145 lines
3.8 KiB
C
145 lines
3.8 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 - 2020 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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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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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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