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70 lines
2.0 KiB
C
70 lines
2.0 KiB
C
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#ifndef SOCKETCAN_H_INCLUDED
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#define SOCKETCAN_H_INCLUDED
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#include <sys/time.h>
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#include <sys/socket.h>
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#include <nuttx/can.h>
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#include <netpacket/can.h>
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#include <canard.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef struct CanardSocketInstance CanardSocketInstance;
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typedef int fd_t;
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struct CanardSocketInstance {
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fd_t s;
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bool can_fd;
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//// Send msg structure
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struct iovec send_iov;
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struct canfd_frame send_frame;
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struct msghdr send_msg;
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struct cmsghdr *send_cmsg;
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struct timeval *send_tv; /* TX deadline timestamp */
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uint8_t send_control[sizeof(struct cmsghdr) + sizeof(struct timeval)];
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//// Receive msg structure
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struct iovec recv_iov;
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struct canfd_frame recv_frame;
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struct msghdr recv_msg;
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struct cmsghdr *recv_cmsg;
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uint8_t recv_control[sizeof(struct cmsghdr) + sizeof(struct timeval)];
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};
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/// Creates a SocketCAN socket for corresponding iface can_iface_name
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/// Also sets up the message structures required for socketcanTransmit & socketcanReceive
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/// can_fd determines to use CAN FD frame when is 1, and classical CAN frame when is 0
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/// The return value is 0 on succes and -1 on error
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int16_t socketcanOpen(CanardSocketInstance *ins, const char *const can_iface_name, const bool can_fd);
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/// Send a CanardFrame to the CanardSocketInstance socket
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/// This function is blocking
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/// The return value is number of bytes transferred, negative value on error.
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int16_t socketcanTransmit(CanardSocketInstance *ins, const CanardFrame *txf);
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/// Receive a CanardFrame from the CanardSocketInstance socket
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/// This function is blocking
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/// The return value is number of bytes received, negative value on error.
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int16_t socketcanReceive(CanardSocketInstance *ins, CanardFrame *rxf);
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// TODO implement ioctl for CAN filter
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int16_t socketcanConfigureFilter(const fd_t fd, const size_t num_filters, const struct can_filter *filters);
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#ifdef __cplusplus
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}
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#endif
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#endif //SOCKETCAN_H_INCLUDED
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