This header file is part of CAN/CAN FD bus common support. It implements CAN frame structure and related defines. More...
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Classes | |
| struct | can_frame_header |
| This structure represents the CAN message header. More... | |
| struct | can_frame |
| This structure represents one CAN frame. It consists of CAN header and data. More... | |
Macros | |
| #define | CAN_FRAME_BFF_ID_MASK ( 0x000007ff ) |
| This define provides mask for base frame format identifier. | |
| #define | CAN_FRAME_EFF_ID_MASK ( 0x1fffffff ) |
| This define provides mask for extended frame format identifier. | |
| #define | CAN_FRAME_STANDARD_DLEN ( 8u ) |
| Represents standard (not FD) CAN frame data length. | |
| #define | CAN_FRAME_FD_DLEN ( 64u ) |
| Represents CAN FD frame data length. | |
| #define | CAN_FRAME_MAX_DLEN ( CAN_FRAME_FD_DLEN ) |
| Represents maximum allowed CAN frame data length. | |
CAN Frame Flags | |
See structure can_frame for reference. | |
| #define | CAN_FRAME_IDE ( 1 << 0 ) |
| Represents extended frame format. | |
| #define | CAN_FRAME_RTR ( 1 << 1 ) |
| Represents remote transfer request. | |
| #define | CAN_FRAME_ECHO ( 1 << 2 ) |
| Represents echo flag. | |
| #define | CAN_FRAME_LOCAL ( 1 << 3 ) |
| Represents local flag. | |
| #define | CAN_FRAME_TXERR ( 1 << 4 ) |
| Represents frame transmission error. | |
| #define | CAN_FRAME_ERR ( 1 << 5 ) |
| Represents generic error flag. | |
| #define | CAN_FRAME_FIFO_OVERFLOW ( 1 << 6 ) |
| Represents local FIFO overflow. | |
| #define | CAN_FRAME_FDF ( 1 << 7 ) |
| Represents CAN FD frame format. | |
| #define | CAN_FRAME_BRS ( 1 << 8 ) |
| Represents bit rate shift for CAN FD frames. | |
| #define | CAN_FRAME_ESI ( 1 << 9 ) |
| Represents error state inicator of transmitting node. | |
CAN Error Types | |
These types are defined in identifier field of can_frame structure. | |
| #define | CAN_ERR_ID_TXTIMEOUT ( 1 << 0 ) |
| Represents CAN frame TX timeout error. | |
| #define | CAN_ERR_ID_LOSTARB ( 1 << 1 ) |
| Represents lost arbitration error. Additional information are stored in CAN_ERR_DATA_BYTE_TRX_CTRL of data. | |
| #define | CAN_ERR_ID_CRTL ( 1 << 2 ) |
| Represents CAN controller error. Additional information are stored in CAN_ERR_DATA_BYTE_TRX_PROT of data. | |
| #define | CAN_ERR_ID_PROT ( 1 << 3 ) |
| Represents CAN frame protocol violations. Additional information are stored in CAN_ERR_DATA_BYTE_TRX_PROT and CAN_ERR_DATA_BYTE_TRX_PROT_LOC of data. | |
| #define | CAN_ERR_ID_TRX ( 1 << 4 ) |
| Represents transceiver status error. Additional information are stored in CAN_ERR_TRX_DATA_BYTE of data. | |
| #define | CAN_ERR_ID_ACK ( 1 << 5 ) |
| Represents no acknowledgment on transmission error. | |
| #define | CAN_ERR_ID_BUSOFF ( 1 << 6 ) |
| Represents bus off state. | |
| #define | CAN_ERR_ID_BUSERROR ( 1 << 7 ) |
| Represents bus error. | |
| #define | CAN_ERR_ID_RESTARTED ( 1 << 8 ) |
| Represents controller restarted information. | |
| #define | CAN_ERR_ID_CNT ( 1 << 9 ) |
| Represents TX/RX error counter. Values are stored in CAN_ERR_DATA_BYTE_CNT_TX and CAN_ERR_DATA_BYTE_CNT_RX of data. | |
| #define | CAN_ERR_ID_INTERNAL ( 1 << 10 ) |
| Represents stack internal error. | |
| #define | CAN_ERR_ID_TAG ( 1 << 31 ) |
| Represents CAN error tag. This sets 31st bit of identifier to logical one to make the frame invalid. It should be used to further distinquish error frames from standard ones. | |
CAN Error Types Offsets to Data | |
These defines offsets to data field of can_frame structure, where additional information for given error type are stored. | |
| #define | CAN_ERR_DATA_BYTE_TRX_LOSTARB ( 0 ) |
| Represents data offset in bytes to lost arbitration information. | |
| #define | CAN_ERR_DATA_BYTE_TRX_CTRL ( 1 ) |
| Represents data offset in bytes to controller error information. | |
| #define | CAN_ERR_DATA_BYTE_TRX_PROT ( 2 ) |
| Represents data offset in bytes to information about protocol violation. | |
| #define | CAN_ERR_DATA_BYTE_TRX_PROT_LOC ( 3 ) |
| Represents data offset in bytes to information about protocol violation location. | |
| #define | CAN_ERR_TRX_DATA_BYTE ( 4 ) |
| Represents data offset in bytes to additional transceiver status error information. | |
| #define | CAN_ERR_DATA_BYTE_CNT_TX ( 6 ) |
| Represents data offset in bytes to TX counter. | |
| #define | CAN_ERR_DATA_BYTE_CNT_RX ( 7 ) |
| Represents data offset in bytes to RX counter. | |
CAN Lost Arbitration Errors | |
| #define | CAN_ERR_LOSTARB_UNSPEC ( 0 ) |
| Represents unspecified lost arbitration error. | |
| #define | CAN_ERR_LOSTARB_BIT(n) ( n ) |
| Represents bit in which arbitration was lost. | |
CAN Controller Errors | |
| #define | CAN_ERR_CRTL_UNSPEC ( 0 ) |
| Represents unspecified controller error. | |
| #define | CAN_ERR_CRTL_RX_OVERFLOW ( 1 << 0 ) |
| Represents RX buffer overflow controller error. | |
| #define | CAN_ERR_CRTL_TX_OVERFLOW ( 1 << 1 ) |
| Represents TX buffer overflow controller error. | |
| #define | CAN_ERR_CRTL_RX_WARNING ( 1 << 2 ) |
| Identifies controller reached warning level for RX errors. | |
| #define | CAN_ERR_CRTL_TX_WARNING ( 1 << 3 ) |
| Identifies controller reached warning level for TX errors. | |
| #define | CAN_ERR_CRTL_RX_PASSIVE ( 1 << 4 ) |
| Identifies controller reached error passive status for RX. | |
| #define | CAN_ERR_CRTL_TX_PASSIVE ( 1 << 5 ) |
| Identifies controller reached error passive status for TX. | |
| #define | CAN_ERR_CRTL_ACTIVE ( 1 << 6 ) |
| Identifies controller recovered to error active state. | |
CAN Protocol Violation Errors | |
| #define | CAN_ERR_PROT_UNSPEC ( 0 ) |
| Represents unspecified protocol violation. | |
| #define | CAN_ERR_PROT_BIT (1 << 0) |
| Represents single bit error. | |
| #define | CAN_ERR_PROT_FOR (1 << 1) |
| Represents frame format error. | |
| #define | CAN_ERR_PROT_STUFF (1 << 2) |
| Represents bit stuffing error. | |
| #define | CAN_ERR_PROT_BIT0 (1 << 3) |
| Identifies the controller is unable to send dominant bit. | |
| #define | CAN_ERR_PROT_BIT1 (1 << 4) |
| Identifies the controller is unable to send recessive bit. | |
| #define | CAN_ERR_PROT_OVERLOAD (1 << 5) |
| Represents bus overload. | |
| #define | CAN_ERR_PROT_ACTIVE (1 << 6) |
| Represents active error announcement. | |
| #define | CAN_ERR_PROT_TX (1 << 7) |
| Identifies that rrror occurred on transmission. | |
CAN Protocol Violation Errors Location | |
| #define | CAN_ERR_PROT_LOC_UNSPEC ( 0x00 ) |
| Represents unspecified protocol violation location. | |
| #define | CAN_ERR_PROT_LOC_SOF ( 0x01 ) |
| Represents protocol violation location at start of frame. | |
| #define | CAN_ERR_PROT_LOC_ID0 ( 0x02 ) |
| Represents protocol violation location at ID bits 0-4. | |
| #define | CAN_ERR_PROT_LOC_ID1 ( 0x03 ) |
| Represents protocol violation location at ID bits 5-12. | |
| #define | CAN_ERR_PROT_LOC_ID2 ( 0x04 ) |
| Represents protocol violation location at ID bits 13-17. | |
| #define | CAN_ERR_PROT_LOC_ID3 ( 0x05 ) |
| Represents protocol violation location at ID bits 21-28. | |
| #define | CAN_ERR_PROT_LOC_ID4 ( 0x06 ) |
| Represents protocol violation location at ID bits 18-20. | |
| #define | CAN_ERR_PROT_LOC_IDE ( 0x07 ) |
| Represents protocol violation location at IDE bit. | |
| #define | CAN_ERR_PROT_LOC_RTR ( 0x08 ) |
| Represents protocol violation location at RTR bit. | |
| #define | CAN_ERR_PROT_LOC_SRTR ( 0x09 ) |
| Represents protocol violation location at SRTR bit. | |
| #define | CAN_ERR_PROT_LOC_RES0 ( 0x0a ) |
| Represents protocol violation location at reserved bit 0. | |
| #define | CAN_ERR_PROT_LOC_RES1 ( 0x0b ) |
| Represents protocol violation location at reserved bit 1. | |
| #define | CAN_ERR_PROT_LOC_DLC ( 0x0c ) |
| Represents protocol violation location at DLC. | |
| #define | CAN_ERR_PROT_LOC_DATA ( 0x0d ) |
| Represents protocol violation location at data section. | |
| #define | CAN_ERR_PROT_LOC_CRCSEQ ( 0x0e ) |
| Represents protocol violation location at CRC sequence. | |
| #define | CAN_ERR_PROT_LOC_CRCDEL ( 0x0f ) |
| Represents protocol violation location at CRC delimiter. | |
| #define | CAN_ERR_PROT_LOC_ACK ( 0x10 ) |
| Represents protocol violation location at ACK slot. | |
| #define | CAN_ERR_PROT_LOC_ACKDEL ( 0x11 ) |
| Represents protocol violation location at ACK delimiter. | |
| #define | CAN_ERR_PROT_LOC_EOF ( 0x12 ) |
| Represents protocol violation location at end of frame. | |
| #define | CAN_ERR_PROT_LOC_INTERM ( 0x13 ) |
| Represents protocol violation location at intermission. | |
CAN Transmission Errors | |
| #define | CAN_ERR_TRX_UNSPEC ( 0x00 ) |
| Represents unspecified transmission error. | |
| #define | CAN_ERR_TRX_H_MASK ( 0x0f ) |
| Represents mask for CANH transmission error. | |
| #define | CAN_ERR_TRX_H_NOWIRE ( 0x01 ) |
| Represents no CAN high wire detected. | |
| #define | CAN_ERR_TRX_H_SHORT2BAT ( 0x02 ) |
| Identifies CAN H shortage to bat. | |
| #define | CAN_ERR_TRX_H_SHORT2VCC ( 0x03 ) |
| Identifies CAN H shortage to VCC. | |
| #define | CAN_ERR_TRX_H_SHORT2GND ( 0x04 ) |
| Identifies CAN H shortage to ground. | |
| #define | CAN_ERR_TRX_L_MASK ( 0xf0 ) |
| Represents mask for CANL transmission error. | |
| #define | CAN_ERR_TRX_L_NOWIRE ( 0x10 ) |
| Represents no CAN low wire detected. | |
| #define | CAN_ERR_TRX_L_SHORT2BAT ( 0x20 ) |
| Identifies CAN L shortage to bat. | |
| #define | CAN_ERR_TRX_L_SHORT2VCC ( 0x30 ) |
| Identifies CAN L shortage to VCC. | |
| #define | CAN_ERR_TRX_L_SHORT2GND ( 0x40 ) |
| Identifies CAN L shortage to ground. | |
| #define | CAN_ERR_TRX_L_SHORT2CANH ( 0x50 ) |
| Identifies CAN L shortage to CAN H. | |
Detailed Description
This header file is part of CAN/CAN FD bus common support. It implements CAN frame structure and related defines.
