/drivers/can.h>

Translate a zcan_frame struct to a can_frame struct.

Parameters

zframe	Pointer to zcan_frame struct.
frame	Pointer to can_frame struct.

◆ can_dlc_to_bytes()

static uint8_t can_dlc_to_bytes ( uint8_t dlc )

inlinestatic

#include <include/drivers/can.h>

Convert from Data Length Code (DLC) to the number of data bytes.

Parameters

dlc	Data Length Code (DLC).

Return values

Number of bytes.

◆ can_get_core_clock()

int can_get_core_clock	(	const struct device *	dev,
		uint32_t *	rate
	)

#include <include/drivers/can.h>

Get the CAN core clock rate.

Returns the CAN core clock rate. One time quantum is 1/(core clock rate).

Parameters

	dev	Pointer to the device structure for the driver instance.
[out]	rate	CAN core clock rate in Hz.

Returns: 0 on success, or a negative error code on error

◆ can_get_max_filters()

int can_get_max_filters	(	const struct device *	dev,
		enum can_ide	id_type
	)

#include <include/drivers/can.h>

Get maximum number of RX filters.

Get the maximum number of concurrent RX filters for the CAN controller.

Parameters

dev	Pointer to the device structure for the driver instance.
id_type	CAN identifier type (standard or extended).

Return values

Positive	number of maximum concurrent filters.
-EIO	General input/output error.
-ENOSYS	If this function is not implemented by the driver.

◆ can_get_state()

int can_get_state	(	const struct device *	dev,
		enum can_state *	state,
		struct can_bus_err_cnt *	err_cnt
	)

#include <include/drivers/can.h>

Get current CAN controller state.

Returns the current state and optionally the error counter values of the CAN controller.

Parameters

	dev	Pointer to the device structure for the driver instance.
[out]	state	Pointer to the state destination enum or NULL.
[out]	err_cnt	Pointer to the err_cnt destination structure or NULL.

Return values

0	If successful.
-EIO	General input/output error, failed to get state.

◆ can_recover()

int can_recover	(	const struct device *	dev,
		k_timeout_t	timeout
	)

#include <include/drivers/can.h>

Recover from bus-off state.

Recover the CAN controller from bus-off state to error-active state.

Note

embed:rst:inline :kconfig:`CONFIG_CAN_AUTO_BUS_OFF_RECOVERY`

must be deselected for this function to be available.

Parameters

dev	Pointer to the device structure for the driver instance.
timeout	Timeout for waiting for the recovery or `K_FOREVER`.

Return values

0	on success.
-EAGAIN	on timeout.

◆ can_remove_rx_filter()

void can_remove_rx_filter	(	const struct device *	dev,
		int	filter_id
	)

#include <include/drivers/can.h>

Remove a CAN RX filter.

This routine removes a CAN RX filter based on the filter ID returned by can_add_rx_filter() or can_add_rx_filter_msgq().

Parameters

dev	Pointer to the device structure for the driver instance.
filter_id	Filter ID

◆ can_send()

int can_send	(	const struct device *	dev,
		const struct zcan_frame *	frame,
		k_timeout_t	timeout,
		can_tx_callback_t	callback,
		void *	user_data
	)

#include <include/drivers/can.h>

Transmit a CAN frame on the CAN bus.

Transmit a CAN frame on the CAN bus with optional timeout and completion callback function.

By default, the CAN controller will automatically retry transmission in case of lost bus arbitration or missing acknowledge. Some CAN controllers support disabling automatic retransmissions ("one-shot" mode) via a devicetree property.

Parameters

dev	Pointer to the device structure for the driver instance.
frame	CAN frame to transmit.
timeout	Timeout waiting for a empty TX mailbox or `K_FOREVER`.
callback	Optional callback for when the frame was sent or a transmission error occurred. If `NULL`, this function is blocking until frame is sent. The callback must be `NULL` if called from user mode.
user_data	User data to pass to callback function.

Return values

0	if successful.
-EINVAL	if an invalid parameter was passed to the function.
-ENETDOWN	if the CAN controller is in bus-off state.
-EBUSY	if CAN bus arbitration was lost (only applicable if automatic retransmissions are disabled).
-EIO	if a general transmit error occurred (e.g. missing ACK if automatic retransmissions are disabled).
-EAGAIN	on timeout.

◆ can_set_bitrate()

static int can_set_bitrate	(	const struct device *	dev,
		uint32_t	bitrate,
		uint32_t	bitrate_data
	)

inlinestatic

#include <include/drivers/can.h>

Set the bitrate of the CAN controller.

The sample point is set to the CiA DS 301 recommended value of 87.5%.

Note

The parameter bitrate_data is only relevant for CAN-FD. If the controller does not support CAN-FD or if

embed:rst:inline :kconfig:`CONFIG_CAN_FD_MODE`

is not selected, the value of this parameter is ignored.

Parameters

dev	Pointer to the device structure for the driver instance.
bitrate	Desired arbitration phase bitrate.
bitrate_data	Desired data phase bitrate.

Return values

0	If successful.
-EINVAL	bitrate cannot be met.
-EIO	General input/output error, failed to set bitrate.

◆ can_set_mode()

int can_set_mode	(	const struct device *	dev,
		enum can_mode	mode
	)

#include <include/drivers/can.h>

Set the CAN controller to the given operation mode.

Parameters

dev	Pointer to the device structure for the driver instance.
mode	Operation mode.

Return values

0	If successful.
-EIO	General input/output error, failed to configure device.

◆ can_set_state_change_callback()

static void can_set_state_change_callback	(	const struct device *	dev,
		can_state_change_callback_t	callback,
		void *	user_data
	)

inlinestatic

#include <include/drivers/can.h>

Set a callback for CAN controller state change events.

Set the callback for CAN controller state change events. The callback function will be called in interrupt context.

Only one callback can be registered per controller. Calling this function again overrides any previously registered callback.

Parameters

dev	Pointer to the device structure for the driver instance.
callback	Callback function.
user_data	User data to pass to callback function.

◆ can_set_timing()

int can_set_timing	(	const struct device *	dev,
		const struct can_timing *	timing,
		const struct can_timing *	timing_data
	)

#include <include/drivers/can.h>

Configure the bus timing of a CAN controller.

If the sjw equals CAN_SJW_NO_CHANGE, the sjw parameter is not changed.

Note

The parameter timing_data is only relevant for CAN-FD. If the controller does not support CAN-FD or if

embed:rst:inline :kconfig:`CONFIG_CAN_FD_MODE`

is not selected, the value of this parameter is ignored.

Parameters

dev	Pointer to the device structure for the driver instance.
timing	Bus timings.
timing_data	Bus timings for data phase (CAN-FD only).

Return values

0	If successful.
-EIO	General input/output error, failed to configure device.

	Zephyr API Documentation 3.0.0 A Scalable Open Source RTOS
3.0.0

Data Structures

Typedefs

Enumerations

Linux SocketCAN compatibility

CAN controller configuration

Transmitting CAN frames

Receiving CAN frames

CAN bus error reporting and handling

CAN utility functions

CAN frame definitions

Detailed Description

Macro Definition Documentation

◆ CAN_EXT_ID_MASK

◆ CAN_MAX_DLC

◆ CAN_MAX_EXT_ID

◆ CAN_MAX_STD_ID

◆ CAN_MSGQ_DEFINE

◆ CAN_SJW_NO_CHANGE

◆ CAN_STD_ID_MASK

◆ CANFD_MAX_DLC

Typedef Documentation

◆ can_rx_callback_t

◆ can_state_change_callback_t

◆ can_tx_callback_t

◆ canid_t

Enumeration Type Documentation

◆ can_ide

◆ can_mode

◆ can_rtr

◆ can_state

Function Documentation

◆ can_add_rx_filter()

◆ can_add_rx_filter_msgq()

◆ can_bytes_to_dlc()

◆ can_calc_prescaler()

◆ can_calc_timing()

◆ can_calc_timing_data()

◆ can_copy_filter_to_zfilter()

◆ can_copy_frame_to_zframe()

◆ can_copy_zfilter_to_filter()

◆ can_copy_zframe_to_frame()

◆ can_dlc_to_bytes()

◆ can_get_core_clock()

◆ can_get_max_filters()

◆ can_get_state()

◆ can_recover()

◆ can_remove_rx_filter()

◆ can_send()

◆ can_set_bitrate()

◆ can_set_mode()

◆ can_set_state_change_callback()

◆ can_set_timing()