c46a2edd57
This driver is more sophisticated than the normal socketCAN driver. Compared to the normal socketCAN driver, this one contains the linking exception license. Changes compared to normal socketCAN driver: - Re-implementation based on driver template - Error detection works - Setting up filters works properly - Optional Support for socketCAN error frames. This currently handles bus-off and no-ack condition by setting driver into listen-only mode. If you decide to use this feature have a close look at your own requirements and fit error handling functions to that. - Optional support for CAN interface combining (not redundancy!). With this feature enabled you can have multiple CAN interface represented as one within CANopenNode stack. By default, all TX messages are sent on all used CAN interfaces, but the user can change this behaviour inside own app (e.g. check on wich bus rx-sdo is received and set-up tx-sdo accordingly). Be aware that no bridging between the interfaces is done!
165 lines
5 KiB
C
165 lines
5 KiB
C
/**
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* CAN module object for Linux socketCAN Error handling.
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*
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* @file CO_error.h
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* @ingroup CO_driver
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* @author Martin Wagner
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* @copyright 2018 Neuberger Gebaeudeautomation GmbH
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*
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free and open source software: you can redistribute
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* it and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation, either version 2 of the
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* License, or (at your option) any later version.
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*
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* This program 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 program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Following clarification and special exception to the GNU General Public
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* License is included to the distribution terms of CANopenNode:
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*
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* Linking this library statically or dynamically with other modules is
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* making a combined work based on this library. Thus, the terms and
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* conditions of the GNU General Public License cover the whole combination.
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*
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* As a special exception, the copyright holders of this library give
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* you permission to link this library with independent modules to
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* produce an executable, regardless of the license terms of these
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* independent modules, and to copy and distribute the resulting
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* executable under terms of your choice, provided that you also meet,
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* for each linked independent module, the terms and conditions of the
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* license of that module. An independent module is a module which is
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* not derived from or based on this library. If you modify this
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* library, you may extend this exception to your version of the
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* library, but you are not obliged to do so. If you do not wish
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* to do so, delete this exception statement from your version.
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*/
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#ifndef CO_ERROR_H
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#define CO_ERROR_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "CO_driver_base.h"
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/**
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* driver interface state
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*
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* CAN hardware can be in the followning states:
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* - error active (OK)
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* - error passive (Can't generate error flags)
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* - bus off (no influence on bus)
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*/
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typedef enum {
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CO_INTERFACE_ACTIVE, /**< CAN error passive/active */
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CO_INTERFACE_LISTEN_ONLY, /**< CAN error passive/active, but currently no other device on bus */
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CO_INTERFACE_BUS_OFF /**< CAN bus off */
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} CO_CANinterfaceState_t;
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/**
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* This is how many NO-ACKs need to be received in a row to assume
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* that no other nodes are connected to a bus and therefore are
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* assuming listen-only
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*/
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#define CO_CANerror_NOACK_MAX 16
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/**
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* This is how long we are going to block transmission if listen-only
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* mode is active
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*
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* Time is in seconds.
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*/
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#define CO_CANerror_LISTEN_ONLY 10
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/**
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* socketCAN interface error handling
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*/
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typedef struct {
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int fd; /**< interface FD */
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const char *ifName; /**< interface name as string */
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uint32_t noackCounter;
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volatile bool_t listenOnly; /**< set to listen only mode */
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struct timespec timestamp; /**< listen only mode started at this time */
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} CO_CANinterfaceErrorhandler_t;
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/**
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* Initialize CAN error handler
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*
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* We need one error handler per interface
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*
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* @param CANerrorhandler This object will be initialized.
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* @param fd interface file descriptor
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* @param ifname interface name as string
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*/
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void CO_CANerror_init(
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CO_CANinterfaceErrorhandler_t *CANerrorhandler,
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int fd,
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const char *ifname);
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/**
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* Reset CAN error handler
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*
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* @param CANerrorhandler CAN error object.
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*/
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void CO_CANerror_disable(
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CO_CANinterfaceErrorhandler_t *CANerrorhandler);
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/**
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* Message received event
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*
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* when a message is received at least one other CAN module is connected
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*
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* @param CANerrorhandler CAN error object.
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*/
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void CO_CANerror_rxMsg(
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CO_CANinterfaceErrorhandler_t *CANerrorhandler);
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/**
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* Check if interface is ready for message transmission
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*
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* message musn't be transmitted if not ready
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*
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* @param CANerrorhandler CAN error object.
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* @return CO_INTERFACE_ACTIVE message transmission ready
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*/
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CO_CANinterfaceState_t CO_CANerror_txMsg(
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CO_CANinterfaceErrorhandler_t *CANerrorhandler);
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/**
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* Error message received event
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*
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* this handles all received error messages
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*
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* @param CANerrorhandler CAN error object.
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* @param msg received error message
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* @return #CO_CANinterfaceState_t
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*/
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CO_CANinterfaceState_t CO_CANerror_rxMsgError(
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CO_CANinterfaceErrorhandler_t *CANerrorhandler,
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const struct can_frame *msg);
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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/** @} */
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#endif
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