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/* canmsg.h - common kernel-space and user-space CAN message structure

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 * Linux CAN-bus device driver.

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 * Written by Pavel Pisa - OCERA team member

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 * email:pisa@cmp.felk.cvut.cz

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 * This software is released under the GPL-License.

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 * Version lincan-0.3  17 Jun 2004

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 */

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#ifndef _CANMSG_T_H

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#define _CANMSG_T_H

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#ifdef __KERNEL__

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#include <linux/time.h>

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#include <linux/types.h>

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#else /* __KERNEL__ */

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#include <sys/time.h>

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#include <sys/types.h>

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#endif /* __KERNEL__ */

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#ifdef __cplusplus

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extern "C" {

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#endif

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/*

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 * CAN_MSG_VERSION_2 enables new canmsg_t layout compatible with

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 * can4linux project from http://www.port.de/

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 *

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 */

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#define CAN_MSG_VERSION_2

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/* Number of data bytes in one CAN message */

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#define CAN_MSG_LENGTH 8

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#ifdef CAN_MSG_VERSION_2

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typedef struct timeval canmsg_tstamp_t ;

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typedef unsigned long canmsg_id_t;

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/**

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 * struct canmsg_t - structure representing CAN message

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 * @flags:  message flags

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 *      %MSG_RTR .. message is Remote Transmission Request,

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 *	%MSG_EXT .. message with extended ID,

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 *      %MSG_OVR .. indication of queue overflow condition,

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 *	%MSG_LOCAL .. message originates from this node.

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 * @cob:    communication object number (not used)

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 * @id:     ID of CAN message

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 * @timestamp: not used

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 * @length: length of used data

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 * @data:   data bytes buffer

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 *

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 * Header: canmsg.h

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 */

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struct canmsg_t {

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	int             flags;

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	int             cob;

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	canmsg_id_t     id;

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	canmsg_tstamp_t timestamp;

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	unsigned short  length;

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	unsigned char   data[CAN_MSG_LENGTH];

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};

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#else /*CAN_MSG_VERSION_2*/

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#ifndef PACKED

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#define PACKED __attribute__((packed))

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#endif

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/* Old, deprecated version of canmsg_t structure */

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struct canmsg_t {

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	short		flags;

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	int		cob;

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	canmsg_id_t	id;

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	unsigned long	timestamp;

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	unsigned int	length;

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	unsigned char	data[CAN_MSG_LENGTH];

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} PACKED;

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#endif /*CAN_MSG_VERSION_2*/

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typedef struct canmsg_t canmsg_t;

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/**

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 * struct canfilt_t - structure for acceptance filter setup

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 * @flags:  message flags

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 *      %MSG_RTR .. message is Remote Transmission Request,

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 *	%MSG_EXT .. message with extended ID,

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 *      %MSG_OVR .. indication of queue overflow condition,

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 *	%MSG_LOCAL .. message originates from this node.

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 *	there are corresponding mask bits

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 *	%MSG_RTR_MASK, %MSG_EXT_MASK, %MSG_LOCAL_MASK.

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 *	%MSG_PROCESSLOCAL enables local messages processing in the

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 *	combination with global setting

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 * @queid:  CAN queue identification in the case of the multiple

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 *	    queues per one user (open instance)

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 * @cob:    communication object number (not used)

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 * @id:     selected required value of cared ID id bits

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 * @mask:   select bits significand for the comparation;

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 *          1 .. take care about corresponding ID bit, 0 .. don't care

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 *

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 * Header: canmsg.h

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 */

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struct canfilt_t {

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	int		flags;

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	int		queid;

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	int		cob;

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	canmsg_id_t	id;

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	canmsg_id_t	mask;

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};

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typedef struct canfilt_t canfilt_t;

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/* Definitions to use for canmsg_t and canfilt_t flags */

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#define MSG_RTR   (1<<0)

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#define MSG_OVR   (1<<1)

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#define MSG_EXT   (1<<2)

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#define MSG_LOCAL (1<<3)

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/* If you change above lines, check canque_filtid2internal function */

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/* Additional definitions used for canfilt_t only */

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#define MSG_FILT_MASK_SHIFT   8

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#define MSG_RTR_MASK   (MSG_RTR<<MSG_FILT_MASK_SHIFT)

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#define MSG_EXT_MASK   (MSG_EXT<<MSG_FILT_MASK_SHIFT)

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#define MSG_LOCAL_MASK (MSG_LOCAL<<MSG_FILT_MASK_SHIFT)

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#define MSG_PROCESSLOCAL (MSG_OVR<<MSG_FILT_MASK_SHIFT)

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/* Can message ID mask */

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#define MSG_ID_MASK ((1l<<29)-1)

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#ifdef __cplusplus

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} /* extern "C"*/

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#endif

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#endif /*_CANMSG_T_H*/