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/*
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* can4linux.h - can4linux CAN driver module
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*
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* This file is subject to the terms and conditions of the GNU General Public
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* License. See the file "COPYING" in the main directory of this archive
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* for more details.
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*
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* Copyright (c) 2001 port GmbH Halle/Saale
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*------------------------------------------------------------------
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* $Header$
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*
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*--------------------------------------------------------------------------
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*
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*
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* modification history
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* --------------------
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* $Log$
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* Revision 1.1 2008-01-22 09:27:13 groke6
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* Added can4linux driver support.
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*
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* Revision 1.1 2004/08/12 10:14:31 jschoew
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* add can4linux examples
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*
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* Revision 1.5 2004/05/14 10:02:54 oe
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* - started supporting CPC-Card
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* - version number in can4linux.h available
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* - only one structure type for Config_par_t Command_par_t
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* - new ioctl command CMD_CLEARBUFFERS
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*
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* Revision 1.4 2003/08/27 17:49:04 oe
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* - New CanStatusPar structure
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*
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* Revision 1.3 2002/08/20 05:57:22 oe
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* - new write() handling, now not ovrwriting buffer content if buffer fill
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* - ioctl() get status returns buffer information
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*
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* Revision 1.2 2002/08/08 17:50:46 oe
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* - MSG_ERR_MASK extended
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*
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* Revision 1.1 2002/01/10 19:13:19 oe
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* - application header file changed name can.h -> can4linux.h
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*
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* Revision 1.2 2001/09/14 14:58:09 oe
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* first free release
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*
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* Revision 1.1.1.1 2001/06/11 18:30:54 oe
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* minimal version can4linux embedded, compile time Konfigurierbar
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*
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*
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*
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*
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*--------------------------------------------------------------------------
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*/
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/**
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* \file can.h
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* \author Heinz-Jrgen Oertel, port GmbH
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* $Revision$
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* $Date$
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*
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* can4linux interface definitions
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*
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*
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*
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*/
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#ifndef __CAN_H
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#define __CAN_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define CAN4LINUXVERSION 0x0301 /*(Version 3.1)*/
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#ifndef __KERNEL__
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#include <sys/time.h>
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#endif
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/*---------- the can message structure */
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#define CAN_MSG_LENGTH 8 /**< maximum length of a CAN frame */
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#define MSG_RTR (1<<0) /**< RTR Message */
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#define MSG_OVR (1<<1) /**< CAN controller Msg overflow error */
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#define MSG_EXT (1<<2) /**< extended message format */
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#define MSG_PASSIVE (1<<4) /**< controller in error passive */
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#define MSG_BUSOFF (1<<5) /**< controller Bus Off */
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#define MSG_ (1<<6) /**< */
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#define MSG_BOVR (1<<7) /**< receive/transmit buffer overflow */
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/**
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* mask used for detecting CAN errors in the canmsg_t flags field
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*/
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#define MSG_ERR_MASK (MSG_OVR + MSG_PASSIVE + MSG_BUSOFF + MSG_BOVR)
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/**
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* The CAN message structure.
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* Used for all data transfers between the application and the driver
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* using read() or write().
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*/
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typedef struct {
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/** flags, indicating or controlling special message properties */
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int flags;
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int cob; /**< CAN object number, used in Full CAN */
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unsigned long id; /**< CAN message ID, 4 bytes */
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struct timeval timestamp; /**< time stamp for received messages */
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short int length; /**< number of bytes in the CAN message */
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unsigned char data[CAN_MSG_LENGTH]; /**< data, 0...8 bytes */
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} canmsg_t;
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/**
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---------- IOCTL requests */
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#define COMMAND 0 /**< IOCTL command request */
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#define CONFIG 1 /**< IOCTL configuration request */
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#define SEND 2 /**< IOCTL request */
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#define RECEIVE 3 /**< IOCTL request */
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#define CONFIGURERTR 4 /**< IOCTL request */
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#define STATUS 5 /**< IOCTL status request */
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/*---------- CAN ioctl parameter types */
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/**
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IOCTL Command request parameter structure */
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struct Command_par {
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int cmd; /**< special driver command */
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int target; /**< special configuration target */
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unsigned long val1; /**< 1. parameter for the target */
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unsigned long val2; /**< 2. parameter for the target */
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int error; /**< return value */
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unsigned long retval; /**< return value */
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};
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typedef struct Command_par Command_par_t ;
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/**
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PSW made them all the same
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IOCTL Configuration request parameter structure */
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typedef struct Command_par Config_par_t ;
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/**
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IOCTL generic CAN controller status request parameter structure */
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typedef struct CanStatusPar {
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unsigned int baud; /**< actual bit rate */
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unsigned int status; /**< CAN controller status register */
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unsigned int error_warning_limit; /**< the error warning limit */
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unsigned int rx_errors; /**< content of RX error counter */
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unsigned int tx_errors; /**< content of TX error counter */
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unsigned int error_code; /**< content of error code register */
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unsigned int rx_buffer_size; /**< size of rx buffer */
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unsigned int rx_buffer_used; /**< number of messages */
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unsigned int tx_buffer_size; /**< size of tx buffer */
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unsigned int tx_buffer_used; /**< number of messages */
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unsigned long retval; /**< return value */
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unsigned int type; /**< CAN controller / driver type */
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} CanStatusPar_t;
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/**
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IOCTL CanStatusPar.type CAN controller hardware chips */
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#define CAN_TYPE_UNSPEC 0
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#define CAN_TYPE_SJA1000 1
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#define CAN_TYPE_FlexCAN 2
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#define CAN_TYPE_TouCAN 3
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#define CAN_TYPE_82527 4
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#define CAN_TYPE_TwinCAN 5
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/**
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IOCTL Send request parameter structure */
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typedef struct Send_par {
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canmsg_t *Tx; /**< CAN message struct */
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int error; /**< return value for errno */
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unsigned long retval; /**< return value */
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} Send_par_t ;
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/**
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IOCTL Receive request parameter structure */
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typedef struct Receive_par {
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canmsg_t *Rx; /**< CAN message struct */
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int error; /**< return value for errno */
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unsigned long retval; /**< return value */
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} Receive_par_t ;
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/**
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IOCTL ConfigureRTR request parameter structure */
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typedef struct ConfigureRTR_par {
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unsigned message; /**< CAN message ID */
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canmsg_t *Tx; /**< CAN message struct */
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int error; /**< return value for errno */
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unsigned long retval; /**< return value */
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} ConfigureRTR_par_t ;
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/**
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---------- IOCTL Command subcommands and there targets */
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# define CMD_START 1
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# define CMD_STOP 2
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# define CMD_RESET 3
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# define CMD_CLEARBUFFERS 4
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/**
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---------- IOCTL Configure targets */
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# define CONF_ACC 0 /* mask and code */
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# define CONF_ACCM 1 /* mask only */
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# define CONF_ACCC 2 /* code only */
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# define CONF_TIMING 3 /* bit timing */
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# define CONF_OMODE 4 /* output control register */
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# define CONF_FILTER 5
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# define CONF_FENABLE 6
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# define CONF_FDISABLE 7
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#ifdef __cplusplus
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}
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#endif
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#endif /* __CAN_H */
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