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Posted to commits@nuttx.apache.org by xi...@apache.org on 2022/01/05 10:32:54 UTC
[incubator-nuttx] 02/02: SocketCAN: add CAN error definitions
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit a8ca1ec026b4d61003f7d4ed3ea8d2f868f01b56
Author: raiden00pl <ra...@railab.me>
AuthorDate: Wed Jan 5 10:11:16 2022 +0100
SocketCAN: add CAN error definitions
---
include/nuttx/can.h | 79 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
net/can/Kconfig | 11 ++++++++
2 files changed, 89 insertions(+), 1 deletion(-)
diff --git a/include/nuttx/can.h b/include/nuttx/can.h
index 98640fc..d3edd01 100644
--- a/include/nuttx/can.h
+++ b/include/nuttx/can.h
@@ -208,6 +208,83 @@
#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
+/* CAN Error Indications ****************************************************/
+
+#ifdef CONFIG_NET_CAN_ERRORS
+
+/* Error class in can_id */
+
+# define CAN_ERR_TXTIMEOUT (1 << 0) /* Bit 0: TX timeout */
+# define CAN_ERR_LOSTARB (1 << 1) /* Bit 1: Lost arbitration (See CAN_ERR_LOSTARB_* definitions) */
+# define CAN_ERR_CTRL (1 << 2) /* Bit 2: Controller error (See CAN_ERR_CTRL_* definitions) */
+# define CAN_ERR_PROT (1 << 3) /* Bit 3: Protocol error (see CAN_ERR_PROT_* definitions) */
+# define CAN_ERR_TRX (1 << 4) /* Bit 4: Transceiver error (See CAN_TRX_* definitions) */
+# define CAN_ERR_ACK (1 << 5) /* Bit 5: No ACK received on transmission */
+# define CAN_ERR_BUSOFF (1 << 6) /* Bit 6: Bus off */
+# define CAN_ERR_BUSERROR (1 << 7) /* Bit 7: Bus error */
+# define CAN_ERR_RESTARTED (1 << 8) /* Bit 8: Controller restarted */
+
+/* The remaining definitions described the error report payload that follows
+ * the CAN header.
+ */
+
+# define CAN_ERR_DLC (8) /* DLC of error report */
+
+/* Data[0]: Arbitration lost in ch_error. */
+
+# define CAN_ERR_LOSTARB_UNSPEC 0x00 /* Unspecified error */
+# define CAN_ERR_LOSTARB_BIT(n) (n) /* Bit number in the bit stream */
+
+/* Data[1]: Error status of CAN-controller */
+
+# define CAN_ERR_CTRL_UNSPEC 0x00 /* Unspecified error */
+# define CAN_ERR_CTRL_RX_OVERFLOW (1 << 0) /* Bit 0: RX buffer overflow */
+# define CAN_ERR_CTRL_TX_OVERFLOW (1 << 1) /* Bit 1: TX buffer overflow */
+# define CAN_ERR_CTRL_RX_WARNING (1 << 2) /* Bit 2: Reached warning level for RX errors */
+# define CAN_ERR_CTRL_TX_WARNING (1 << 3) /* Bit 3: Reached warning level for TX errors */
+# define CAN_ERR_CTRL_RX_PASSIVE (1 << 4) /* Bit 4: Reached passive level for RX errors */
+# define CAN_ERR_CTRL_TX_PASSIVE (1 << 5) /* Bit 5: Reached passive level for TX errors */
+
+/* Data[2]: Error in CAN protocol. This provides the type of the error. */
+
+# define CAN_ERR_PROT_UNSPEC 0x00 /* Unspecified error */
+# define CAN_ERR_PROT_BIT (1 << 0) /* Bit 0: Single bit error */
+# define CAN_ERR_PROT_FORM (1 << 1) /* Bit 1: Frame format error */
+# define CAN_ERR_PROT_STUFF (1 << 2) /* Bit 2: Bit stuffing error */
+# define CAN_ERR_PROT_BIT0 (1 << 3) /* Bit 3: Unable to send dominant bit */
+# define CAN_ERR_PROT_BIT1 (1 << 4) /* Bit 4: Unable to send recessive bit */
+# define CAN_ERR_PROT_OVERLOAD (1 << 5) /* Bit 5: Bus overload */
+# define CAN_ERR_PROT_ACTIVE (1 << 6) /* Bit 6: Active error announcement */
+# define CAN_ERR_PROT_TX (1 << 7) /* Bit 7: Error occurred on transmission */
+
+/* Data[3]: Error in CAN protocol. This provides the loation of the error */
+
+# define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* Unspecified error */
+# define CAN_ERR_PROT_LOC_SOF 0x01 /* start of frame */
+# define CAN_ERR_PROT_LOC_ID0 0x02 /* ID bits 0-4 */
+# define CAN_ERR_PROT_LOC_ID1 0x03 /* ID bits 5-12 */
+# define CAN_ERR_PROT_LOC_ID2 0x04 /* ID bits 13-17 */
+# define CAN_ERR_PROT_LOC_ID3 0x05 /* ID bits 21-28 */
+# define CAN_ERR_PROT_LOC_ID4 0x06 /* ID bits 18-20 */
+# define CAN_ERR_PROT_LOC_IDE 0x07 /* Identifier extension */
+# define CAN_ERR_PROT_LOC_RTR 0x08 /* RTR */
+# define CAN_ERR_PROT_LOC_SRTR 0x09 /* Substitute RTR */
+# define CAN_ERR_PROT_LOC_RES0 0x0a /* Reserved bit 0 */
+# define CAN_ERR_PROT_LOC_RES1 0x0b /* Reserved bit 1 */
+# define CAN_ERR_PROT_LOC_DLC 0x0c /* Data length code */
+# define CAN_ERR_PROT_LOC_DATA 0x0d /* Data section */
+# define CAN_ERR_PROT_LOC_CRCSEQ 0x0e /* CRC sequence */
+# define CAN_ERR_PROT_LOC_CRCDEL 0x0f /* CRC delimiter */
+# define CAN_ERR_PROT_LOC_ACK 0x10 /* ACK slot */
+# define CAN_ERR_PROT_LOC_ACKDEL 0x11 /* ACK delimiter */
+# define CAN_ERR_PROT_LOC_EOF 0x12 /* End of frame */
+# define CAN_ERR_PROT_LOC_INTERM 0x13 /* Intermission */
+
+/* Data[4]: Error status of CAN-transceiver */
+
+# define CAN_ERR_TRX_UNSPEC 0x00 /* Unspecified error */
+#endif /* CONFIG_NET_CAN_ERRORS */
+
/****************************************************************************
* Public Types
****************************************************************************/
@@ -225,7 +302,7 @@ typedef uint32_t canid_t;
/* Controller Area Network Error Message Frame Mask structure
*
- * bit 0-28 : error class mask (see include/uapi/linux/can/error.h)
+ * bit 0-28 : error class mask
* bit 29-31 : set to zero
*/
diff --git a/net/can/Kconfig b/net/can/Kconfig
index d162ffd..cd29c36 100644
--- a/net/can/Kconfig
+++ b/net/can/Kconfig
@@ -26,6 +26,10 @@ config NET_CAN_HAVE_CANFD
bool
default n
+config NET_CAN_HAVE_ERRORS
+ bool
+ default n
+
config CAN_CONNS
int "Number of CAN connections"
default 4
@@ -39,6 +43,13 @@ config NET_CAN_CANFD
---help---
Enable CAN FD support in SocketCAN stack
+config NET_CAN_ERRORS
+ bool "Enable CAN errors support"
+ default n
+ depends on NET_CAN_HAVE_ERRORS
+ ---help---
+ Enable CAN errors support in SocketCAN stack
+
config NET_CAN_SOCK_OPTS
bool "sockopt support"
default n