CAN Controller Driver Backend API

Data Structures
struct	can_driver_config
	Common CAN controller driver configuration. More...
struct	can_driver_data
	Common CAN controller driver data. More...
struct	can_driver_api
	Driver Operations CAN Controller driver operations More...

Macros
#define	CAN_CALC_TDCO(_timing_data, _tdco_min, _tdco_max)
	Calculate Transmitter Delay Compensation Offset from data phase timing parameters.
#define	CAN_DT_DRIVER_CONFIG_GET(node_id, _min_bitrate, _max_bitrate)
	Static initializer for can_driver_config struct.
#define	CAN_DT_DRIVER_CONFIG_INST_GET(inst, _min_bitrate, _max_bitrate)
	Static initializer for can_driver_config struct from DT_DRV_COMPAT instance.

Typedefs
typedef int(*	can_set_timing_t) (const struct device *dev, const struct can_timing *timing)
	Callback API upon setting CAN bus timing See can_set_timing() for argument description.
typedef int(*	can_set_timing_data_t) (const struct device *dev, const struct can_timing *timing_data)
	Optional callback API upon setting CAN FD bus timing for the data phase.
typedef int(*	can_get_capabilities_t) (const struct device *dev, can_mode_t *cap)
	Callback API upon getting CAN controller capabilities See can_get_capabilities() for argument description.
typedef int(*	can_start_t) (const struct device *dev)
	Callback API upon starting CAN controller See can_start() for argument description.
typedef int(*	can_stop_t) (const struct device *dev)
	Callback API upon stopping CAN controller See can_stop() for argument description.
typedef int(*	can_set_mode_t) (const struct device *dev, can_mode_t mode)
	Callback API upon setting CAN controller mode See can_set_mode() for argument description.
typedef int(*	can_send_t) (const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
	Callback API upon sending a CAN frame See can_send() for argument description.
typedef int(*	can_add_rx_filter_t) (const struct device *dev, can_rx_callback_t callback, void *user_data, const struct can_filter *filter)
	Callback API upon adding an RX filter See can_add_rx_callback() for argument description.
typedef void(*	can_remove_rx_filter_t) (const struct device *dev, int filter_id)
	Callback API upon removing an RX filter See can_remove_rx_filter() for argument description.
typedef int(*	can_recover_t) (const struct device *dev, k_timeout_t timeout)
	Optional callback API upon manually recovering the CAN controller from bus-off state See can_recover() for argument description.
typedef int(*	can_get_state_t) (const struct device *dev, enum can_state *state, struct can_bus_err_cnt *err_cnt)
	Callback API upon getting the CAN controller state See can_get_state() for argument description.
typedef void(*	can_set_state_change_callback_t) (const struct device *dev, can_state_change_callback_t callback, void *user_data)
	Callback API upon setting a state change callback See can_set_state_change_callback() for argument description.
typedef int(*	can_get_core_clock_t) (const struct device *dev, uint32_t *rate)
	Callback API upon getting the CAN core clock rate See can_get_core_clock() for argument description.
typedef int(*	can_get_max_filters_t) (const struct device *dev, bool ide)
	Optional callback API upon getting the maximum number of concurrent CAN RX filters See can_get_max_filters() for argument description.

Detailed Description

This group contains the API type definitions, callback signatures, and other helpers required to implement a CAN Controller driver.

Macro Definition Documentation

CAN_CALC_TDCO

#define CAN_CALC_TDCO	(		_timing_data,
			_tdco_min,
			_tdco_max )

#include <zephyr/drivers/can.h>

Value:

        CLAMP((1U + _timing_data->prop_seg + _timing_data->phase_seg1) * _timing_data->prescaler,  \
              _tdco_min, _tdco_max)

Calculate Transmitter Delay Compensation Offset from data phase timing parameters.

Calculates the TDC Offset in minimum time quanta (mtq) using the sample point and CAN core clock prescaler specified by a set of data phase timing parameters.

The result is clamped to the minimum/maximum supported TDC Offset values provided.

Parameters

_timing_data	Pointer to data phase timing parameters.
_tdco_min	Minimum supported TDC Offset value in mtq.
_tdco_max	Maximum supported TDC Offset value in mtq.

Returns

Calculated TDC Offset value in mtq.

CAN_DT_DRIVER_CONFIG_GET

#define CAN_DT_DRIVER_CONFIG_GET	(		node_id,
			_min_bitrate,
			_max_bitrate )

#include <zephyr/drivers/can.h>

Value:

        {                                                                                       \
                .phy = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, phys)),                        \
                .min_bitrate = DT_CAN_TRANSCEIVER_MIN_BITRATE(node_id, _min_bitrate),           \
                .max_bitrate = DT_CAN_TRANSCEIVER_MAX_BITRATE(node_id, _max_bitrate),           \
                .bitrate = DT_PROP_OR(node_id, bitrate,                                         \
                        DT_PROP_OR(node_id, bus_speed, CONFIG_CAN_DEFAULT_BITRATE)),            \
                .sample_point = DT_PROP_OR(node_id, sample_point, 0),                           \
                IF_ENABLED(CONFIG_CAN_FD_MODE,                                                  \
                        (.bitrate_data = DT_PROP_OR(node_id, bitrate_data,                      \
                         DT_PROP_OR(node_id, bus_speed_data, CONFIG_CAN_DEFAULT_BITRATE_DATA)), \
                         .sample_point_data = DT_PROP_OR(node_id, sample_point_data, 0),))      \
        }

Static initializer for can_driver_config struct.

Parameters

node_id	Devicetree node identifier
_min_bitrate	minimum bitrate supported by the CAN controller
_max_bitrate	maximum bitrate supported by the CAN controller

CAN_DT_DRIVER_CONFIG_INST_GET

#define CAN_DT_DRIVER_CONFIG_INST_GET	(		inst,
			_min_bitrate,
			_max_bitrate )

#include <zephyr/drivers/can.h>

Value:

        CAN_DT_DRIVER_CONFIG_GET(DT_DRV_INST(inst), _min_bitrate, _max_bitrate)

Static initializer for can_driver_config struct from DT_DRV_COMPAT instance.

Parameters

inst	DT_DRV_COMPAT instance number
_min_bitrate	minimum bitrate supported by the CAN controller
_max_bitrate	maximum bitrate supported by the CAN controller

See also

CAN_DT_DRIVER_CONFIG_GET()

Typedef Documentation

can_add_rx_filter_t

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

#include <zephyr/drivers/can.h>

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

can_get_capabilities_t

typedef int(* can_get_capabilities_t) (const struct device *dev, can_mode_t *cap)

#include <zephyr/drivers/can.h>

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

can_get_core_clock_t

typedef int(* can_get_core_clock_t) (const struct device *dev, uint32_t *rate)

#include <zephyr/drivers/can.h>

Callback API upon getting the CAN core clock rate See can_get_core_clock() for argument description.

can_get_max_filters_t

typedef int(* can_get_max_filters_t) (const struct device *dev, bool ide)

#include <zephyr/drivers/can.h>

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

can_get_state_t

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

#include <zephyr/drivers/can.h>

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

can_recover_t

typedef int(* can_recover_t) (const struct device *dev, k_timeout_t timeout)

#include <zephyr/drivers/can.h>

Optional callback API upon manually recovering the CAN controller from bus-off state See can_recover() for argument description.

can_remove_rx_filter_t

typedef void(* can_remove_rx_filter_t) (const struct device *dev, int filter_id)

#include <zephyr/drivers/can.h>

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

can_send_t

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

#include <zephyr/drivers/can.h>

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

Note

From a driver perspective callback will never be NULL as a default callback will be provided if none is provided by the caller. This allows for simplifying the driver handling.

can_set_mode_t

typedef int(* can_set_mode_t) (const struct device *dev, can_mode_t mode)

#include <zephyr/drivers/can.h>

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

can_set_state_change_callback_t

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

#include <zephyr/drivers/can.h>

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

can_set_timing_data_t

typedef int(* can_set_timing_data_t) (const struct device *dev, const struct can_timing *timing_data)

#include <zephyr/drivers/can.h>

Optional callback API upon setting CAN FD bus timing for the data phase.

See can_set_timing_data() for argument description

can_set_timing_t

typedef int(* can_set_timing_t) (const struct device *dev, const struct can_timing *timing)

#include <zephyr/drivers/can.h>

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

can_start_t

typedef int(* can_start_t) (const struct device *dev)

#include <zephyr/drivers/can.h>

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

can_stop_t

typedef int(* can_stop_t) (const struct device *dev)

#include <zephyr/drivers/can.h>

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