rtcan.h

Peak-CAN控制器(PCI接口)的驱动程序

 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * Rescheduling: never.
 */
#define SIOCGCANCUSTOMBITTIME \
            _IOWR(RTIOC_TYPE_CAN, 0x04, struct ifreq)


/**
 * Set operation mode of CAN controller
 *
 * See @ref CAN_MODE "CAN controller modes" for available modes.
 *
 * @param [in] arg Pointer to interface request structure buffer
 *                 (<TT>struct ifreq</TT> from linux/if.h).
 *                 <TT>ifr_name</TT> must hold a valid CAN interface name,
 *                 <TT>ifr_ifru</TT> must be filled with an instance of
 *                 @ref can_mode_t.
 *
 * @return 0 on success, otherwise:
 * - -EFAULT: It was not possible to access user space memory area at the
 *            specified address.
 * - -ENODEV: No device with specified name exists.
 * - -EAGAIN: (@ref CAN_MODE_START, @ref CAN_MODE_STOP) Could not successfully
 *            set mode, hardware is busy. Try again.
 * - -EINVAL: (@ref CAN_MODE_START) Cannot start controller,
 *            set baud rate first.
 * - -ENETDOWN: (@ref CAN_MODE_SLEEP) Cannot go into sleep mode because
                controller is stopped or bus off.
 * - -EOPNOTSUPP: unknown mode
 *
 * Environments:
 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * @note Setting a CAN controller into normal operation after a bus-off can
 * take some time (128 occurrences of 11 consecutive recessive bits).
 * In such a case, although this IOCTL will return immediately with success
 * and @ref SIOCGCANSTATE will report @ref CAN_STATE_ACTIVE,
 * bus-off recovery may still be in progress. @n
 * If a controller is bus-off, setting it into stop mode will return no error
 * but the controller remains bus-off.
 *
 * Rescheduling: possible.
 */
#define SIOCSCANMODE \
            _IOW(RTIOC_TYPE_CAN, 0x05, struct ifreq)

/**
 * Get current state of CAN controller
 *
 * States are divided into main states and additional error indicators. A CAN
 * controller is always in exactly one main state. CAN bus errors are
 * registered by the CAN hardware and collected by the driver. There is one
 * error indicator (bit) per error type. If this IOCTL is triggered the error
 * types which occured since the last call of this IOCTL are reported and
 * thereafter the error indicators are cleared. See also
 * @ref CAN_STATE "CAN controller states".
 *
 * @param [in,out] arg Pointer to interface request structure buffer
 *                    (<TT>struct ifreq</TT> from linux/if.h).
 *                    <TT>ifr_name</TT> must hold a valid CAN interface name,
 *                    <TT>ifr_ifru</TT> will be filled with an instance of
 *                    @ref can_mode_t.
 *
 * @return 0 on success, otherwise:
 * - -EFAULT: It was not possible to access user space memory area at the
 *            specified address.
 * - -ENODEV: No device with specified name exists.
 *
 * Environments:
 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * Rescheduling: possible.
 */
#define SIOCGCANSTATE           \
            _IOWR(RTIOC_TYPE_CAN, 0x06, struct ifreq)


/**
 * Set special controller modes
 *
 * Various special controller modes could be or'ed together (see 
 * @ref CAN_CTRLMODE for further information). 
 *
 * @param [in] arg Pointer to interface request structure buffer
 *                 (<TT>struct ifreq</TT> from linux/if.h).
 *                 <TT>ifr_name</TT> must hold a valid CAN interface name,
 *                 <TT>ifr_ifru</TT> must be filled with an instance of
 *                 @ref can_ctrlmode_t.
 *
 * @return 0 on success, otherwise:
 * - -EFAULT: It was not possible to access user space memory area at the
 *            specified address.
 * - -ENODEV: No device with specified name exists.
 * - -EINVAL: No valid baud rate, see @ref can_baudrate_t.
 * - -EAGAIN: Request could not be successully fulfilled. Try again.
 *
 * Environments:
 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * @note Setting specia controlelr modes is a configuration task. It should
 * be done deliberately or otherwise CAN messages will likely be lost.
 *
 * Rescheduling: possible.
 */
#define SIOCSCANCTRLMODE \
            _IOW(RTIOC_TYPE_CAN, 0x07, struct ifreq)

/**
 * Get special controller modes
 *
 *
 * @param [in] arg Pointer to interface request structure buffer
 *                 (<TT>struct ifreq</TT> from linux/if.h).
 *                 <TT>ifr_name</TT> must hold a valid CAN interface name,
 *                 <TT>ifr_ifru</TT> must be filled with an instance of
 *                 @ref can_ctrlmode_t.
 *
 * @return 0 on success, otherwise:
 * - -EFAULT: It was not possible to access user space memory area at the
 *            specified address.
 * - -ENODEV: No device with specified name exists.
 * - -EINVAL: No baud rate was set yet.
 *
 * Environments:
 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * Rescheduling: possible.
 */
#define SIOCGCANCTRLMODE        \
            _IOWR(RTIOC_TYPE_CAN, 0x08, struct ifreq)

/**
 * Enable or disable storing a high precision timestamp upon reception of
 * a CAN frame.
 *
 * A newly created socket takes no timestamps by default.
 *
 * @param [in] arg int variable, see @ref RTCAN_TIMESTAMPS "Timestamp switches"
 *
 * @return 0 on success.
 *
 * Environments:
 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * @note Activating taking timestamps only has an effect on newly received
 * CAN messages from the bus. Frames that already are in the socket buffer do
 * not have timestamps if it was deactivated before. See @ref Recv "Receive"
 * for more details.
 *
 * Rescheduling: never.
 */
#define RTCAN_RTIOC_TAKE_TIMESTAMP      _IOW(RTIOC_TYPE_CAN, 0x09, int)

/**
 * Specify a reception timeout for a socket
 *
 * Defines a timeout for all receive operations via a
 * socket which will take effect when one of the @ref Recv "receive functions"
 * is called without the @c MSG_DONTWAIT flag set.
 *
 * The default value for a newly created socket is an infinite timeout.
 *
 * @note The setting of the timeout value is not done atomically to avoid
 * locks. Please set the value before receiving messages from the socket.
 *
 * @param [in] arg Pointer to @ref nanosecs_rel_t variable. The value is
 *                interpreted as relative timeout in nanoseconds in case
 *                of a positive value.
 *                See @ref RTDM_TIMEOUT_xxx "Timeouts" for special timeouts.
 *
 * @return 0 on success, otherwise:
 * - -EFAULT: It was not possible to access user space memory area at the
 *            specified address.
 *
 * Environments:
 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * Rescheduling: never.
 */
#define RTCAN_RTIOC_RCV_TIMEOUT     _IOW(RTIOC_TYPE_CAN, 0x0A, nanosecs_rel_t)

/**
 * Specify a transmission timeout for a socket
 *
 * Defines a timeout for all send operations via a
 * socket which will take effect when one of the @ref Send "send functions"
 * is called without the @c MSG_DONTWAIT flag set.
 *
 * The default value for a newly created socket is an infinite timeout.
 *
 * @note The setting of the timeout value is not done atomically to avoid
 * locks. Please set the value before sending messages to the socket.
 *
 * @param [in] arg Pointer to @ref nanosecs_rel_t variable. The value is
 *                interpreted as relative timeout in nanoseconds in case
 *                of a positive value.
 *                See @ref RTDM_TIMEOUT_xxx "Timeouts" for special timeouts.
 *
 * @return 0 on success, otherwise:
 * - -EFAULT: It was not possible to access user space memory area at the
 *            specified address.
 *
 * Environments:
 *
 * This service can be called from:
 *
 * - Kernel module initialization/cleanup code
 * - Kernel-based task
 * - User-space task (RT, non-RT)
 *
 * Rescheduling: never.
 */
#define RTCAN_RTIOC_SND_TIMEOUT     _IOW(RTIOC_TYPE_CAN, 0x0B, nanosecs_rel_t)
/** @} */

#define CAN_ERR_DLC 8 /* dlc for error frames */


/*!
 * @anchor Errors @name Error mask
 * Error class (mask) in @c can_id field of struct can_frame to
 * be used with @ref CAN_RAW_ERR_FILTER. 
 * @{ */

/** TX timeout (netdevice driver) */
#define CAN_ERR_TX_TIMEOUT   0x00000001U

/** Lost arbitration (see @ref Error0 "data[0]") */
#define CAN_ERR_LOSTARB      0x00000002U

/** Controller problems (see @ref Error1 "data[1]") */
#define CAN_ERR_CRTL         0x00000004U

/** Protocol violations (see @ref Error2 "data[2]", 
                             @ref Error3 "data[3]") */
#define CAN_ERR_PROT         0x00000008U

/** Transceiver status (see @ref Error4 "data[4]")    */
#define CAN_ERR_TRX          0x00000010U

/** Received no ACK on transmission */
#define CAN_ERR_ACK          0x00000020U

/** Bus off */
#define CAN_ERR_BUSOFF       0x00000040U

/** Bus error (may flood!) */
#define CAN_ERR_BUSERROR     0x00000080U 

/** Controller restarted */
#define CAN_ERR_RESTARTED    0x00000100U

/** Omit EFF, RTR, ERR flags */
#define CAN_ERR_MASK         0x1FFFFFFFU
 
/** @} */

/*!
 * @anchor Error0 @name Arbitration lost error
 * Error in the data[0] field of struct can_frame.
 * @{ */
/* arbitration lost in bit ... / data[0] */
#define CAN_ERR_LOSTARB_UNSPEC   0x00 /**< unspecified */
                                      /**< else bit number in bitstream */
/** @} */

/*!
 * @anchor Error1 @name Controller problems
 * Error in the data[1] field of struct can_frame.
 * @{ */
/* error status of CAN-controller / data[1] */
#define CAN_ERR_CRTL_UNSPEC      0x00 /**< unspecified */
#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /**< RX buffer overflow */
#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /**< TX buffer overflow */
#define CAN_ERR_CRTL_RX_WARNING  0x04 /**< reached warning level for RX errors */
#define CAN_ERR_CRTL_TX_WARNING  0x08 /**< reached warning level for TX errors */
#define CAN_ERR_CRTL_RX_PASSIVE  0x10 /**< reached passive level for RX errors */
#define CAN_ERR_CRTL_TX_PASSIVE  0x20 /**< reached passive level for TX errors */
/** @} */


/*!
 * @anchor Error2 @name Protocol error type
 * Error in the data[2] field of struct can_frame.
 * @{ */
/* error in CAN protocol (type) / data[2] */
#define CAN_ERR_PROT_UNSPEC      0x00 /**< unspecified */
#define CAN_ERR_PROT_BIT         0x01 /**< single bit error */
#define CAN_ERR_PROT_FORM        0x02 /**< frame format error */
#define CAN_ERR_PROT_STUFF       0x04 /**< bit stuffing error */
#define CAN_ERR_PROT_BIT0        0x08 /**< unable to send dominant bit */
#define CAN_ERR_PROT_BIT1        0x10 /**< unable to send recessive bit */
#define CAN_ERR_PROT_OVERLOAD    0x20 /**< bus overload */
#define CAN_ERR_PROT_ACTIVE      0x40 /**< active error announcement */
#define CAN_ERR_PROT_TX          0x80 /**< error occured on transmission */
/** @} */

/*!
 * @anchor Error3 @name Protocol error location
 * Error in the data[3] field of struct can_frame.
 * @{ */
/* error in CAN protocol (location) / data[3] */
#define CAN_ERR_PROT_LOC_UNSPEC  0x00 /**< unspecified */
#define CAN_ERR_PROT_LOC_SOF     0x03 /**< start of frame */
#define CAN_ERR_PROT_LOC_ID28_21 0x02 /**< ID bits 28 - 21 (SFF: 10 - 3) */
#define CAN_ERR_PROT_LOC_ID20_18 0x06 /**< ID bits 20 - 18 (SFF: 2 - 0 )*/
#define CAN_ERR_PROT_LOC_SRTR    0x04 /**< substitute RTR (SFF: RTR) */
#define CAN_ERR_PROT_LOC_IDE     0x05 /**< identifier extension */
#define CAN_ERR_PROT_LOC_ID17_13 0x07 /**< ID bits 17-13 */
#define CAN_ERR_PROT_LOC_ID12_05 0x0F /**< ID bits 12-5 */
#define CAN_ERR_PROT_LOC_ID04_00 0x0E /**< ID bits 4-0 */
#define CAN_ERR_PROT_LOC_RTR     0x0C /**< RTR */
#define CAN_ERR_PROT_LOC_RES1    0x0D /**< reserved bit 1 */
#define CAN_ERR_PROT_LOC_RES0    0x09 /**< reserved bit 0 */
#define CAN_ERR_PROT_LOC_DLC     0x0B /**< data length code */
#define CAN_ERR_PROT_LOC_DATA    0x0A /**< data section */
#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /**< CRC sequence */
#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /**< CRC delimiter */
#define CAN_ERR_PROT_LOC_ACK     0x19 /**< ACK slot */
#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /**< ACK delimiter */
#define CAN_ERR_PROT_LOC_EOF     0x1A /**< end of frame */
#define CAN_ERR_PROT_LOC_INTERM  0x12 /**< intermission */
/** @} */

/*!
 * @anchor Error4 @name Protocol error location
 * Error in the data[4] field of struct can_frame.
 * @{ */
/* error status of CAN-transceiver / data[4] */
/*                                               CANH CANL */
#define CAN_ERR_TRX_UNSPEC             0x00 /**< 0000 0000 */
#define CAN_ERR_TRX_CANH_NO_WIRE       0x04 /**< 0000 0100 */
#define CAN_ERR_TRX_CANH_SHORT_TO_BAT  0x05 /**< 0000 0101 */
#define CAN_ERR_TRX_CANH_SHORT_TO_VCC  0x06 /**< 0000 0110 */
#define CAN_ERR_TRX_CANH_SHORT_TO_GND  0x07 /**< 0000 0111 */
#define CAN_ERR_TRX_CANL_NO_WIRE       0x40 /**< 0100 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_BAT  0x50 /**< 0101 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_VCC  0x60 /**< 0110 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_GND  0x70 /**< 0111 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /**< 1000 0000 */
/** @} */

/* controller specific additional information / data[5..7] */

/** @} */

/** @} */


#endif /* _RTCAN_H */