6  * SPDX-License-Identifier: Apache-2.0
45  * @brief Bit mask for a standard (11-bit) CAN identifier.
50  * @brief Bit mask for an extended (29-bit) CAN identifier.
55  * @brief Maximum data length code for CAN 2.0A/2.0B.
60  * @brief Maximum data length code for CAN FD.
66  * Internally calculated maximum data length
103 /** Controller requires manual recovery after entering bus-off state */
122 	/** Error-active state (RX/TX error count < 96). */
124 	/** Error-warning state (RX/TX error count < 128). */
126 	/** Error-passive state (RX/TX error count < 256). */
128 	/** Bus-off state (RX/TX error count >= 256). */
141 /** Frame uses extended (29-bit) CAN ID */
153 /** CAN FD Error State Indicator (ESI). Indicates that the transmitting node is in error-passive
164 	/** Standard (11-bit) or extended (29-bit) CAN identifier. */
166 	/** Data Length Code (DLC) indicating data length in bytes. */
171 	/** Captured value of the free-running timer in the CAN controller when
185 	/** The frame payload data. */
187 		/** Payload data accessed as unsigned 8 bit values. */
188 		uint8_t data[CAN_MAX_DLEN];  member
189 		/** Payload data accessed as unsigned 32 bit values. */
201 /** Filter matches frames with extended (29-bit) CAN IDs */
237  * segment 1 and phase segment 2 define the sampling point. The ``prop_seg`` and
238  * ``phase_seg1`` values affect the sampling point in the same way and some
244  * +---------+----------+------------+------------+
246  * +---------+----------+------------+------------+
248  *                             Sampling-Point
259  * sample point can be moved. The sample point is moved when resynchronization
281  * @param user_data User data provided when the frame was sent.
290  * @param user_data User data provided when the filter was added.
301  * @param user_data User data provided the callback was set.
315  * @brief Calculate Transmitter Delay Compensation Offset from data phase timing parameters.
317  * Calculates the TDC Offset in minimum time quanta (mtq) using the sample point and CAN core clock
318  * prescaler specified by a set of data phase timing parameters.
322  * @param _timing_data Pointer to data phase timing parameters.
328 	CLAMP((1U + _timing_data->prop_seg + _timing_data->phase_seg1) * _timing_data->prescaler,  \
346 	/** Initial CAN classic/CAN FD arbitration phase sample point in permille. */
349 	/** Initial CAN FD data phase sample point in permille. */
351 	/** Initial CAN FD data phase bitrate. */
389  * @brief Common CAN controller driver data.
401 	/** State change callback user data pointer or NULL. */
413  * @brief Optional callback API upon setting CAN FD bus timing for the data phase.
471  * @brief Optional callback API upon manually recovering the CAN controller from bus-off state
525 	/* Min values for the timing registers during the data phase */
527 	/* Max values for the timing registers during the data phase */
581 	CONTAINER_OF(dev_->state, struct can_device_state, devstate)->stats
664  * fixed-form bit field containing illegal bits.
717  * This does device instance specific initialization of common data (such as stats)
724 			CONTAINER_OF(dev->state, struct can_device_state, devstate); \
725 		stats_init(&state->stats.s_hdr, STATS_SIZE_32, 8,	\
727 		stats_register(dev->name, &(state->stats.s_hdr));	\
747  * @param data      Pointer to the device's private data.
757 #define CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level,	\  argument
764 			pm, data, config, level, prio, api,		\
780 #define CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level,	\  argument
782 	DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level,	\
819 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_core_clock()
821 	return api->get_core_clock(dev, rate);  in z_impl_can_get_core_clock()
844 	const struct can_driver_config *common = (const struct can_driver_config *)dev->config;  in z_impl_can_get_bitrate_min()
846 	return common->min_bitrate;  in z_impl_can_get_bitrate_min()
869 	const struct can_driver_config *common = (const struct can_driver_config *)dev->config;  in z_impl_can_get_bitrate_max()
871 	return common->max_bitrate;  in z_impl_can_get_bitrate_max()
885 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_min()
887 	return &api->timing_min;  in z_impl_can_get_timing_min()
901 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_max()
903 	return &api->timing_max;  in z_impl_can_get_timing_max()
907  * @brief Calculate timing parameters from bitrate and sample point
910  * sampling point in permill (1/1000) of the entire bit time. The bitrate must
912  * -EINVAL is returned.
914  * If the sample point is set to 0, this function defaults to a sample point of 75.0%
924  * @param sample_pnt Sample point in permille of the entire bit time or 0 for
925  *                   automatic sample point location.
927  * @retval 0 or positive sample point error on success.
928  * @retval -EINVAL if the requested bitrate or sample point is out of range.
929  * @retval -ENOTSUP if the requested bitrate is not supported.
930  * @retval -EIO if @a can_get_core_clock() is not available.
936  * @brief Get the minimum supported timing parameter values for the data phase.
938  * Same as @a can_get_timing_min() but for the minimum values for the data phase.
953 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_data_min()
955 	return &api->timing_data_min;  in z_impl_can_get_timing_data_min()
960  * @brief Get the maximum supported timing parameter values for the data phase.
962  * Same as @a can_get_timing_max() but for the maximum values for the data phase.
977 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_timing_data_max()
979 	return &api->timing_data_max;  in z_impl_can_get_timing_data_max()
984  * @brief Calculate timing parameters for the data phase
987  * data phase.
994  * @param bitrate    Target bitrate for the data phase in bits/s
995  * @param sample_pnt Sample point for the data phase in permille of the entire bit
996  *                   time or 0 for automatic sample point location.
998  * @retval 0 or positive sample point error on success.
999  * @retval -EINVAL if the requested bitrate or sample point is out of range.
1000  * @retval -ENOTSUP if the requested bitrate is not supported.
1001  * @retval -EIO if @a can_get_core_clock() is not available.
1007  * @brief Configure the bus timing for the data phase of a CAN FD controller.
1015  * @param timing_data Bus timings for data phase
1018  * @retval -EBUSY if the CAN controller is not in stopped state.
1019  * @retval -EIO General input/output error, failed to configure device.
1020  * @retval -ENOTSUP if the timing parameters are not supported by the driver.
1021  * @retval -ENOSYS if CAN FD support is not implemented by the driver.
1027  * @brief Set the bitrate for the data phase of the CAN FD controller
1029  * CAN in Automation (CiA) 301 v4.2.0 recommends a sample point location of
1033  * This function defaults to using a sample point of 75.0% for bitrates over 800
1035  * bitrates. This is in line with the sample point locations used by the Linux
1044  * @param bitrate_data Desired data phase bitrate.
1047  * @retval -EBUSY if the CAN controller is not in stopped state.
1048  * @retval -EINVAL if the requested bitrate is out of range.
1049  * @retval -ENOTSUP if the requested bitrate not supported by the CAN controller/transceiver
1051  * @retval -ERANGE if the resulting sample point is off by more than +/- 5%.
1052  * @retval -EIO General input/output error, failed to set bitrate.
1065  * @retval -EBUSY if the CAN controller is not in stopped state.
1066  * @retval -ENOTSUP if the timing parameters are not supported by the driver.
1067  * @retval -EIO General input/output error, failed to configure device.
1083  * @retval -EIO General input/output error, failed to get capabilities.
1089 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_capabilities()
1091 	return api->get_capabilities(dev, cap);  in z_impl_can_get_capabilities()
1107 	const struct can_driver_config *common = (const struct can_driver_config *)dev->config;  in z_impl_can_get_transceiver()
1109 	return common->phy;  in z_impl_can_get_transceiver()
1126  * @retval -EALREADY if the device is already started.
1127  * @retval -EIO General input/output error, failed to start device.
1133 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_start()
1135 	return api->start(dev);  in z_impl_can_start()
1150  * @retval -EALREADY if the device is already stopped.
1151  * @retval -EIO General input/output error, failed to stop device.
1157 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_stop()
1159 	return api->stop(dev);  in z_impl_can_stop()
1169  * @retval -EBUSY if the CAN controller is not in stopped state.
1170  * @retval -EIO General input/output error, failed to configure device.
1176 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_set_mode()
1178 	return api->set_mode(dev, mode);  in z_impl_can_set_mode()
1192 	const struct can_driver_data *common = (const struct can_driver_data *)dev->data;  in z_impl_can_get_mode()
1194 	return common->mode;  in z_impl_can_get_mode()
1200  * CAN in Automation (CiA) 301 v4.2.0 recommends a sample point location of
1204  * This function defaults to using a sample point of 75.0% for bitrates over 800
1206  * bitrates. This is in line with the sample point locations used by the Linux
1215  * @retval -EBUSY if the CAN controller is not in stopped state.
1216  * @retval -EINVAL if the requested bitrate is out of range.
1217  * @retval -ENOTSUP if the requested bitrate not supported by the CAN controller/transceiver
1219  * @retval -ERANGE if the resulting sample point is off by more than +/- 5%.
1220  * @retval -EIO General input/output error, failed to set bitrate.
1239  * - The lower the CAN-ID, the higher the priority.
1240  * - Data frames have higher priority than Remote Transmission Request (RTR)
1241  *   frames with identical CAN-IDs.
1242  * - Frames with standard (11-bit) identifiers have higher priority than frames
1243  *   with extended (29-bit) identifiers with identical base IDs (the higher 11
1245  * - Transmission order for queued frames with the same priority is hardware
1249  * identical CAN-IDs, the sender must ensure to only queue one frame at a time
1263  * @param user_data User data to pass to callback function.
1266  * @retval -EINVAL if an invalid parameter was passed to the function.
1267  * @retval -ENOTSUP if an unsupported parameter was passed to the function.
1268  * @retval -ENETDOWN if the CAN controller is in stopped state.
1269  * @retval -ENETUNREACH if the CAN controller is in bus-off state.
1270  * @retval -EBUSY if CAN bus arbitration was lost (only applicable if automatic
1272  * @retval -EIO if a general transmit error occurred (e.g. missing ACK if
1274  * @retval -EAGAIN on timeout.
1303  * @param user_data User data to pass to callback function.
1307  * @retval -ENOSPC if there are no free filters.
1308  * @retval -EINVAL if the requested filter type is invalid.
1309  * @retval -ENOTSUP if the requested filter type is not supported.
1350  * @retval -ENOSPC if there are no free filters.
1351  * @retval -ENOTSUP if the requested filter type is not supported.
1369 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_remove_rx_filter()
1371 	api->remove_rx_filter(dev, filter_id);  in z_impl_can_remove_rx_filter()
1380  * @param ide Get the maximum standard (11-bit) CAN ID filters if false, or extended (29-bit) CAN ID
1384  * @retval -EIO General input/output error.
1385  * @retval -ENOSYS If this function is not implemented by the driver.
1391 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_max_filters()
1393 	if (api->get_max_filters == NULL) {  in z_impl_can_get_max_filters()
1394 		return -ENOSYS;  in z_impl_can_get_max_filters()
1397 	return api->get_max_filters(dev, ide);  in z_impl_can_get_max_filters()
1419  * @retval -EIO General input/output error, failed to get state.
1427 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_get_state()
1429 	return api->get_state(dev, state, err_cnt);  in z_impl_can_get_state()
1433  * @brief Recover from bus-off state
1435  * Recover the CAN controller from bus-off state to error-active state.
1444  * @retval -ENOTSUP if the CAN controller is not in manual recovery mode.
1445  * @retval -ENETDOWN if the CAN controller is in stopped state.
1446  * @retval -EAGAIN on timeout.
1447  * @retval -ENOSYS If this function is not implemented by the driver.
1454 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in z_impl_can_recover()
1456 	if (api->recover == NULL) {  in z_impl_can_recover()
1457 		return -ENOSYS;  in z_impl_can_recover()
1460 	return api->recover(dev, timeout);  in z_impl_can_recover()
1475  * @param user_data User data to pass to callback function.
1481 	const struct can_driver_api *api = (const struct can_driver_api *)dev->api;  in can_set_state_change_callback()
1483 	api->set_state_change_callback(dev, callback, user_data);  in can_set_state_change_callback()
1607  * fixed-form bit field containing illegal bits.
1676  * @brief Convert from Data Length Code (DLC) to the number of data bytes
1678  * @param dlc Data Length Code (DLC).
1687 	return dlc_table[MIN(dlc, ARRAY_SIZE(dlc_table) - 1)];  in can_dlc_to_bytes()
1691  * @brief Convert from number of bytes to Data Length Code (DLC)
1695  * @retval Data Length Code (DLC).
1719 	if ((frame->flags & CAN_FRAME_IDE) != 0 && (filter->flags & CAN_FILTER_IDE) == 0) {  in can_frame_matches_filter()
1720 		/* Extended (29-bit) ID frame, standard (11-bit) filter */  in can_frame_matches_filter()
1724 	if ((frame->flags & CAN_FRAME_IDE) == 0 && (filter->flags & CAN_FILTER_IDE) != 0) {  in can_frame_matches_filter()
1725 		/* Standard (11-bit) ID frame, extended (29-bit) filter */  in can_frame_matches_filter()
1729 	if ((frame->id ^ filter->id) & filter->mask) {  in can_frame_matches_filter()