308 lines
11 KiB
C
308 lines
11 KiB
C
/************************************************************************************
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* include/nuttx/can.h
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*
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* Copyright (C) 2008, 2009 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __NUTTX_CAN_H
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#define __NUTTX_CAN_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <nuttx/fs.h>
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Default configuration settings that may be overridden in the board configuration.
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* file. The configured size is limited to 255 to fit into a uint8_t.
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*/
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#if !defined(CONFIG_CAN_FIFOSIZE)
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# define CONFIG_CAN_FIFOSIZE 8
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#elif CONFIG_CAN_FIFOSIZE > 255
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# undef CONFIG_CAN_FIFOSIZE
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# define CONFIG_CAN_FIFOSIZE 255
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#endif
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#if !defined(CONFIG_CAN_NPENDINGRTR)
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# define CONFIG_CAN_NPENDINGRTR 4
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#elif CONFIG_CAN_NPENDINGRTR > 255
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# undef CONFIG_CAN_NPENDINGRTR
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# define CONFIG_CAN_NPENDINGRTR 255
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#endif
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/* Convenience macros */
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#define dev_reset(dev) dev->cd_ops->co_reset(dev)
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#define dev_setup(dev) dev->cd_ops->co_setup(dev)
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#define dev_shutdown(dev) dev->cd_ops->co_shutdown(dev)
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#define dev_txint(dev,enable) dev->cd_ops->co_txint(dev,enable)
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#define dev_rxint(dev,enable) dev->cd_ops->co_rxint(dev,enable)
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#define dev_ioctl(dev,cmd,arg) dev->cd_ops->co_ioctl(dev,cmd,arg)
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#define dev_remoterequest(dev,id) dev->cd_ops->co_remoterequest(dev,id)
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#define dev_send(dev,m) dev->cd_ops->co_send(dev,m)
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#define dev_txempty(dev) dev->cd_ops->co_txempty(dev)
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/* CAN message support */
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#define CAN_MAXDATALEN 8
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#define CAN_ID(hdr) ((uint16_t)(hdr) >> 5)
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#define CAN_RTR(hdr) (((hdr) & 0x0010) != 0)
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#define CAN_DLC(hdr) ((hdr) & 0x0f)
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#define CAN_MSGLEN(hdr) (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
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/* Built-in ioctl commands
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*
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* CANIOCTL_RTR: Send the remote transmission request and wait for the response.
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*/
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#define CANIOCTL_RTR 1 /* Argument is a reference to struct canioctl_rtr_s */
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/* CANIOCTL_USER: Device specific ioctl calls can be supported with cmds greater
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* than this value
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*/
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#define CANIOCTL_USER 2
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/************************************************************************************
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* Public Types
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************************************************************************************/
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/* CAN-message Format
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*
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* One CAN-message consists of a maximum of 10 bytes. A message is composed of at
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* least the first 2 bytes (when there are no data bytes).
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*
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* Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
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* Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
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* Bit 4: Remote Tranmission Request (RTR)
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* Bits 0-3: Data Length Code (DLC)
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* Bytes 2-10: CAN data
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*
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* The struct can_msg_s holds this information in a user-friendly, unpacked form.
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* This is the form that is used at the read() and write() driver interfaces. The
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* message structure is actually variable length -- the true length is given by
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* the CAN_MSGLEN macro.
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*/
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struct can_msg_s
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{
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uint16_t cm_hdr; /* The 16-bit CAN header */
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uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
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};
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/* This structure defines a CAN message FIFO. */
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struct can_fifo_s
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{
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sem_t cf_sem; /* Counting semaphore */
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uint8_t cf_head; /* Index to the head [IN] index in the circular buffer */
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uint8_t cf_tail; /* Index to the tail [OUT] index in the circular buffer */
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/* Circular buffer of CAN messages */
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struct can_msg_s cf_buffer[CONFIG_CAN_FIFOSIZE];
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};
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/* The following structure define the logic to handle one RTR message transaction */
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struct can_rtrwait_s
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{
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sem_t cr_sem; /* Wait for RTR response */
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uint16_t cr_id; /* The ID that is waited for */
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FAR struct can_msg_s *cr_msg; /* This is where the RTR reponse goes */
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};
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/* This structure defines all of the operations providd by the architecture specific
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* logic. All fields must be provided with non-NULL function pointers by the
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* caller of can_register().
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*/
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struct can_dev_s;
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struct can_ops_s
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{
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/* Reset the CAN device. Called early to initialize the hardware. This
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* is called, before co_setup() and on error conditions.
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*/
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CODE void (*co_reset)(FAR struct can_dev_s *dev);
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/* Configure the CAN. This method is called the first time that the CAN
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* device is opened. This will occur when the port is first opened.
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* This setup includes configuring and attaching CAN interrupts. Interrupts
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* are all disabled upon return.
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*/
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CODE int (*co_setup)(FAR struct can_dev_s *dev);
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/* Disable the CAN. This method is called when the CAN device is closed.
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* This method reverses the operation the setup method.
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*/
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CODE void (*co_shutdown)(FAR struct can_dev_s *dev);
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/* Call to enable or disable RX interrupts */
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CODE void (*co_rxint)(FAR struct can_dev_s *dev, bool enable);
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/* Call to enable or disable TX interrupts */
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CODE void (*co_txint)(FAR struct can_dev_s *dev, bool enable);
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/* All ioctl calls will be routed through this method */
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CODE int (*co_ioctl)(FAR struct can_dev_s *dev, int cmd, unsigned long arg);
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/* Send a remote request */
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CODE int (*co_remoterequest)(FAR struct can_dev_s *dev, uint16_t id);
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/* This method will send one message on the CAN */
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CODE int (*co_send)(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg);
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/* Return true if all message have been sent. If for example, the CAN
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* hardware implements FIFOs, then this would mean the transmit FIFO is
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* empty. This method is called when the driver needs to make sure that
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* all characters are "drained" from the TX hardware before calling co_shutdown().
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*/
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CODE bool (*co_txempty)(FAR struct can_dev_s *dev);
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};
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/* This is the device structure used by the driver. The caller of
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* can_register() must allocate and initialize this structure. The
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* calling logic need only set all fields to zero except:
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*
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* The elements of 'cd_ops', and 'cd_priv'
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*
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* The common logic will initialize all semaphores.
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*/
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struct can_dev_s
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{
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uint8_t cd_ocount; /* The number of times the device has been opened */
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uint8_t cd_npendrtr; /* Number of pending RTR messages */
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sem_t cd_closesem; /* Locks out new opens while close is in progress */
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sem_t cd_recvsem; /* Used to wakeup user waiting for space in cd_recv.buffer */
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struct can_fifo_s cd_xmit; /* Describes transmit FIFO */
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struct can_fifo_s cd_recv; /* Describes receive FIFO */
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/* List of pending RTR requests */
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struct can_rtrwait_s cd_rtr[CONFIG_CAN_NPENDINGRTR];
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FAR const struct can_ops_s *cd_ops; /* Arch-specific operations */
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FAR void *cd_priv; /* Used by the arch-specific logic */
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};
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/* Structures used with ioctl calls */
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struct canioctl_rtr_s
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{
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uint16_t ci_id; /* The 11-bit ID to use in the RTR message */
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FAR struct can_msg_s *ci_msg; /* The location to return the RTR response */
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};
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/************************************************************************************
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* Public Data
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C" {
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#else
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#define EXTERN extern
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#endif
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/************************************************************************************
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* Name: can_register
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*
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* Description:
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* Register a CAN driver.
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*
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************************************************************************************/
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EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev);
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/************************************************************************************
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* Name: can_receive
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*
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* Description:
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* Called from the CAN interrupt handler when new read data is available
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*
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* Parameters:
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* dev - The specifi CAN device
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* hdr - The 16-bit CAN header
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* data - An array contain the CAN data.
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*
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* Return:
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* OK on success; a negated errno on failure.
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*
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************************************************************************************/
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EXTERN int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data);
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/************************************************************************************
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* Name: can_txdone
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*
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* Description:
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* Called from the CAN interrupt handler at the completion of a send operation.
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*
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* Parameters:
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* dev - The specifi CAN device
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* hdr - The 16-bit CAN header
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* data - An array contain the CAN data.
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*
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* Return:
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* OK on success; a negated errno on failure.
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*
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************************************************************************************/
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EXTERN int can_txdone(FAR struct can_dev_s *dev);
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __NUTTX_CAN_H */
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