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>
 * Copyright (C) 2002-2009 DCE FEE CTU Prague
 * 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