can.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_H
#define _DEV_CAN_CAN_H
 
#include <sys/queue.h>
 
#include <stdatomic.h>
#include <rtems.h>
#include <rtems/seterr.h>
#include <rtems/thread.h>
#include <sys/ioccom.h>
 
#include <dev/can/can-stats.h>
#include <dev/can/can-bittiming.h>
#include <dev/can/can-frame.h>
#include <dev/can/can-filter.h>
 
#define CAN_IOC_MAGIC 'd'
 
#define RTEMS_CAN_CHIP_CONFIGURED ( 0 )
#define RTEMS_CAN_CHIP_RUNNING    ( 1 )
 
#define RTEMS_CAN_CHIP_CAPABILITIES_FD             ( 1 << 0 )
#define RTEMS_CAN_CHIP_CAPABILITIES_TX_TIMESTAMP   ( 1 << 1 )
#define RTEMS_CAN_CHIP_CAPABILITIES_RX_TIMESTAMP   ( 1 << 2 )
 
#define RTEMS_CAN_CHIP_BITRATE        ( 1 )
#define RTEMS_CAN_CHIP_DBITRATE       ( 2 )
#define RTEMS_CAN_CHIP_NUSERS         ( 3 )
#define RTEMS_CAN_CHIP_FLAGS          ( 4 )
#define RTEMS_CAN_CHIP_MODE           ( 5 )
#define RTEMS_CAN_CHIP_MODE_SUPPORTED ( 6 )
 
#define RTEMS_CAN_QUEUE_RX     ( 1 << 0 )
#define RTEMS_CAN_QUEUE_TX     ( 1 << 1 )
 
#define CAN_CTRLMODE_LOOPBACK       ( 1 << 0 )
#define CAN_CTRLMODE_LISTENONLY     ( 1 << 1 )
#define CAN_CTRLMODE_3_SAMPLES      ( 1 << 2 )
#define CAN_CTRLMODE_ONE_SHOT       ( 1 << 3 )
#define CAN_CTRLMODE_BERR_REPORTING ( 1 << 4 )
#define CAN_CTRLMODE_FD             ( 1 << 5 )
#define CAN_CTRLMODE_PRESUME_ACK    ( 1 << 6 )
#define CAN_CTRLMODE_FD_NON_ISO     ( 1 << 7 )
#define CAN_CTRLMODE_CC_LEN8_DLC    ( 1 << 8 )
#define CAN_CTRLMODE_TDC_AUTO       ( 1 << 9 )
#define CAN_CTRLMODE_TDC_MANUAL     ( 1 << 10 )
#define CAN_CTRLMODE_MASK  ( CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY | \
                             CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_ONE_SHOT | \
                             CAN_CTRLMODE_BERR_REPORTING | CAN_CTRLMODE_FD | \
                             CAN_CTRLMODE_PRESUME_ACK | CAN_CTRLMODE_FD_NON_ISO | \
                             CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO | \
                             CAN_CTRLMODE_TDC_MANUAL)
 
#define RTEMS_CAN_CHIP_START         _IO( CAN_IOC_MAGIC, 1 )
#define RTEMS_CAN_CHIP_STOP          _IOW( CAN_IOC_MAGIC, 2, struct timespec )
#define RTEMS_CAN_CLOSE_NONBLOCK     _IO( CAN_IOC_MAGIC, 3 )
#define RTEMS_CAN_DISCARD_QUEUES     _IO( CAN_IOC_MAGIC, 4 )
#define RTEMS_CAN_FLUSH_QUEUES       _IO( CAN_IOC_MAGIC, 5 )
#define RTEMS_CAN_CHIP_SET_MODE      _IO( CAN_IOC_MAGIC, 6 )
#define RTEMS_CAN_CHIP_GET_INFO      _IO( CAN_IOC_MAGIC, 7 )
#define RTEMS_CAN_WAIT_TX_DONE       _IOW( CAN_IOC_MAGIC, 8, struct timespec )
#define RTEMS_CAN_POLL_TX_READY      _IOW( CAN_IOC_MAGIC, 9, struct timespec )
#define RTEMS_CAN_POLL_RX_AVAIL      _IOW( CAN_IOC_MAGIC, 10, struct timespec )
#define RTEMS_CAN_CREATE_QUEUE       _IOW( CAN_IOC_MAGIC, 11, struct rtems_can_queue_param )
#define RTEMS_CAN_SET_BITRATE        _IOW( CAN_IOC_MAGIC, 12, struct rtems_can_set_bittiming )
#define RTEMS_CAN_CHIP_GET_TIMESTAMP _IOR( CAN_IOC_MAGIC, 13, uint64_t )
#define RTEMS_CAN_CHIP_STATISTICS    _IOR( CAN_IOC_MAGIC, 14, struct rtems_can_stats )
#define RTEMS_CAN_GET_BITTIMING      _IOWR( CAN_IOC_MAGIC, 15, struct rtems_can_get_bittiming )
 
struct rtems_can_queue_param {
  uint8_t direction;
  uint8_t priority;
  uint8_t dlen_max;
  uint8_t buffer_size;
  struct rtems_can_filter filter;
};
 
#endif