can_sja1000.h File Reference

API for NXP SJA1000 (and compatible) CAN controller frontend drivers. More...

#include <zephyr/drivers/can.h>

Go to the source code of this file.

Data Structures
struct	can_sja1000_config
	SJA1000 driver internal configuration structure. More...
struct	can_sja1000_rx_filter
	SJA1000 driver internal RX filter structure. More...
struct	can_sja1000_data
	SJA1000 driver internal data structure. More...

Macros
#define	CAN_SJA1000_TIMING_MIN_INITIALIZER
	SJA1000 specific static initializer for a minimum can_timing struct.
#define	CAN_SJA1000_TIMING_MAX_INITIALIZER
	SJA1000 specific static initializer for a maximum can_timing struct.
#define	CAN_SJA1000_DT_CONFIG_GET(node_id, _custom, _read_reg, _write_reg, _ocr, _cdr, _min_bitrate)
	Static initializer for can_sja1000_config struct.
#define	CAN_SJA1000_DT_CONFIG_INST_GET(inst, _custom, _read_reg, _write_reg, _ocr, _cdr, _min_bitrate)
	Static initializer for can_sja1000_config struct from a DT_DRV_COMPAT instance.
#define	CAN_SJA1000_DATA_INITIALIZER(_custom)
	Initializer for a can_sja1000_data struct.
SJA1000 Output Control Register (OCR) bits
#define	CAN_SJA1000_OCR_OCMODE_MASK   GENMASK(1, 0)
#define	CAN_SJA1000_OCR_OCPOL0   BIT(2)
#define	CAN_SJA1000_OCR_OCTN0   BIT(3)
#define	CAN_SJA1000_OCR_OCTP0   BIT(4)
#define	CAN_SJA1000_OCR_OCPOL1   BIT(5)
#define	CAN_SJA1000_OCR_OCTN1   BIT(6)
#define	CAN_SJA1000_OCR_OCTP1   BIT(7)
#define	CAN_SJA1000_OCR_OCMODE_BIPHASE   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 0U)
#define	CAN_SJA1000_OCR_OCMODE_TEST   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 1U)
#define	CAN_SJA1000_OCR_OCMODE_NORMAL   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 2U)
#define	CAN_SJA1000_OCR_OCMODE_CLOCK   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 3U)
SJA1000 Clock Divider Register (CDR) bits
#define	CAN_SJA1000_CDR_CD_MASK   GENMASK(2, 0)
#define	CAN_SJA1000_CDR_CLOCK_OFF   BIT(3)
#define	CAN_SJA1000_CDR_RXINTEN   BIT(5)
#define	CAN_SJA1000_CDR_CBP   BIT(6)
#define	CAN_SJA1000_CDR_CAN_MODE   BIT(7)
#define	CAN_SJA1000_CDR_CD_DIV1   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 7U)
#define	CAN_SJA1000_CDR_CD_DIV2   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 0U)
#define	CAN_SJA1000_CDR_CD_DIV4   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 1U)
#define	CAN_SJA1000_CDR_CD_DIV6   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 2U)
#define	CAN_SJA1000_CDR_CD_DIV8   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 3U)
#define	CAN_SJA1000_CDR_CD_DIV10   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 4U)
#define	CAN_SJA1000_CDR_CD_DIV12   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 5U)
#define	CAN_SJA1000_CDR_CD_DIV14   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 6U)

Typedefs
typedef void(*	can_sja1000_write_reg_t) (const struct device *dev, uint8_t reg, uint8_t val)
	SJA1000 driver front-end callback for writing a register value.
typedef uint8_t(*	can_sja1000_read_reg_t) (const struct device *dev, uint8_t reg)
	SJA1000 driver front-end callback for reading a register value.

Functions
int	can_sja1000_set_timing (const struct device *dev, const struct can_timing *timing)
	SJA1000 callback API upon setting CAN bus timing See can_set_timing() for argument description.
int	can_sja1000_get_capabilities (const struct device *dev, can_mode_t *cap)
	SJA1000 callback API upon getting CAN controller capabilities See can_get_capabilities() for argument description.
int	can_sja1000_start (const struct device *dev)
	SJA1000 callback API upon starting CAN controller See can_start() for argument description.
int	can_sja1000_stop (const struct device *dev)
	SJA1000 callback API upon stopping CAN controller See can_stop() for argument description.
int	can_sja1000_set_mode (const struct device *dev, can_mode_t mode)
	SJA1000 callback API upon setting CAN controller mode See can_set_mode() for argument description.
int	can_sja1000_send (const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
	SJA1000 callback API upon sending a CAN frame See can_send() for argument description.
int	can_sja1000_add_rx_filter (const struct device *dev, can_rx_callback_t callback, void *user_data, const struct can_filter *filter)
	SJA1000 callback API upon adding an RX filter See can_add_rx_callback() for argument description.
void	can_sja1000_remove_rx_filter (const struct device *dev, int filter_id)
	SJA1000 callback API upon removing an RX filter See can_remove_rx_filter() for argument description.
int	can_sja1000_get_state (const struct device *dev, enum can_state *state, struct can_bus_err_cnt *err_cnt)
	SJA1000 callback API upon getting the CAN controller state See can_get_state() for argument description.
void	can_sja1000_set_state_change_callback (const struct device *dev, can_state_change_callback_t callback, void *user_data)
	SJA1000 callback API upon setting a state change callback See can_set_state_change_callback() for argument description.
int	can_sja1000_get_max_filters (const struct device *dev, bool ide)
	SJA1000 callback API upon getting the maximum number of concurrent CAN RX filters See can_get_max_filters() for argument description.
void	can_sja1000_isr (const struct device *dev)
	SJA1000 IRQ handler callback.
int	can_sja1000_init (const struct device *dev)
	SJA1000 driver initialization callback.

Detailed Description

API for NXP SJA1000 (and compatible) CAN controller frontend drivers.

Macro Definition Documentation

CAN_SJA1000_CDR_CAN_MODE

#define CAN_SJA1000_CDR_CAN_MODE   BIT(7)

CAN_SJA1000_CDR_CBP

#define CAN_SJA1000_CDR_CBP   BIT(6)

CAN_SJA1000_CDR_CD_DIV1

#define CAN_SJA1000_CDR_CD_DIV1   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 7U)

CAN_SJA1000_CDR_CD_DIV10

#define CAN_SJA1000_CDR_CD_DIV10   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 4U)

CAN_SJA1000_CDR_CD_DIV12

#define CAN_SJA1000_CDR_CD_DIV12   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 5U)

CAN_SJA1000_CDR_CD_DIV14

#define CAN_SJA1000_CDR_CD_DIV14   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 6U)

CAN_SJA1000_CDR_CD_DIV2

#define CAN_SJA1000_CDR_CD_DIV2   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 0U)

CAN_SJA1000_CDR_CD_DIV4

#define CAN_SJA1000_CDR_CD_DIV4   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 1U)

CAN_SJA1000_CDR_CD_DIV6

#define CAN_SJA1000_CDR_CD_DIV6   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 2U)

CAN_SJA1000_CDR_CD_DIV8

#define CAN_SJA1000_CDR_CD_DIV8   FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 3U)

CAN_SJA1000_CDR_CD_MASK

#define CAN_SJA1000_CDR_CD_MASK   GENMASK(2, 0)

CAN_SJA1000_CDR_CLOCK_OFF

#define CAN_SJA1000_CDR_CLOCK_OFF   BIT(3)

CAN_SJA1000_CDR_RXINTEN

#define CAN_SJA1000_CDR_RXINTEN   BIT(5)

CAN_SJA1000_DATA_INITIALIZER

#define CAN_SJA1000_DATA_INITIALIZER

(

_custom

)

Value:

        {                                                                                          \
                .custom = _custom,                                                                 \
        }

Initializer for a can_sja1000_data struct.

Parameters

_custom

Pointer to custom driver frontend data structure

CAN_SJA1000_DT_CONFIG_GET

#define CAN_SJA1000_DT_CONFIG_GET	(		node_id,
			_custom,
			_read_reg,
			_write_reg,
			_ocr,
			_cdr,
			_min_bitrate
	)

Value:

        {                                                                                          \
                .common = CAN_DT_DRIVER_CONFIG_GET(node_id, _min_bitrate, 1000000),                \
                .read_reg = _read_reg,                                                             \
                .write_reg = _write_reg,                                                           \
                .ocr = _ocr,                                                                       \
                .cdr = _cdr,                                                                       \
                .custom = _custom,                                                                 \
        }

Static initializer for can_sja1000_config struct.

Parameters

node_id	Devicetree node identifier
_custom	Pointer to custom driver frontend configuration structure
_read_reg	Driver frontend SJA100 register read function
_write_reg	Driver frontend SJA100 register write function
_ocr	Initial SJA1000 Output Control Register (OCR) value
_cdr	Initial SJA1000 Clock Divider Register (CDR) value
_min_bitrate	minimum bitrate supported by the CAN controller

CAN_SJA1000_DT_CONFIG_INST_GET

#define CAN_SJA1000_DT_CONFIG_INST_GET	(		inst,
			_custom,
			_read_reg,
			_write_reg,
			_ocr,
			_cdr,
			_min_bitrate
	)

Value:

        CAN_SJA1000_DT_CONFIG_GET(DT_DRV_INST(inst), _custom, _read_reg, _write_reg, _ocr, _cdr,   \
                                  _min_bitrate)

Static initializer for can_sja1000_config struct from a DT_DRV_COMPAT instance.

Parameters

inst	DT_DRV_COMPAT instance number
_custom	Pointer to custom driver frontend configuration structure
_read_reg	Driver frontend SJA100 register read function
_write_reg	Driver frontend SJA100 register write function
_ocr	Initial SJA1000 Output Control Register (OCR) value
_cdr	Initial SJA1000 Clock Divider Register (CDR) value
_min_bitrate	minimum bitrate supported by the CAN controller

See also

CAN_SJA1000_DT_CONFIG_GET()

CAN_SJA1000_OCR_OCMODE_BIPHASE

#define CAN_SJA1000_OCR_OCMODE_BIPHASE   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 0U)

CAN_SJA1000_OCR_OCMODE_CLOCK

#define CAN_SJA1000_OCR_OCMODE_CLOCK   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 3U)

CAN_SJA1000_OCR_OCMODE_MASK

#define CAN_SJA1000_OCR_OCMODE_MASK   GENMASK(1, 0)

CAN_SJA1000_OCR_OCMODE_NORMAL

#define CAN_SJA1000_OCR_OCMODE_NORMAL   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 2U)

CAN_SJA1000_OCR_OCMODE_TEST

#define CAN_SJA1000_OCR_OCMODE_TEST   FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 1U)

CAN_SJA1000_OCR_OCPOL0

#define CAN_SJA1000_OCR_OCPOL0   BIT(2)

CAN_SJA1000_OCR_OCPOL1

#define CAN_SJA1000_OCR_OCPOL1   BIT(5)

CAN_SJA1000_OCR_OCTN0

#define CAN_SJA1000_OCR_OCTN0   BIT(3)

CAN_SJA1000_OCR_OCTN1

#define CAN_SJA1000_OCR_OCTN1   BIT(6)

CAN_SJA1000_OCR_OCTP0

#define CAN_SJA1000_OCR_OCTP0   BIT(4)

CAN_SJA1000_OCR_OCTP1

#define CAN_SJA1000_OCR_OCTP1   BIT(7)

CAN_SJA1000_TIMING_MAX_INITIALIZER

#define CAN_SJA1000_TIMING_MAX_INITIALIZER

Value:

        {                                                               \
                .sjw = 4,                                               \
                .prop_seg = 0,                                          \
                .phase_seg1 = 16,                                       \
                .phase_seg2 = 8,                                        \
                .prescaler = 64                                         \
        }

SJA1000 specific static initializer for a maximum can_timing struct.

CAN_SJA1000_TIMING_MIN_INITIALIZER

#define CAN_SJA1000_TIMING_MIN_INITIALIZER

Value:

        {                                                               \
                .sjw = 1,                                               \
                .prop_seg = 0,                                          \
                .phase_seg1 = 1,                                        \
                .phase_seg2 = 1,                                        \
                .prescaler = 1                                          \
        }

SJA1000 specific static initializer for a minimum can_timing struct.

Typedef Documentation

can_sja1000_read_reg_t

typedef uint8_t(* can_sja1000_read_reg_t) (const struct device *dev, uint8_t reg)

SJA1000 driver front-end callback for reading a register value.

Parameters

dev	Pointer to the device structure for the driver instance.
reg	Register offset

Return values

Register

value

can_sja1000_write_reg_t

typedef void(* can_sja1000_write_reg_t) (const struct device *dev, uint8_t reg, uint8_t val)

SJA1000 driver front-end callback for writing a register value.

Parameters

dev	Pointer to the device structure for the driver instance.
reg	Register offset
val	Register value

Function Documentation

can_sja1000_add_rx_filter()

int can_sja1000_add_rx_filter	(	const struct device *	dev,
		can_rx_callback_t	callback,
		void *	user_data,
		const struct can_filter *	filter
	)

SJA1000 callback API upon adding an RX filter See can_add_rx_callback() for argument description.

can_sja1000_get_capabilities()

int can_sja1000_get_capabilities	(	const struct device *	dev,
		can_mode_t *	cap
	)

SJA1000 callback API upon getting CAN controller capabilities See can_get_capabilities() for argument description.

can_sja1000_get_max_filters()

int can_sja1000_get_max_filters	(	const struct device *	dev,
		bool	ide
	)

SJA1000 callback API upon getting the maximum number of concurrent CAN RX filters See can_get_max_filters() for argument description.

can_sja1000_get_state()

int can_sja1000_get_state	(	const struct device *	dev,
		enum can_state *	state,
		struct can_bus_err_cnt *	err_cnt
	)

SJA1000 callback API upon getting the CAN controller state See can_get_state() for argument description.

can_sja1000_init()

int can_sja1000_init

(

const struct device *

dev

)

SJA1000 driver initialization callback.

Parameters

dev	Pointer to the device structure for the driver instance.

can_sja1000_isr()

void can_sja1000_isr

(

const struct device *

dev

)

SJA1000 IRQ handler callback.

Parameters

dev	Pointer to the device structure for the driver instance.

can_sja1000_remove_rx_filter()

void can_sja1000_remove_rx_filter	(	const struct device *	dev,
		int	filter_id
	)

SJA1000 callback API upon removing an RX filter See can_remove_rx_filter() for argument description.

can_sja1000_send()

int can_sja1000_send	(	const struct device *	dev,
		const struct can_frame *	frame,
		k_timeout_t	timeout,
		can_tx_callback_t	callback,
		void *	user_data
	)

SJA1000 callback API upon sending a CAN frame See can_send() for argument description.

can_sja1000_set_mode()

int can_sja1000_set_mode	(	const struct device *	dev,
		can_mode_t	mode
	)

SJA1000 callback API upon setting CAN controller mode See can_set_mode() for argument description.

can_sja1000_set_state_change_callback()

void can_sja1000_set_state_change_callback	(	const struct device *	dev,
		can_state_change_callback_t	callback,
		void *	user_data
	)

SJA1000 callback API upon setting a state change callback See can_set_state_change_callback() for argument description.

can_sja1000_set_timing()

int can_sja1000_set_timing	(	const struct device *	dev,
		const struct can_timing *	timing
	)

SJA1000 callback API upon setting CAN bus timing See can_set_timing() for argument description.

can_sja1000_start()

int can_sja1000_start

(

const struct device *

dev

)

SJA1000 callback API upon starting CAN controller See can_start() for argument description.

can_sja1000_stop()

int can_sja1000_stop

(

const struct device *

dev

)

SJA1000 callback API upon stopping CAN controller See can_stop() for argument description.