can-frame.h

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/* SPDX-License-Identifier: BSD-2-Clause OR Apache-2.0 OR GPL-2.0-or-later */
 
/*
 * Copyright (C) 2023-2024 Michal Lenc <michallenc@seznam.cz>
 * Implementation is based on original LinCAN - Linux CAN bus driver
 * Part of OrtCAN project https://ortcan.sourceforge.net/
 * Copyright (C) 2002-2009 DCE FEE CTU Prague <http://control.fel.cvut.cz>
 * Copyright (C) 2002-2024 Pavel Pisa <pisa@cmp.felk.cvut.cz>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef _DEV_CAN_CAN_FRAME_H
#define _DEV_CAN_CAN_FRAME_H
 
#define CAN_FRAME_BFF_ID_MASK ( 0x000007ff )
#define CAN_FRAME_EFF_ID_MASK ( 0x1fffffff )
#define CAN_FRAME_STANDARD_DLEN ( 8u )
#define CAN_FRAME_FD_DLEN       ( 64u )
#define CAN_FRAME_MAX_DLEN      ( CAN_FRAME_FD_DLEN )
 
#define CAN_FRAME_IDE   ( 1 << 0 )
#define CAN_FRAME_RTR   ( 1 << 1 )
#define CAN_FRAME_ECHO  ( 1 << 2 )
#define CAN_FRAME_LOCAL ( 1 << 3 )
#define CAN_FRAME_TXERR ( 1 << 4 )
#define CAN_FRAME_ERR   ( 1 << 5 )
#define CAN_FRAME_FIFO_OVERFLOW ( 1 << 6 )
#define CAN_FRAME_FDF   ( 1 << 7 )
#define CAN_FRAME_BRS   ( 1 << 8 )
#define CAN_FRAME_ESI   ( 1 << 9 )
 
#define CAN_ERR_ID_TXTIMEOUT    ( 1 << 0 )
#define CAN_ERR_ID_LOSTARB      ( 1 << 1 )
#define CAN_ERR_ID_CRTL         ( 1 << 2 )
#define CAN_ERR_ID_PROT         ( 1 << 3 )
#define CAN_ERR_ID_TRX          ( 1 << 4 )
#define CAN_ERR_ID_ACK          ( 1 << 5 )
#define CAN_ERR_ID_BUSOFF       ( 1 << 6 )
#define CAN_ERR_ID_BUSERROR     ( 1 << 7 )
#define CAN_ERR_ID_RESTARTED    ( 1 << 8 )
#define CAN_ERR_ID_CNT          ( 1 << 9 )
#define CAN_ERR_ID_INTERNAL     ( 1 << 10 )
#define CAN_ERR_ID_TAG          ( 1 << 31 )
 
#define CAN_ERR_DATA_BYTE_TRX_LOSTARB  ( 0 )
#define CAN_ERR_DATA_BYTE_TRX_CTRL     ( 1 )
#define CAN_ERR_DATA_BYTE_TRX_PROT     ( 2 )
#define CAN_ERR_DATA_BYTE_TRX_PROT_LOC ( 3 )
#define CAN_ERR_TRX_DATA_BYTE      ( 4 )
#define CAN_ERR_DATA_BYTE_CNT_TX   ( 6 )
#define CAN_ERR_DATA_BYTE_CNT_RX   ( 7 )
 
#define CAN_ERR_LOSTARB_UNSPEC   ( 0 )
#define CAN_ERR_LOSTARB_BIT( n ) ( n )
 
#define CAN_ERR_CRTL_UNSPEC      ( 0 )
#define CAN_ERR_CRTL_RX_OVERFLOW ( 1 << 0 )
#define CAN_ERR_CRTL_TX_OVERFLOW ( 1 << 1 )
#define CAN_ERR_CRTL_RX_WARNING  ( 1 << 2 )
#define CAN_ERR_CRTL_TX_WARNING  ( 1 << 3 )
#define CAN_ERR_CRTL_RX_PASSIVE  ( 1 << 4 )
#define CAN_ERR_CRTL_TX_PASSIVE  ( 1 << 5 )
#define CAN_ERR_CRTL_ACTIVE      ( 1 << 6 )
 
#define CAN_ERR_PROT_UNSPEC      ( 0 )
#define CAN_ERR_PROT_BIT         (1 << 0)
#define CAN_ERR_PROT_FOR         (1 << 1)
#define CAN_ERR_PROT_STUFF       (1 << 2)
#define CAN_ERR_PROT_BIT0        (1 << 3)
#define CAN_ERR_PROT_BIT1        (1 << 4)
#define CAN_ERR_PROT_OVERLOAD    (1 << 5)
#define CAN_ERR_PROT_ACTIVE      (1 << 6)
#define CAN_ERR_PROT_TX          (1 << 7)
 
#define CAN_ERR_PROT_LOC_UNSPEC  ( 0x00 )
#define CAN_ERR_PROT_LOC_SOF     ( 0x01 )
#define CAN_ERR_PROT_LOC_ID0     ( 0x02 )
#define CAN_ERR_PROT_LOC_ID1     ( 0x03 )
#define CAN_ERR_PROT_LOC_ID2     ( 0x04 )
#define CAN_ERR_PROT_LOC_ID3     ( 0x05 )
#define CAN_ERR_PROT_LOC_ID4     ( 0x06 )
#define CAN_ERR_PROT_LOC_IDE     ( 0x07 )
#define CAN_ERR_PROT_LOC_RTR     ( 0x08 )
#define CAN_ERR_PROT_LOC_SRTR    ( 0x09 )
#define CAN_ERR_PROT_LOC_RES0    ( 0x0a )
#define CAN_ERR_PROT_LOC_RES1    ( 0x0b )
#define CAN_ERR_PROT_LOC_DLC     ( 0x0c )
#define CAN_ERR_PROT_LOC_DATA    ( 0x0d )
#define CAN_ERR_PROT_LOC_CRCSEQ  ( 0x0e )
#define CAN_ERR_PROT_LOC_CRCDEL  ( 0x0f )
#define CAN_ERR_PROT_LOC_ACK     ( 0x10 )
#define CAN_ERR_PROT_LOC_ACKDEL  ( 0x11 )
#define CAN_ERR_PROT_LOC_EOF     ( 0x12 )
#define CAN_ERR_PROT_LOC_INTERM  ( 0x13 )
 
#define CAN_ERR_TRX_UNSPEC        ( 0x00 )
#define CAN_ERR_TRX_H_MASK        ( 0x0f )
#define CAN_ERR_TRX_H_NOWIRE      ( 0x01 )
#define CAN_ERR_TRX_H_SHORT2BAT   ( 0x02 )
#define CAN_ERR_TRX_H_SHORT2VCC   ( 0x03 )
#define CAN_ERR_TRX_H_SHORT2GND   ( 0x04 )
#define CAN_ERR_TRX_L_MASK        ( 0xf0 )
#define CAN_ERR_TRX_L_NOWIRE      ( 0x10 )
#define CAN_ERR_TRX_L_SHORT2BAT   ( 0x20 )
#define CAN_ERR_TRX_L_SHORT2VCC   ( 0x30 )
#define CAN_ERR_TRX_L_SHORT2GND   ( 0x40 )
#define CAN_ERR_TRX_L_SHORT2CANH  ( 0x50 )
 
struct can_frame_header {
  uint64_t timestamp;
  uint32_t can_id;
  uint16_t flags;
  uint16_t dlen;
};
 
struct can_frame {
  struct can_frame_header header;
  uint8_t data[CAN_FRAME_MAX_DLEN];
};
 
static inline size_t can_framesize( struct can_frame *frame )
{
  return offsetof( struct can_frame, data ) + frame->header.dlen;
}
 
#endif /* _DEV_CAN_CAN_FRAME_H */