HfCanPort.h File Reference

Transport-neutral CAN frame and the ICanPort interface for port bindings (EspTwaiPort, LinuxSocketCanPort, PipePort, later FDCAN and the wireless tunnels). More...

#include <cstdint>

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Classes
struct	hf::can::CanFrame
	One CAN or CAN FD frame; len is a byte count, never a DLC code. More...
struct	hf::can::PortCaps
	What a port binding can carry. More...
struct	hf::can::PortStatus
	Error counters and statistics of one port. More...
class	hf::can::ICanPort
	One CAN transport binding. More...

Namespaces
namespace	hf
namespace	hf::can
namespace	hf::can::frame_flag
	Bits of CanFrame::flags.

Typedefs
using	hf::can::RxSink = bool(*)(void *ctx, const CanFrame &frame)
	RX sink; may run in ISR context (copy and return). Returns false if it could not take the frame.
using	hf::can::TxDoneSink = void(*)(void *ctx)
	TX-done sink: the port has room again; may run in ISR context.

Enumerations
enum class	hf::can::TxResult : uint8_t { hf::can::Ok = 0 , hf::can::QueueFull , hf::can::BusOff , hf::can::NotAllowed }
	Result of a non-blocking ICanPort::Send. More...
enum class	hf::can::BusState : uint8_t {   hf::can::Stopped = 0 , hf::can::ErrorActive , hf::can::ErrorWarning , hf::can::ErrorPassive ,   hf::can::BusOff }
	Controller error state. More...

Functions
constexpr bool	hf::can::IsExactFdLength (uint8_t len) noexcept
	Is len an exact FD payload size (0..8, 12, 16, 20, 24, 32, 48, 64)?
constexpr bool	hf::can::IsWellFormed (const CanFrame &f) noexcept
	Structurally valid frame (flags, id range, length for the frame kind)?

Variables
constexpr uint8_t	hf::can::kClassicMaxLen = 8U
	Largest classic CAN payload in bytes.
constexpr uint8_t	hf::can::kFdMaxLen = 64U
	Largest CAN FD payload in bytes.
constexpr uint32_t	hf::can::kMaxStdId = 0x7FFU
	Largest 11-bit identifier.
constexpr uint32_t	hf::can::kMaxExtId = 0x1FFFFFFFU
	Largest 29-bit identifier.
constexpr uint8_t	hf::can::frame_flag::kExt = 0x01U
	29-bit identifier
constexpr uint8_t	hf::can::frame_flag::kRtr = 0x02U
	remote request (classic only)
constexpr uint8_t	hf::can::frame_flag::kFdf = 0x04U
	FD frame format.
constexpr uint8_t	hf::can::frame_flag::kBrs = 0x08U
	bit-rate switch (FD only)
constexpr uint8_t	hf::can::frame_flag::kEsi = 0x10U
	error state indicator (FD only)
constexpr uint8_t	hf::can::frame_flag::kAll = kExt | kRtr | kFdf | kBrs | kEsi

Detailed Description

Transport-neutral CAN frame and the ICanPort interface for port bindings (EspTwaiPort, LinuxSocketCanPort, PipePort, later FDCAN and the wireless tunnels).

Mirrors vortex::contracts::ICanPort (hardfoc-vortex-v1 contracts/can_frame.hpp) so a product can use either: same frame layout, same flag bits, same result and state enums. Two additions:

• an optional TX-done sink, through which a port tells the CO driver that it has room again (hf_co_driver_tx_done());
• the RX sink returns whether it took the frame. A hardware port ignores the answer (a frame it cannot hand over is an overrun); a port with RxBackpressure() (the host pipe bus) keeps the frame and offers it again later, so a slow receiver slows the bus down instead of losing frames.

Send never blocks. The RX sink may be called in ISR context: it copies the frame and returns.

SPDX-License-Identifier: GPL-3.0-or-later