include/can_lincan/lincan.h
author etisserant
Fri, 06 Apr 2007 16:49:28 +0200
changeset 149 fe50ada8020b
parent 26 8340a591acf3
permissions -rw-r--r--
Changes in the API:
- No more mandatory callbacks declared for each node anymore
heartbeatError
SDOtimeoutError
initialisation
preOperational
operational
stopped
post_sync
post_TPDO
canSend

- Fill function ptr to declare callbacks
CO_Data.heartbeatError
CO_Data.SDOtimeoutError
CO_Data.initialisation
CO_Data.preOperational
CO_Data.operational
CO_Data.stopped
CO_Data.post_sync
CO_Data.post_TPDO

- CanClose now takes CO_Data* as parameter
- canSend is provided to the stack directly by OS interface, no specific callback.
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/* can.h
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 * Header file for the Linux CAN-bus driver.
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 * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
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 * Rewritten for new CAN queues 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 _CAN_DRVAPI_T_H
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#define _CAN_DRVAPI_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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#include <linux/ioctl.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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#include <sys/ioctl.h>
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#endif /* __KERNEL__ */
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#include "./canmsg.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* CAN ioctl magic number */
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#define CAN_IOC_MAGIC 'd'
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typedef unsigned long bittiming_t;
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typedef unsigned short channel_t;
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/**
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 * struct can_baudparams_t - datatype for calling CONF_BAUDPARAMS IOCTL
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 * @flags: reserved for additional flags for chip configuration, should be written -1 or 0
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 * @baudrate: baud rate in Hz
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 * @sjw: synchronization jump width (0-3) prescaled clock cycles
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 * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
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 *
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 * The structure is used to configure new set of parameters into CAN controller chip.
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 * If default value of some field should be preserved, fill field by value -1.
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 */
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struct can_baudparams_t {
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	long flags;
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	long baudrate;
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	long sjw;
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	long sample_pt;
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};
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/* CAN ioctl functions */
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#define CAN_DRV_QUERY _IO(CAN_IOC_MAGIC, 0)
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#define CAN_DRV_QRY_BRANCH    0	/* returns driver branch value - "LINC" for LinCAN driver */
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#define CAN_DRV_QRY_VERSION   1	/* returns driver version as (major<<16) | (minor<<8) | patch */
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#define CAN_DRV_QRY_MSGFORMAT 2	/* format of canmsg_t structure */
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#define CMD_START _IOW(CAN_IOC_MAGIC, 1, channel_t)
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#define CMD_STOP _IOW(CAN_IOC_MAGIC, 2, channel_t)
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//#define CMD_RESET 3
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#define CONF_BAUD _IOW(CAN_IOC_MAGIC, 4, bittiming_t)
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//#define CONF_ACCM
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//#define CONF_XTDACCM
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//#define CONF_TIMING
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//#define CONF_OMODE
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#define CONF_FILTER _IOW(CAN_IOC_MAGIC, 8, unsigned char)
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//#define CONF_FENABLE
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//#define CONF_FDISABLE
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#define STAT _IO(CAN_IOC_MAGIC, 9)
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#define CANQUE_FILTER _IOW(CAN_IOC_MAGIC, 10, struct canfilt_t)
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#define CANQUE_FLUSH  _IO(CAN_IOC_MAGIC, 11)
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#define CONF_BAUDPARAMS  _IOW(CAN_IOC_MAGIC, 11, struct can_baudparams_t)
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#define CANRTR_READ  _IOWR(CAN_IOC_MAGIC, 12, struct canmsg_t)
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#ifdef __cplusplus
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} /* extern "C"*/
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#endif
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#endif /*_CAN_DRVAPI_T_H*/