can.h

Definitions high-level CAN interface.

CAN_EFF_FLAG

EFF/SFF is set in the MSB. 

1
(0x80000000U)
CAN_RTR_FLAG

remote transmission request 

1
(0x40000000U)
CAN_ERR_FLAG

error message frame 

1
(0x20000000U)
CAN_SFF_MASK

standard frame format (SFF) 

1
(0x000007FFU)
CAN_EFF_MASK

extended frame format (EFF) 

1
(0x1FFFFFFFU)
CAN_ERR_MASK

omit EFF, RTR, ERR flags 

1
(0x1FFFFFFFU)
CAN_MAX_DLEN

Max data length for a CAN frame. 

1
(8)
enum can_state
CAN_STATE_ERROR_ACTIVE = 0
RX/TX error count < 96.
CAN_STATE_ERROR_WARNING
RX/TX error count < 128.
CAN_STATE_ERROR_PASSIVE
RX/TX error count < 256.
CAN_STATE_BUS_OFF
RX/TX error count >= 256.
CAN_STATE_STOPPED
Device is stopped.
CAN_STATE_SLEEPING
Device is sleeping.
CAN_STATE_MAX
uint32_t canid_t

Controller Area Network Identifier structure.

bit 0-28 : CAN identifier (11/29 bit) right aligned for 11 bit bit 29 : error message frame flag (0 = data frame, 1 = error message) bit 30 : remote transmission request flag (1 = rtr frame) bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)

struct can_frame

Controller Area Network frame.

can.h::canid_t can_id

32 bit CAN_ID + EFF/RTR/ERR flags

uint8_t can_dlc

frame payload length in byte (0 .

. CAN_MAX_DLEN)

uint8_t __pad

padding

uint8_t __res0

reserved / padding

uint8_t __res1

reserved / padding

uint8_t data()

Frame data.

struct can_filter

Controller Area Network filter.

can.h::canid_t can_id

CAN ID.

can.h::canid_t can_mask

Mask.

struct can_bittiming

CAN bit-timing parameters.

For further information, please read chapter “8 BIT TIMING REQUIREMENTS” of the “Bosch CAN Specification version 2.0” at http://www.semiconductors.bosch.de/pdf/can2spec.pdf.

uint32_t bitrate

Bit-rate in bits/second.

uint32_t sample_point

Sample point in one-tenth of a percent.

uint32_t tq

Time quanta (TQ) in nanoseconds.

uint32_t prop_seg

Propagation segment in TQs.

uint32_t phase_seg1

Phase buffer segment 1 in TQs.

uint32_t phase_seg2

Phase buffer segment 2 in TQs.

uint32_t sjw

Synchronisation jump width in TQs.

uint32_t brp

Bit-rate prescaler.

struct can_bittiming_const

CAN hardware-dependent bit-timing constant.

Used for calculating and checking bit-timing parameters

uint32_t tseg1_min

Time segment 1 = prop_seg + phase_seg1, min value.

uint32_t tseg1_max

Time segment 1, max value.

uint32_t tseg2_min

Time segment 2 = phase_seg2, min value.

uint32_t tseg2_max

Time segment 2, max value.

uint32_t sjw_max

Synchronisation jump width.

uint32_t brp_min

Bit-rate prescaler, min value.

uint32_t brp_max

Bit-rate prescaler, max value.

uint32_t brp_inc

Bit-rate prescaler, increment.