doc: CAN: Extend CAN doc and moved it to networking
This commit adds a lot more documentation to the Controller Area Netwok API. The documentation is move to the networking section. Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
This commit is contained in:
Alexander Wachter
Anas Nashif
parent
5239bef610
commit
5b0a7d3523
7 changed files with 1481 additions and 14 deletions
9
doc/reference/networking/can.rst
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9
doc/reference/networking/can.rst
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.. _net_canbus:
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Controller Area Network
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#######################
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.. toctree::
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:maxdepth: 1
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can_api.rst
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335
doc/reference/networking/can_api.rst
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doc/reference/networking/can_api.rst
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.. _can_interface:
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Controller Area Network (CAN)
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#############################
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.. contents::
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:local:
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:depth: 2
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Overview
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********
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Controller Area Network is a two-wire serial bus specified by the
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Bosch CAN Specification, Bosch CAN with Flexible Data-Rate specification and the
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ISO 11898-1:2003 standard.
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CAN is mostly known for its application in the automotive domain. However, it
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is also used in home and industrial automation and other products.
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A CAN transceiver is an external device that converts the logic level signals
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from the CAN controller to the bus-levels. The bus lines are called
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CAN High (CAN H) and CAN Low (CAN L).
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The transmit wire from the controller to the transceiver is called CAN TX,
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and the receive wire is called CAN RX.
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These wires use the logic levels whereas the bus-level is interpreted
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differentially between CAN H and CAN L.
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The bus can be either in the recessive (logical one) or dominant (logical zero)
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state. The recessive state is when both lines, CAN H and CAN L, at roughly at
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the same voltage level. This state is also the idle state.
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To write a dominant bit to the bus, open-drain transistors tie CAN H to Vdd
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and CAN L to ground.
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The first and last node use a 120-ohm resistor between CAN H and CAN L to
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terminate the bus. The dominant state always overrides the recessive state.
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This structure is called a wired-AND.
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.. warning::
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CAN controllers can only initialize when the bus is in the idle (recessive)
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state for at least 11 recessive bits. Therefore you have to make sure that
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CAN RX is high, at least for a short time. This is also necessary for
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loopback mode.
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.. image:: can_transceiver.svg
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:width: 70%
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:align: center
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:alt: CAN Transceiver
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The bit-timing as defined in ISO 11898-1:2003 looks as following:
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.. image:: can_timing.svg
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:width: 40%
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:align: center
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:alt: CAN Timing
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A single bit is split into four segments.
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* Sync_Seg: The nodes synchronize at the edge of the Sync_Seg. It is always one time quantum in length.
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* Prop_Seg: The signal propagation delay of the bus and other delays of the transceiver and node.
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* Phase_Seg1 and Phase_Seg2 :Define the sampling point. The bit is sampled at the end of Phase_Seg1.
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The bit-rate is calculated from the time of a time quantum and the values
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defined above.
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A bit has the length of Sync_Seg plus Prop_Seg plus Phase_Seg1 plus Phase_Seg2
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multiplied by the time of single time quantum.
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The bit-rate is the inverse of the length of a single bit.
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The resynchronization jump width (SJW) defines the amount of time quantum the
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sample point can be moved. The sample point is moved when resynchronization
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is needed.
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CAN uses so-called identifiers to identify the frame instead of addresses to
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identify a node.
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This identifier can either have 11-bit width (Standard or Basic Frame) or
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29-bit in case of an Extended Frame. The Zephyr CAN API supports both Standard
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and Extended identifiers concurrently. A CAN frame starts with a dominant
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Start Of Frame bit. After that, the identifiers follow. This phase is called the
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arbitration phase. During the arbitration phase, write collisions are allowed.
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They resolve by the fact that dominant bits override recessive bits.
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Nodes monitor the bus and notice when their transmission is being overridden and
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in case, abort their transmission.
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This effectively gives lower number identifiers priority over higher number
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identifiers.
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Filters are used to whitelist identifiers that are of interest for the specific
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node. An identifier that doesn't match any filter is ignored.
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Filters can either match exactly or a specified part of the identifier.
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This method is called masking.
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As an example, a mask with 11 bits set for standard or 29 bits set for extended
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identifiers must match perfectly.
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Bits that are set to zero in the mask are ignored when matching an identifier.
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Most CAN controllers implement a limited number of filters in hardware.
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The number of filters is also limited in Kconfig to save memory.
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Errors may occur during transmission. In case a node detects an erroneous frame,
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it partially overrides the current frame with an error-frame.
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Error-frames can either be error passive or error active, depending on the state
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of the controller.
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In case the controller is in error active state, it sends six consecutive
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dominant bits, which is a violation of the stuffing rule that all nodes can
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detect. The sender may resend the frame right after.
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An initialized node can be in one of the following states:
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* Error-active
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* Error-passive
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* Bus-off
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After initialization, the node is in the error-active state. In this state, the
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node is allowed to send active error frames, ACK, and overload frames.
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Every node has a receive- and transmit-error counter.
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If either the receive- or the transmit-error counter exceeds 127,
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the node changes to error-passive state.
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In this state, the node is not allowed to send error-active frames anymore.
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If the transmit-error counter increases further to 255, the node changes to the
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bus-off state. In this state, the node is not allowed to send any dominant bits
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to the bus. Nodes in the bus-off state may recover after receiving 128
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occurrences of 11 concurrent recessive bits.
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You can read more about CAN bus in this
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`CAN Wikipedia article <https://en.wikipedia.org/wiki/CAN_bus>`_.
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Zephyr supports following CAN features:
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* Standard and Extended Identifers
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* Filters with Masking
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* Loopback and Silent mode
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* Remote Request
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Sending
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*******
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The following code snippets show how to send data.
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This basic sample sends a CAN frame with standard identifier 0x123 and eight
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bytes of data. When passing NULL as the callback, as shown in this example,
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the send function blocks until the frame is sent and acknowledged by at least
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one other node or an error occurred. The timeout only takes effect on acquiring
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a mailbox. When a transmitting mailbox is assigned, sending cannot be canceled.
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.. code-block:: C
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struct zcan_frame frame = {
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.id_type = CAN_STANDARD_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.ext_id = 0x123,
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.dlc = 8
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};
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struct device *can_dev;
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int ret;
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frame.data = {1,2,3,4,5,6,7,8};
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can_dev = device_get_binding("CAN_0");
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ret = can_send(can_dev, &frame, K_MSEC(100), NULL, NULL);
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if (ret != CAN_TX_OK) {
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LOG_ERR("Sending failed [%d]", ret);
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}
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This example shows how to send a frame with extended identifier 0x1234567 and
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two bytes of data. The provided callback is called when the message is sent, or
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an error occurred. Passing `K_FOREVER` to the timeout causes the function to block
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until a transfer mailbox is assigned to the frame or an error occurred. It does
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not block until the message is sent like the example above.
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.. code-block:: C
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void tx_irq_callback(u32_t error_flags, void *arg)
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{
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char *sender = (char *)arg;
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if (error_flags) {
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LOG_ERR("Sendig failed [%d]\nSender: %s\n", error_flags, sender);
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}
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}
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int send_function(struct device *can_dev)
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{
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struct zcan_frame frame = {
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.id_type = CAN_EXTENDED_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.ext_id = 0x1234567,
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.dlc = 2
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};
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frame.data = {1,2};
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return can_send(can_dev, &frame, K_FOREVER, tx_irq_callback, "Sender 1");
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}
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Receiving
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*********
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Frames are only received when they match a filter.
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The following code snippets show how to receive frames by attaching filters.
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Here we have an example for a receiving callback.
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It is used for `can_attach_isr` or `can_attach_workq`.
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The argument arg is passed when the filter is attached.
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.. code-block:: C
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void rx_callback_function(struct zcan_frame *frame, void *arg)
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{
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... do something with the frame ...
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}
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The following snippet shows how to attach a filter with an interrupt callback.
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It is the most efficient but also the most critical way to receive messages.
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The callback function is called from an interrupt context, which means that the
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callback function should be as short as possible and must not block.
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Attaching ISRs is not allowed from userspace context.
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The filter for this example is configured to match the identifier 0x123 exactly.
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.. code-block:: C
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const struct zcan_filter my_filter = {
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.id_type = CAN_STANDARD_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.std_id = 0x123,
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.rtr_mask = 1,
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.std_id_mask = CAN_STD_ID_MASK
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};
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int filter_id;
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struct device *can_dev;
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can_dev = device_get_binding("CAN_0");
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filter_id = can_attach_isr(can_dev, rx_callback_function, callback_arg, &my_filter);
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if (filter_id < 0) {
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LOG_ERR("Unable to attach isr [%d]", filter_id);
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}
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This example shows how to attach a callback from a work-queue.
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In contrast to the `can_attach_isr` function, here the callback is called from the
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work-queue provided. In this case, it is the system work queue. Blocking is
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generally allowed in the callback but could result in a frame backlog when it is
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not limited. For the reason of a backlog, a ring-buffer is applied for every
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attached filter. The size of this buffer can be adjusted in Kconfig.
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This function is not yet callable from userspace context but will be in the
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future.
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The filter for this example is configured to match a filter range from
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0x120 to x12f.
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.. code-block:: C
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const struct zcan_filter my_filter = {
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.id_type = CAN_STANDARD_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.std_id = 0x120,
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.rtr_mask = 1,
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.std_id_mask = 0x7F0
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};
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struct zcan_work rx_work;
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int filter_id;
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struct device *can_dev;
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can_dev = device_get_binding("CAN_0");
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filter_id = can_attach_workq(can_dev, &k_sys_work_q, &rx_work, callback_arg, callback_arg, &my_filter);
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if (filter_id < 0) {
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LOG_ERR("Unable to attach isr [%d]", filter_id);
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}
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Here an example for `can_attach_msgq` is shown. With this function, it is
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possible to receive frames synchronously. This function can be called from
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userspace context.
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The size of the message queue should be as big as the expected backlog.
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The filter for this example is configured to match the extended identifier
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0x1234567 exactly.
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.. code-block:: C
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const struct zcan_filter my_filter = {
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.id_type = CAN_EXTENDED_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.std_id = 0x1234567,
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.rtr_mask = 1,
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.std_id_mask = CAN_EXT_ID_MASK
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};
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CAN_DEFINE_MSGQ(my_can_msgq, 2);
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struct zcan_frame rx_frame;
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int filter_id;
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struct device *can_dev;
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can_dev = device_get_binding("CAN_0");
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filter_id = can_attach_msgq(can_dev, &my_can_msgq, &my_filter);
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if (filter_id < 0) {
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LOG_ERR("Unable to attach isr [%d]", filter_id);
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return;
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}
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while (true) {
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k_msgq_get(&my_can_msgq, &rx_frame, K_FOREVER);
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... do something with the frame ...
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}
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`can_detach` removes the given filter.
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.. code-block:: C
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can_detach(can_dev, filter_id);
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SocketCAN
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*********
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Zephyr additionally supports SocketCAN, a BSD socket implementation of the
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Zephyr CAN API.
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SocketCAN brings the convenience of the well-known BSD Socket API to
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Controller Area Networks. It is compatible with the Linux SocketCAN
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implementation, where many other high-level CAN projects build on top.
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Note that frames are routed to the network stack instead of passed directly,
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which adds some computation and memory overhead.
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Samples
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*******
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We have two ready-to-build samples demonstrating use of the Zephyr CAN API
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:ref:`Zephyr CAN sample <can-sample>` and
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:ref:`SocketCAN sample <socket-can-sample>`.
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API Reference
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*************
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.. doxygengroup:: can_interface
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:project: Zephyr
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355
doc/reference/networking/can_timing.svg
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355
doc/reference/networking/can_timing.svg
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<?xml version="1.0" encoding="UTF-8"?>
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<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="263pt" height="74pt" viewBox="0 0 263 74" version="1.1">
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|
After Width: | Height: | Size: 128 KiB |
|
|
@ -12,3 +12,4 @@ Networking
|
|||
protocols.rst
|
||||
system_mgmt.rst
|
||||
tsn.rst
|
||||
can.rst
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
.. _can_interface:
|
||||
|
||||
CAN
|
||||
###
|
||||
|
||||
Overview
|
||||
********
|
||||
|
||||
API Reference
|
||||
*************
|
||||
|
||||
.. doxygengroup:: can_interface
|
||||
:project: Zephyr
|
||||
|
|
@ -7,7 +7,6 @@ Peripherals
|
|||
:maxdepth: 1
|
||||
|
||||
adc.rst
|
||||
can.rst
|
||||
counter.rst
|
||||
dma.rst
|
||||
entropy.rst
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue