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

     2  * Linux CAN-bus device driver.

     3  * Written by Pavel Pisa - OCERA team member

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

     5  * This software is released under the GPL-License.

     6  * Version lincan-0.3  17 Jun 2004

     7  */

     8 

     9 #ifndef _CANMSG_T_H

    10 #define _CANMSG_T_H

    11 

    12 #ifdef __KERNEL__

    13 

    14 #include <linux/time.h>

    15 #include <linux/types.h>

    16 

    17 #else /* __KERNEL__ */

    18 

    19 #include <sys/time.h>

    20 #include <sys/types.h>

    21 

    22 #endif /* __KERNEL__ */

    23 

    24 #ifdef __cplusplus

    25 extern "C" {

    26 #endif

    27 

    28 /*

    29  * CAN_MSG_VERSION_2 enables new canmsg_t layout compatible with

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

    31  *

    32  */

    33 #define CAN_MSG_VERSION_2

    34 

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

    36 #define CAN_MSG_LENGTH 8

    37 

    38 #ifdef CAN_MSG_VERSION_2

    39 

    40 typedef struct timeval canmsg_tstamp_t ;

    41 

    42 typedef unsigned long canmsg_id_t;

    43 

    44 /**

    45  * struct canmsg_t - structure representing CAN message

    46  * @flags:  message flags

    47  *      %MSG_RTR .. message is Remote Transmission Request,

    48  *	%MSG_EXT .. message with extended ID,

    49  *      %MSG_OVR .. indication of queue overflow condition,

    50  *	%MSG_LOCAL .. message originates from this node.

    51  * @cob:    communication object number (not used)

    52  * @id:     ID of CAN message

    53  * @timestamp: not used

    54  * @length: length of used data

    55  * @data:   data bytes buffer

    56  *

    57  * Header: canmsg.h

    58  */

    59 struct canmsg_t {

    60 	int             flags;

    61 	int             cob;

    62 	canmsg_id_t     id;

    63 	canmsg_tstamp_t timestamp;

    64 	unsigned short  length;

    65 	unsigned char   data[CAN_MSG_LENGTH];

    66 };

    67 

    68 #else /*CAN_MSG_VERSION_2*/

    69 #ifndef PACKED

    70 #define PACKED __attribute__((packed))

    71 #endif

    72 /* Old, deprecated version of canmsg_t structure */

    73 struct canmsg_t {

    74 	short		flags;

    75 	int		cob;

    76 	canmsg_id_t	id;

    77 	unsigned long	timestamp;

    78 	unsigned int	length;

    79 	unsigned char	data[CAN_MSG_LENGTH];

    80 } PACKED;

    81 #endif /*CAN_MSG_VERSION_2*/

    82 

    83 typedef struct canmsg_t canmsg_t;

    84 

    85 /**

    86  * struct canfilt_t - structure for acceptance filter setup

    87  * @flags:  message flags

    88  *      %MSG_RTR .. message is Remote Transmission Request,

    89  *	%MSG_EXT .. message with extended ID,

    90  *      %MSG_OVR .. indication of queue overflow condition,

    91  *	%MSG_LOCAL .. message originates from this node.

    92  *	there are corresponding mask bits

    93  *	%MSG_RTR_MASK, %MSG_EXT_MASK, %MSG_LOCAL_MASK.

    94  *	%MSG_PROCESSLOCAL enables local messages processing in the

    95  *	combination with global setting

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

    97  *	    queues per one user (open instance)

    98  * @cob:    communication object number (not used)

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

   100  * @mask:   select bits significand for the comparation;

   101  *          1 .. take care about corresponding ID bit, 0 .. don't care

   102  *

   103  * Header: canmsg.h

   104  */

   105 struct canfilt_t {

   106 	int		flags;

   107 	int		queid;

   108 	int		cob;

   109 	canmsg_id_t	id;

   110 	canmsg_id_t	mask;

   111 };

   112 

   113 typedef struct canfilt_t canfilt_t;

   114 

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

   116 #define MSG_RTR   (1<<0)

   117 #define MSG_OVR   (1<<1)

   118 #define MSG_EXT   (1<<2)

   119 #define MSG_LOCAL (1<<3)

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

   121 

   122 /* Additional definitions used for canfilt_t only */

   123 #define MSG_FILT_MASK_SHIFT   8

   124 #define MSG_RTR_MASK   (MSG_RTR<<MSG_FILT_MASK_SHIFT)

   125 #define MSG_EXT_MASK   (MSG_EXT<<MSG_FILT_MASK_SHIFT)

   126 #define MSG_LOCAL_MASK (MSG_LOCAL<<MSG_FILT_MASK_SHIFT)

   127 #define MSG_PROCESSLOCAL (MSG_OVR<<MSG_FILT_MASK_SHIFT)

   128 

   129 /* Can message ID mask */

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

   131 

   132 #ifdef __cplusplus

   133 } /* extern "C"*/

   134 #endif

   135 

   136 #endif /*_CANMSG_T_H*/