Dario Sassi
574 lines
23 KiB
C
574 lines
23 KiB
C
/* SPDX-License-Identifier: BSD-2-Clause OR GPL-3.0-or-later */
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/*
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* Software for Industrial Communication, Motion Control and Automation
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*
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* Copyright (c) 2002-2024 Uwe Vogt, UV Software, Berlin (info@uv-software.com)
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* All rights reserved.
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*
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* Module 'SLCAN'
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*
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* This module is dual-licensed under the BSD 2-Clause "Simplified" License
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* and under the GNU General Public License v3.0 (or any later version).
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* You can choose between one of them if you use this module.
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*
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* BSD 2-Clause "Simplified" License:
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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 are met:
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS MODULE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS MODULE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* GNU General Public License v3.0 or later:
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* This module is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This module is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this module. If not, see <https://www.gnu.org/licenses/>.
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*/
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/** @file slcan.h
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*
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* @brief Lawicel SLCAN protocol.
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*
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* @author $Author: makemake $
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*
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* @version $Rev: 823 $
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*
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* @defgroup slcan Lawicel SLCAN Protocol
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* @{
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*/
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#ifndef SLCAN_H_INCLUDED
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#define SLCAN_H_INCLUDED
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#include "serial_attr.h"
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#include <stdio.h>
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#include <stdint.h>
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#include <stdbool.h>
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/* ----------- options ------------------------------------------------
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*/
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/** @name Compiler Switches
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* @brief Options for conditional compilation.
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* @{ */
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/** @note Set define OPTION_SLCAN_DEBUG_LEVEL to a non-zero value to compile
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* with logging of the SLCAN protocol (e.g. in the build environment).
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*/
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#if (OPTION_SLCAN_DLLEXPORT != 0)
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#define SLCANAPI __declspec(dllexport)
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#elif (OPTION_SLCAN_DLLIMPORT != 0)
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#define SLCANAPI __declspec(dllimport)
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#else
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#define SLCANAPI extern
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#endif
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/** @} */
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/* ----------- defines ------------------------------------------------
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*/
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/** @name CAN Message flags
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* @brief CAN frame types (encoded in the CAN identifier)
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* @{
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*/
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#define CAN_STD_FRAME 0x00000000U /**< standard frame format (11-bit) */
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#define CAN_XTD_FRAME 0x80000000U /**< extended frame format (29-bit) */
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#define CAN_ERR_FRAME 0x40000000U /**< error frame (not supported) */
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#define CAN_RTR_FRAME 0x20000000U /**< remote frame */
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/** @} */
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/** @name CAN Identifier
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* @brief CAN identifier masks
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* @{ */
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#define CAN_STD_MASK 0x000007FFU /**< highest 11-bit identifier */
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#define CAN_XTD_MASK 0x1FFFFFFFU /**< highest 29-bit identifier */
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/** @} */
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/** @name CAN Data Length
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* @brief CAN payload length and DLC definition
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* @{ */
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#define CAN_DLC_MAX 8U /**< max. data lenth code (CAN 2.0) */
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#define CAN_LEN_MAX 8U /**< max. payload length (CAN 2.0) */
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/** @} */
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/** @name CAN Baud Rate Indexes
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* @brief CAN baud rate indexes defined by SLCAN protocol
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* @{ */
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#define CAN_10K 0U /**< bit-rate: 10 kbit/s */
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#define CAN_20K 1U /**< bit-rate: 20 kbit/s */
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#define CAN_50K 2U /**< bit-rate: 50 kbit/s */
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#define CAN_100K 3U /**< bit-rate: 100 kbit/s */
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#define CAN_125K 4U /**< bit-rate: 120 kbit/s */
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#define CAN_250K 5U /**< bit-rate: 250 kbit/s */
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#define CAN_500K 6U /**< bit-rate: 500 kbit/s */
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#define CAN_800K 7U /**< bit-rate: 800 kbit/s */
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#define CAN_1000K 8U /**< bit-rate: 1000 kbit/s */
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#define CAN_1M CAN_1000K
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/** @} */
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#define CAN_INFINITE 65535U /**< infinite time-out (blocking read) */
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/* ----------- types --------------------------------------------------
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*/
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typedef void *slcan_port_t; /**< SLCAN port (opaque data type) */
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typedef sio_attr_t slcan_attr_t; /**< serial port attributes */
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/** @brief CAN message (SocketCAN compatible)
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*/
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typedef struct slcan_message_t_ { /* SLCAN message: */
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uint32_t can_id; /**< message identifier */
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uint8_t can_dlc; /**< data length code (0..8) */
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uint8_t __pad; /**< (padding) */
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uint8_t __res1; /**< (resvered for CAN FD) */
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uint8_t __res2; /**< (resvered for CAN FD) */
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uint8_t data[CAN_LEN_MAX]; /**< payload (max. 8 data bytes) */
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} slcan_message_t;
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/** @brief SLCAN status flags
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*/
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typedef union slcan_flags_t_ { /* SLACAN status flags */
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uint8_t byte; /**< byte access */
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struct { /* bit access: */
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uint8_t BEI : 1; /**< Bus Error (BEI), see SJA1000 datasheet */
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uint8_t ALI : 1; /**< Arbitration Lost (ALI), see SJA1000 datasheet */
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uint8_t EPI : 1; /**< Error Passive (EPI), see SJA1000 datasheet */
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uint8_t : 1; /**< (not used) */
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uint8_t DOI : 1; /**< Data Overrun (DOI), see SJA1000 datasheet */
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uint8_t EI : 1; /**< Error warning (EI), see SJA1000 datasheet */
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uint8_t TxFIFO : 1; /**< CAN transmit FIFO queue full */
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uint8_t RxFIFO : 1; /**< CAN receive FIFO queue full */
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};
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} slcan_flags_t;
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/* ----------- variables ----------------------------------------------
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*/
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/* ----------- prototypes ---------------------------------------------
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** @brief creates a port instance for communication with a SLCAN compatible
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* serial device (constructor).
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*
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* @param[in] queueSize - size of the reception queue (number of messages)
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*
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* @returns a pointer to a SLCAN instance if successful, or NULL on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENOMEM - out of memory (insufficient storage space)
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*/
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SLCANAPI slcan_port_t slcan_create(size_t queueSize);
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/** @brief destroys the port instance (destructor).
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*
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* @remarks An established connection will be terminated by this.
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*
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* @remarks Prior to this the CAN controller is set into INIT mode and
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* the CAN channel is closed (via command 'Close Channel').
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*
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* @param[in] port - pointer to a SLCAN instance
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EFAULT - bad address (release of resources)
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*/
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SLCANAPI int slcan_destroy(slcan_port_t port);
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/** @brief establishes a connection with the serial communication device.
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*
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* @remarks The SLCAN protocol is check by retrieving version information
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* of the CAN channel (via command 'HW/SW Version').
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*
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* @remarks Precautionary the CAN controller is set into INIT mode and
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* the CAN channel is closed (via command 'Close Channel').
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[in] device - name of the serial device
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* @param[in] attr - serial port attributes (optional)
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*
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* @returns a file descriptor if successful, or a negative value on error.
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*
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* @remarks On Windows, the communication port number (zero based) is returned.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (device name is NULL)
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* @retval EALREADY - already connected with the serial device
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* @retval 'errno' - error code from called system functions:
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* 'open', 'tcsetattr', 'pthread_create'
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*/
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SLCANAPI int slcan_connect(slcan_port_t port, const char *device, const sio_attr_t *attr);
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/** @brief terminates the connection with the serial communication device.
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*
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* @remarks Prior to this the CAN controller is set into INIT mode and
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* the CAN channel is closed (via command 'Close Channel').
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*
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* @param[in] port - pointer to a SLCAN instance
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval 'errno' - error code from called system functions:
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* 'pthread_cancel', 'tcflush', 'close'
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*/
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SLCANAPI int slcan_disconnect(slcan_port_t port);
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/** @brief returns the serial communication attributes (baudrate, etc.).
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[out] attr - serial communication attributes
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (attr is NULL)
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*/
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SLCANAPI int slcan_get_attr(slcan_port_t port, slcan_attr_t *attr);
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/** @brief enables or disables ACK/NACK feedback for serial commands.
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* Defaults to ACK/NACK feedback enabled (Lawicel protocol).
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[in] on -
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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*/
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SLCANAPI int slcan_set_ack(slcan_port_t port, bool on);
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/** @brief setup with standard CAN bit-rates.
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*
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* @remarks This command is only active if the CAN channel is closed.
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[in] index -
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (index)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval EBUSY - device / resource busy (disturbance)
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* @retval EBADMSG - bad message (format or disturbance)
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* @retval ETIMEDOUT - timed out (command not acknowledged)
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* @retval 'errno' - error code from called system functions:
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* 'write', 'read', etc.
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*/
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SLCANAPI int slcan_setup_bitrate(slcan_port_t port, uint8_t index);
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/** @brief setup with BTR0/BTR1 CAN bit-rates; see SJA1000 datasheet.
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*
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* @remarks This command is only active if the CAN channel is closed.
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[in] btr - SJA1000 bit-timing register
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (...)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval EBUSY - device / resource busy (disturbance)
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* @retval EBADMSG - bad message (format or disturbance)
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* @retval ETIMEDOUT - timed out (command not acknowledged)
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* @retval 'errno' - error code from called system functions:
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* 'write', 'read', etc.
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*/
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SLCANAPI int slcan_setup_btr(slcan_port_t port, uint16_t btr);
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/** @brief opens the CAN channel.
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*
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* @remarks This command is only active if the CAN channel is closed and
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* has been set up prior with either the 'Setup Bitrate' or
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* 'Setup BTR' command (i.e. initiated).
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*
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* @param[in] port - pointer to a SLCAN instance
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (...)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval EBUSY - device / resource busy (disturbance)
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* @retval EBADMSG - bad message (format or disturbance)
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* @retval ETIMEDOUT - timed out (command not acknowledged)
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* @retval 'errno' - error code from called system functions:
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* 'write', 'read', etc.
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*/
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SLCANAPI int slcan_open_channel(slcan_port_t port);
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/** @brief closes the CAN channel.
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*
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* @remarks This command is only active if the CAN channel is open.
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*
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* @param[in] port - pointer to a SLCAN instance
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (...)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval EBUSY - device / resource busy (disturbance)
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* @retval EBADMSG - bad message (format or disturbance)
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* @retval ETIMEDOUT - timed out (command not acknowledged)
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* @retval 'errno' - error code from called system functions:
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* 'write', 'read', etc.
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*/
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SLCANAPI int slcan_close_channel(slcan_port_t port);
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/** @brief transmits a CAN message.
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*
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* @remarks This command is only active if the CAN channel is open.
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[in] message - pointer to the message to be sent
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* @param[in] timeout - (not implemented yet)
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (message)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval EBUSY - device / resource busy (disturbance)
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* @retval EBADMSG - bad message (format or disturbance)
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* @retval ETIMEDOUT - timed out (command not acknowledged)
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* @retval 'errno' - error code from called system functions:
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* 'write', 'read', etc.
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*/
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SLCANAPI int slcan_write_message(slcan_port_t port, const slcan_message_t *message, uint16_t timeout);
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/** @brief read one message from the message queue, if any.
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[out] message - pointer to a message buffer
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* @param[in] timeout - time to wait for the reception of a message:
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* 0 means the function returns immediately,
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* 65535 means blocking read, and any other
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* value means the time to wait im milliseconds
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @retval -30 - when the message queue is empty (CAN API compatible)
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EINVAL - invalid argument (message)
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* @retval ENOMSG - no data available (message queue empty)
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* @retval ENOSPC - no space left (message queue overflow)
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*
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* @remarks If a message has been successfully read from the message queue,
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* the value ENOSPC in the system variable 'errno' indicates that
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* a message queue overflow has occurred and that at least one
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* CAN message has been lost.
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*/
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SLCANAPI int slcan_read_message(slcan_port_t port, slcan_message_t *message, uint16_t timeout);
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/** @brief read status flags.
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*
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* @remarks This command is only active if the CAN channel is open.
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[out] flags - channel status flags
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval EBUSY - device / resource busy (disturbance)
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* @retval EBADMSG - bad message (format or disturbance)
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* @retval ETIMEDOUT - timed out (command not acknowledged)
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* @retval 'errno' - error code from called system functions:
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* 'write', 'read', etc.
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*/
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SLCANAPI int slcan_status_flags(slcan_port_t port, slcan_flags_t *flags);
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/** @brief sets Acceptance Code Register (ACn Register of SJA1000).
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*
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* @remarks This command is only active if the CAN channel is initiated
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* and not opened.
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*
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* @param[in] port - pointer to a SLCAN instance
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* @param[in] code - acceptance code register
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*
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* @returns 0 if successful, or a negative value on error.
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*
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* @note System variable 'errno' will be set in case of an error.
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*
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* @retval ENODEV - no such device (invalid port instance)
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* @retval EBADF - bad file descriptor (device not connected)
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* @retval EBUSY - device / resource busy (disturbance)
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* @retval EBADMSG - bad message (format or disturbance)
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* @retval ETIMEDOUT - timed out (command not acknowledged)
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* @retval 'errno' - error code from called system functions:
|
|
* 'write', 'read', etc.
|
|
*/
|
|
SLCANAPI int slcan_acceptance_code(slcan_port_t port, uint32_t code);
|
|
|
|
|
|
/** @brief sets Acceptance Mask Register (AMn Register of SJA1000).
|
|
*
|
|
* @remarks This command is only active if the CAN channel is initiated
|
|
* and not opened.
|
|
*
|
|
* @param[in] port - pointer to a SLCAN instance
|
|
* @param[in] mask - acceptance mask register
|
|
*
|
|
* @returns 0 if successful, or a negative value on error.
|
|
*
|
|
* @note System variable 'errno' will be set in case of an error.
|
|
*
|
|
* @retval ENODEV - no such device (invalid port instance)
|
|
* @retval EBADF - bad file descriptor (device not connected)
|
|
* @retval EBUSY - device / resource busy (disturbance)
|
|
* @retval EBADMSG - bad message (format or disturbance)
|
|
* @retval ETIMEDOUT - timed out (command not acknowledged)
|
|
* @retval 'errno' - error code from called system functions:
|
|
* 'write', 'read', etc.
|
|
*/
|
|
SLCANAPI int slcan_acceptance_mask(slcan_port_t port, uint32_t mask);
|
|
|
|
|
|
/** @brief get version number of both SLCAN hardware and software.
|
|
*
|
|
* @remarks This command is active always.
|
|
*
|
|
* @param[in] port - pointer to a SLCAN instance
|
|
* @param[out] hardware - hardware version (8-bit: <major>.<minor>)
|
|
* @param[out] software - software version (8-bit: <major>.<minor>)
|
|
*
|
|
* @returns 0 if successful, or a negative value on error.
|
|
*
|
|
* @note System variable 'errno' will be set in case of an error.
|
|
*
|
|
* @retval ENODEV - no such device (invalid port instance)
|
|
* @retval EBADF - bad file descriptor (device not connected)
|
|
* @retval EBUSY - device / resource busy (disturbance)
|
|
* @retval EBADMSG - bad message (format or disturbance)
|
|
* @retval ETIMEDOUT - timed out (command not acknowledged)
|
|
* @retval 'errno' - error code from called system functions:
|
|
* 'write', 'read', etc.
|
|
*/
|
|
SLCANAPI int slcan_version_number(slcan_port_t port, uint8_t *hardware, uint8_t *software);
|
|
|
|
|
|
/** @brief get serial number of the SLCAN device.
|
|
*
|
|
* @remarks This command is active always.
|
|
*
|
|
* @param[in] port - pointer to a SLCAN instance
|
|
* @param[out] number - serial number (32-bit: 8 bytes)
|
|
*
|
|
* @returns 0 if successful, or a negative value on error.
|
|
*
|
|
* @note System variable 'errno' will be set in case of an error.
|
|
*
|
|
* @retval ENODEV - no such device (invalid port instance)
|
|
* @retval EBADF - bad file descriptor (device not connected)
|
|
* @retval EBUSY - device / resource busy (disturbance)
|
|
* @retval EBADMSG - bad message (format or disturbance)
|
|
* @retval ETIMEDOUT - timed out (command not acknowledged)
|
|
* @retval 'errno' - error code from called system functions:
|
|
* 'write', 'read', etc.
|
|
*/
|
|
SLCANAPI int slcan_serial_number(slcan_port_t port, uint32_t *number);
|
|
|
|
|
|
/** @brief signal all waiting objects, if any.
|
|
*
|
|
* @param[in] port - pointer to a SLCAN instance
|
|
*
|
|
* @returns 0 if successful, or a negative value on error.
|
|
*/
|
|
SLCANAPI int slcan_signal(slcan_port_t port);
|
|
|
|
|
|
/** @brief retrieves version information of the SLCAN API as a
|
|
* zero-terminated string.
|
|
*
|
|
* @param[out] version_no - major and minor version number (optional)
|
|
* @param[out] patch_no - patch number (optional)
|
|
* @param[out] build_no - build number (optional)
|
|
*
|
|
* @returns pointer to a zero-terminated string, or NULL on error.
|
|
*/
|
|
SLCANAPI char *slcan_api_version(uint16_t *version_no, uint8_t *patch_no, uint32_t *build_no);
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
#endif /* SLCAN_H_INCLUDED */
|
|
|
|
/* ----------------------------------------------------------------------
|
|
* Uwe Vogt, UV Software, Chausseestrasse 33 A, 10115 Berlin, Germany
|
|
* Tel.: +49-30-46799872, Fax: +49-30-46799873, Mobile: +49-170-3801903
|
|
* E-Mail: uwe.vogt@uv-software.de, Homepage: http://www.uv-software.de/
|
|
*/
|