6  * SPDX-License-Identifier: Apache-2.0
38  * @brief Bit mask for a standard (11-bit) CAN identifier.
42  * @brief Maximum value for a standard (11-bit) CAN identifier.
46  * @brief Bit mask for an extended (29-bit) CAN identifier.
50  * @brief Maximum value for an extended (29-bit) CAN identifier.
58  * @brief Maximum data length code for CAN-FD.
92 /** Controller allows transmitting/receiving CAN-FD frames. */
117 	/** Error-active state (RX/TX error count < 96). */
119 	/** Error-warning state (RX/TX error count < 128). */
121 	/** Error-passive state (RX/TX error count < 256). */
123 	/** Bus-off state (RX/TX error count >= 256). */
136 /** Frame uses extended (29-bit) CAN ID */
142 /** Frame uses CAN-FD format (FDF) */
145 /** Frame uses CAN-FD Baud Rate Switch (BRS). Only valid in combination with ``CAN_FRAME_FDF``. */
148 /** CAN-FD Error State Indicator (ESI). Indicates that the transmitting node is in error-passive
159 	/** Standard (11-bit) or extended (29-bit) CAN identifier. */
169 	/** Captured value of the free-running timer in the CAN controller when
176 	uint16_t timestamp;  member
196 /** Filter matches frames with extended (29-bit) CAN IDs */
205 /** Filter matches CAN-FD frames (FDF) */
251  * +---------+----------+------------+------------+
253  * +---------+----------+------------+------------+
255  *                             Sampling-Point
259  * 1 time quantum (tq) has the length of 1/(core_clock / prescaler). The bitrate
260  * is defined by the core clock divided by the prescaler and the sum of the
263  *   br = (core_clock / prescaler) / (1 + prop_seg + phase_seg1 + phase_seg2)
278 	/** Prescaler value. */
279 	uint16_t prescaler;  member
329  * @brief Optional callback API upon setting CAN-FD bus timing for the data phase.
500 	CONTAINER_OF(dev_->state, struct can_device_state, devstate)->stats
552  * fixed-form bit field containing illegal bits.
612 			CONTAINER_OF(dev->state, struct can_device_state, devstate); \
613 		stats_init(&state->stats.s_hdr, STATS_SIZE_32, 7,	\
615 		stats_register(dev->name, &(state->stats.s_hdr));	\
704 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_core_clock()
706 	return api->get_core_clock(dev, rate);  in z_impl_can_get_core_clock()
718  * @retval -EIO General input/output error.
719  * @retval -ENOSYS If this function is not implemented by the driver.
725 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_max_bitrate()
727 	if (api->get_max_bitrate == NULL) {  in z_impl_can_get_max_bitrate()
728 		return -ENOSYS;  in z_impl_can_get_max_bitrate()
731 	return api->get_max_bitrate(dev, max_bitrate);  in z_impl_can_get_max_bitrate()
745 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_min()
747 	return &api->timing_min;  in z_impl_can_get_timing_min()
761 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_max()
763 	return &api->timing_max;  in z_impl_can_get_timing_max()
772  * -EINVAL is returned.
783  * @retval -EINVAL if the requested bitrate or sample point is out of range.
784  * @retval -ENOTSUP if the requested bitrate is not supported.
785  * @retval -EIO if @a can_get_core_clock() is not available.
801  *         CAN-FD support is not implemented by the driver.
808 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_data_min()
810 	return &api->timing_data_min;  in z_impl_can_get_timing_data_min()
825  *         CAN-FD support is not implemented by the driver.
832 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_data_max()
834 	return &api->timing_data_max;  in z_impl_can_get_timing_data_max()
853  * @retval -EINVAL if the requested bitrate or sample point is out of range.
854  * @retval -ENOTSUP if the requested bitrate is not supported.
855  * @retval -EIO if @a can_get_core_clock() is not available.
861  * @brief Configure the bus timing for the data phase of a CAN-FD controller.
872  * @retval -EBUSY if the CAN controller is not in stopped state.
873  * @retval -EIO General input/output error, failed to configure device.
874  * @retval -ENOTSUP if the timing parameters are not supported by the driver.
875  * @retval -ENOSYS if CAN-FD support is not implemented by the driver.
881  * @brief Set the bitrate for the data phase of the CAN-FD controller
901  * @retval -EBUSY if the CAN controller is not in stopped state.
902  * @retval -EINVAL if the requested bitrate is out of range.
903  * @retval -ENOTSUP if the requested bitrate not supported by the CAN controller/transceiver
905  * @retval -ERANGE if the resulting sample point is off by more than +/- 5%.
906  * @retval -EIO General input/output error, failed to set bitrate.
911  * @brief Fill in the prescaler value for a given bitrate and timing
913  * Fill the prescaler value in the timing struct. The sjw, prop_seg, phase_seg1
938  * @retval -EBUSY if the CAN controller is not in stopped state.
939  * @retval -ENOTSUP if the timing parameters are not supported by the driver.
940  * @retval -EIO General input/output error, failed to configure device.
956  * @retval -EIO General input/output error, failed to get capabilities.
962 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_capabilities()
964 	return api->get_capabilities(dev, cap);  in z_impl_can_get_capabilities()
979  * @retval -EALREADY if the device is already started.
980  * @retval -EIO General input/output error, failed to start device.
986 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_start()
988 	return api->start(dev);  in z_impl_can_start()
1003  * @retval -EALREADY if the device is already stopped.
1004  * @retval -EIO General input/output error, failed to stop device.
1010 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_stop()
1012 	return api->stop(dev);  in z_impl_can_stop()
1022  * @retval -EBUSY if the CAN controller is not in stopped state.
1023  * @retval -EIO General input/output error, failed to configure device.
1029 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_set_mode()
1031 	return api->set_mode(dev, mode);  in z_impl_can_set_mode()
1052  * @retval -EBUSY if the CAN controller is not in stopped state.
1053  * @retval -EINVAL if the requested bitrate is out of range.
1054  * @retval -ENOTSUP if the requested bitrate not supported by the CAN controller/transceiver
1056  * @retval -ERANGE if the resulting sample point is off by more than +/- 5%.
1057  * @retval -EIO General input/output error, failed to set bitrate.
1076  * - The lower the CAN-ID, the higher the priority.
1077  * - Data frames have higher priority than Remote Transmission Request (RTR)
1078  *   frames with identical CAN-IDs.
1079  * - Frames with standard (11-bit) identifiers have higher priority than frames
1080  *   with extended (29-bit) identifiers with identical base IDs (the higher 11
1082  * - Transmission order for queued frames with the same priority is hardware
1086  * identical CAN-IDs, the sender must ensure to only queue one frame at a time
1103  * @retval -EINVAL if an invalid parameter was passed to the function.
1104  * @retval -ENOTSUP if an unsupported parameter was passed to the function.
1105  * @retval -ENETDOWN if the CAN controller is in stopped state.
1106  * @retval -ENETUNREACH if the CAN controller is in bus-off state.
1107  * @retval -EBUSY if CAN bus arbitration was lost (only applicable if automatic
1109  * @retval -EIO if a general transmit error occurred (e.g. missing ACK if
1111  * @retval -EAGAIN on timeout.
1144  * @retval -ENOSPC if there are no free filters.
1145  * @retval -EINVAL if the requested filter type is invalid.
1146  * @retval -ENOTSUP if the requested filter type is not supported.
1151 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in can_add_rx_filter()
1153 	if (filter == NULL || (filter->flags & (CAN_FILTER_DATA | CAN_FILTER_RTR)) == 0) {  in can_add_rx_filter()
1154 		return -EINVAL;  in can_add_rx_filter()
1157 	return api->add_rx_filter(dev, callback, user_data, filter);  in can_add_rx_filter()
1196  * @retval -ENOSPC if there are no free filters.
1197  * @retval -ENOTSUP if the requested filter type is not supported.
1215 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_remove_rx_filter()
1217 	return api->remove_rx_filter(dev, filter_id);  in z_impl_can_remove_rx_filter()
1226  * @param ide Get the maximum standard (11-bit) CAN ID filters if false, or extended (29-bit) CAN ID
1230  * @retval -EIO General input/output error.
1231  * @retval -ENOSYS If this function is not implemented by the driver.
1237 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_max_filters()
1239 	if (api->get_max_filters == NULL) {  in z_impl_can_get_max_filters()
1240 		return -ENOSYS;  in z_impl_can_get_max_filters()
1243 	return api->get_max_filters(dev, ide);  in z_impl_can_get_max_filters()
1265  * @retval -EIO General input/output error, failed to get state.
1273 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_state()
1275 	return api->get_state(dev, state, err_cnt);  in z_impl_can_get_state()
1279  * @brief Recover from bus-off state
1281  * Recover the CAN controller from bus-off state to error-active state.
1290  * @retval -ENETDOWN if the CAN controller is in stopped state.
1291  * @retval -EAGAIN on timeout.
1298 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_recover()
1300 	return api->recover(dev, timeout);  in z_impl_can_recover()
1329 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in can_set_state_change_callback()
1331 	api->set_state_change_callback(dev, callback, user_data);  in can_set_state_change_callback()
1354 	return dlc_table[MIN(dlc, ARRAY_SIZE(dlc_table) - 1)];  in can_dlc_to_bytes()
1386 	if ((frame->flags & CAN_FRAME_IDE) != 0 && (filter->flags & CAN_FILTER_IDE) == 0) {  in can_frame_matches_filter()
1387 		/* Extended (29-bit) ID frame, standard (11-bit) filter */  in can_frame_matches_filter()
1391 	if ((frame->flags & CAN_FRAME_IDE) == 0 && (filter->flags & CAN_FILTER_IDE) != 0) {  in can_frame_matches_filter()
1392 		/* Standard (11-bit) ID frame, extended (29-bit) filter */  in can_frame_matches_filter()
1396 	if ((frame->flags & CAN_FRAME_RTR) == 0 && (filter->flags & CAN_FILTER_DATA) == 0) {  in can_frame_matches_filter()
1397 		/* non-RTR frame, remote transmission request (RTR) filter */  in can_frame_matches_filter()
1401 	if ((frame->flags & CAN_FRAME_RTR) != 0 && (filter->flags & CAN_FILTER_RTR) == 0) {  in can_frame_matches_filter()
1402 		/* Remote transmission request (RTR) frame, non-RTR filter */  in can_frame_matches_filter()
1406 	if ((frame->flags & CAN_FRAME_FDF) != 0 && (filter->flags & CAN_FILTER_FDF) == 0) {  in can_frame_matches_filter()
1407 		/* CAN-FD format frame, classic format filter */  in can_frame_matches_filter()
1411 	if ((frame->flags & CAN_FRAME_FDF) == 0 && (filter->flags & CAN_FILTER_FDF) != 0) {  in can_frame_matches_filter()
1412 		/* Classic frame, CAN-FD format filter */  in can_frame_matches_filter()
1416 	if ((frame->id ^ filter->id) & filter->mask) {  in can_frame_matches_filter()