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.
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. */
171 	/** Captured value of the free-running timer in the CAN controller when
201 /** Filter matches frames with extended (29-bit) CAN IDs */
212 	/** CAN identifier matching mask. If a bit in this mask is 0, the value
215 	uint32_t mask;  member
231  * @brief CAN bus timing structure
233  * This struct is used to pass bus timing values to the configuration and
244  * +---------+----------+------------+------------+
246  * +---------+----------+------------+------------+
248  *                             Sampling-Point
315  * @brief Calculate Transmitter Delay Compensation Offset from data phase timing parameters.
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,  \
335  * the object pointed to by the config field in the device structure.
406  * @brief Callback API upon setting CAN bus timing
410 				const struct can_timing *timing);
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
519 	/* Min values for the timing registers */
521 	/* Max values for the timing registers */
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.
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));	\
748  * @param config    The address to the structure containing the configuration
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()
831  * rate and the minimum CAN timing limits.
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()
856  * rate and the maximum CAN timing limits.
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()
875  * @brief Get the minimum supported timing parameter values.
879  * @return Pointer to the minimum supported timing parameter values.
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()
891  * @brief Get the maximum supported timing parameter values.
895  * @return Pointer to the maximum supported timing parameter values.
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
909  * Calculate the timing parameters from a given bitrate in bits/s and the
912  * -EINVAL is returned.
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.
945  * @return Pointer to the minimum supported timing parameter values, or NULL if
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.
969  * @return Pointer to the maximum supported timing parameter values, or NULL if
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
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.
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.
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.
1057  * @brief Configure the bus timing of a CAN controller.
1062  * @param timing      Bus timings.
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.
1070 			     const struct can_timing *timing);
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()
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
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.
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()
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.
1687 	return dlc_table[MIN(dlc, ARRAY_SIZE(dlc_table) - 1)];  in can_dlc_to_bytes()
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()