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<a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a> » <a class="el" href="dir_daf7036eef6d5824a8b65c083e166f12.html">can_lincan</a></div>
<h1>canmsg.h</h1><a href="canmsg_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* canmsg.h - common kernel-space and user-space CAN message structure</span>
<a name="l00002"></a>00002 <span class="comment"> * Linux CAN-bus device driver.</span>
<a name="l00003"></a>00003 <span class="comment"> * Written by Pavel Pisa - OCERA team member</span>
<a name="l00004"></a>00004 <span class="comment"> * email:pisa@cmp.felk.cvut.cz</span>
<a name="l00005"></a>00005 <span class="comment"> * This software is released under the GPL-License.</span>
<a name="l00006"></a>00006 <span class="comment"> * Version lincan-0.3 17 Jun 2004</span>
<a name="l00007"></a>00007 <span class="comment"> */</span>
<a name="l00008"></a>00008
<a name="l00009"></a>00009 <span class="preprocessor">#ifndef _CANMSG_T_H</span>
<a name="l00010"></a>00010 <span class="preprocessor"></span><span class="preprocessor">#define _CANMSG_T_H</span>
<a name="l00011"></a>00011 <span class="preprocessor"></span>
<a name="l00012"></a>00012 <span class="preprocessor">#ifdef __KERNEL__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <linux/time.h></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <linux/types.h></span>
<a name="l00016"></a>00016
<a name="l00017"></a>00017 <span class="preprocessor">#else </span><span class="comment">/* __KERNEL__ */</span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019 <span class="preprocessor">#include <sys/time.h></span>
<a name="l00020"></a>00020 <span class="preprocessor">#include <sys/types.h></span>
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="preprocessor">#endif </span><span class="comment">/* __KERNEL__ */</span>
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00026"></a>00026 <span class="preprocessor">#endif</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span>
<a name="l00028"></a>00028 <span class="comment">/*</span>
<a name="l00029"></a>00029 <span class="comment"> * CAN_MSG_VERSION_2 enables new canmsg_t layout compatible with</span>
<a name="l00030"></a>00030 <span class="comment"> * can4linux project from http://www.port.de/</span>
<a name="l00031"></a>00031 <span class="comment"> *</span>
<a name="l00032"></a>00032 <span class="comment"> */</span>
<a name="l00033"></a><a class="code" href="canmsg_8h.html#f59a61704286d77e3e2bcf8829124d11">00033</a> <span class="preprocessor">#define CAN_MSG_VERSION_2</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span>
<a name="l00035"></a>00035 <span class="comment">/* Number of data bytes in one CAN message */</span>
<a name="l00036"></a><a class="code" href="canmsg_8h.html#98c7d1a1ebb869457233a70e44d7aeca">00036</a> <span class="preprocessor">#define CAN_MSG_LENGTH 8</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#ifdef CAN_MSG_VERSION_2</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a><a class="code" href="canmsg_8h.html#56f6c5a8501ff3e652523290ded8b22f">00040</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>timeval canmsg_tstamp_t ;
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="canmsg_8h.html#c6a169575bc0ced6a486d47f8f2ad0ff">00042</a> <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="canmsg_8h.html#c6a169575bc0ced6a486d47f8f2ad0ff">canmsg_id_t</a>;
<a name="l00043"></a>00043
<a name="l00059"></a><a class="code" href="structcanmsg__t.html">00059</a> <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> {
<a name="l00060"></a><a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">00060</a> <span class="keywordtype">int</span> <a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a>;
<a name="l00061"></a><a class="code" href="structcanmsg__t.html#804190f97d6d1022539505fa1172bd9d">00061</a> <span class="keywordtype">int</span> <a class="code" href="structcanmsg__t.html#804190f97d6d1022539505fa1172bd9d">cob</a>;
<a name="l00062"></a><a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">00062</a> canmsg_id_t <a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a>;
<a name="l00063"></a><a class="code" href="structcanmsg__t.html#6c2bb48a30ac65982d795a47d8fb91e0">00063</a> canmsg_tstamp_t <a class="code" href="structcanmsg__t.html#6c2bb48a30ac65982d795a47d8fb91e0">timestamp</a>;
<a name="l00064"></a><a class="code" href="structcanmsg__t.html#2a262c8851a64ac544169daa82a5982e">00064</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> <a class="code" href="structcanmsg__t.html#2a262c8851a64ac544169daa82a5982e">length</a>;
<a name="l00065"></a><a class="code" href="structcanmsg__t.html#2bcbe2a891519403a17eb8f38ca9734d">00065</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structcanmsg__t.html#2bcbe2a891519403a17eb8f38ca9734d">data</a>[<a class="code" href="canmsg_8h.html#98c7d1a1ebb869457233a70e44d7aeca">CAN_MSG_LENGTH</a>];
<a name="l00066"></a>00066 };
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="preprocessor">#else </span><span class="comment">/*CAN_MSG_VERSION_2*/</span>
<a name="l00069"></a>00069 <span class="preprocessor">#ifndef PACKED</span>
<a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor">#define PACKED __attribute__((packed))</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="comment">/* Old, deprecated version of canmsg_t structure */</span>
<a name="l00073"></a>00073 <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> {
<a name="l00074"></a>00074 <span class="keywordtype">short</span> <a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a>;
<a name="l00075"></a>00075 <span class="keywordtype">int</span> <a class="code" href="structcanmsg__t.html#804190f97d6d1022539505fa1172bd9d">cob</a>;
<a name="l00076"></a>00076 canmsg_id_t <a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a>;
<a name="l00077"></a>00077 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="structcanmsg__t.html#6c2bb48a30ac65982d795a47d8fb91e0">timestamp</a>;
<a name="l00078"></a>00078 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structcanmsg__t.html#2a262c8851a64ac544169daa82a5982e">length</a>;
<a name="l00079"></a>00079 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structcanmsg__t.html#2bcbe2a891519403a17eb8f38ca9734d">data</a>[<a class="code" href="canmsg_8h.html#98c7d1a1ebb869457233a70e44d7aeca">CAN_MSG_LENGTH</a>];
<a name="l00080"></a>00080 } PACKED;
<a name="l00081"></a>00081 <span class="preprocessor">#endif </span><span class="comment">/*CAN_MSG_VERSION_2*/</span>
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="canmsg_8h.html#3cc23b6eee482ace38dd28a3b76f1647">00083</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> <a class="code" href="canmsg_8h.html#3cc23b6eee482ace38dd28a3b76f1647">canmsg_t</a>;
<a name="l00084"></a>00084
<a name="l00105"></a><a class="code" href="structcanfilt__t.html">00105</a> <span class="keyword">struct </span><a class="code" href="structcanfilt__t.html">canfilt_t</a> {
<a name="l00106"></a><a class="code" href="structcanfilt__t.html#2067d6b5da7d2bf5d3071ddfd393a25a">00106</a> <span class="keywordtype">int</span> <a class="code" href="structcanfilt__t.html#2067d6b5da7d2bf5d3071ddfd393a25a">flags</a>;
<a name="l00107"></a><a class="code" href="structcanfilt__t.html#53fc1a09c188bf8b4cf4cb372baa83af">00107</a> <span class="keywordtype">int</span> <a class="code" href="structcanfilt__t.html#53fc1a09c188bf8b4cf4cb372baa83af">queid</a>;
<a name="l00108"></a><a class="code" href="structcanfilt__t.html#be2b105a90f6fbdd2fade98a3594ec02">00108</a> <span class="keywordtype">int</span> <a class="code" href="structcanfilt__t.html#be2b105a90f6fbdd2fade98a3594ec02">cob</a>;
<a name="l00109"></a><a class="code" href="structcanfilt__t.html#162ec8f307bd112d07e910984cd69418">00109</a> canmsg_id_t <a class="code" href="structcanfilt__t.html#162ec8f307bd112d07e910984cd69418">id</a>;
<a name="l00110"></a><a class="code" href="structcanfilt__t.html#f3533245b51e6606ef601c302750cfab">00110</a> canmsg_id_t <a class="code" href="structcanfilt__t.html#f3533245b51e6606ef601c302750cfab">mask</a>;
<a name="l00111"></a>00111 };
<a name="l00112"></a>00112
<a name="l00113"></a><a class="code" href="canmsg_8h.html#ae251c330fbe1de3f3da3a949414d5cb">00113</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcanfilt__t.html">canfilt_t</a> <a class="code" href="canmsg_8h.html#ae251c330fbe1de3f3da3a949414d5cb">canfilt_t</a>;
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">/* Definitions to use for canmsg_t and canfilt_t flags */</span>
<a name="l00116"></a><a class="code" href="canmsg_8h.html#c6b14508549c3561cdf166125bdfde89">00116</a> <span class="preprocessor">#define MSG_RTR (1<<0)</span>
<a name="l00117"></a><a class="code" href="canmsg_8h.html#d55c25a32308fc3fa56e66a6a3325437">00117</a> <span class="preprocessor"></span><span class="preprocessor">#define MSG_OVR (1<<1)</span>
<a name="l00118"></a><a class="code" href="canmsg_8h.html#128f615ef49f3a1543e537de31c01c66">00118</a> <span class="preprocessor"></span><span class="preprocessor">#define MSG_EXT (1<<2)</span>
<a name="l00119"></a><a class="code" href="canmsg_8h.html#bee70d27877dd98917861854b815bbcf">00119</a> <span class="preprocessor"></span><span class="preprocessor">#define MSG_LOCAL (1<<3)</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span><span class="comment">/* If you change above lines, check canque_filtid2internal function */</span>
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="comment">/* Additional definitions used for canfilt_t only */</span>
<a name="l00123"></a><a class="code" href="canmsg_8h.html#c7700ece07c4432535d9c2f0bd80bb68">00123</a> <span class="preprocessor">#define MSG_FILT_MASK_SHIFT 8</span>
<a name="l00124"></a><a class="code" href="canmsg_8h.html#80417f42cd6475062fe663afdd68e3aa">00124</a> <span class="preprocessor"></span><span class="preprocessor">#define MSG_RTR_MASK (MSG_RTR<<MSG_FILT_MASK_SHIFT)</span>
<a name="l00125"></a><a class="code" href="canmsg_8h.html#528fe3daafae45b9c88c48631f2ecc72">00125</a> <span class="preprocessor"></span><span class="preprocessor">#define MSG_EXT_MASK (MSG_EXT<<MSG_FILT_MASK_SHIFT)</span>
<a name="l00126"></a><a class="code" href="canmsg_8h.html#812955c1243682049d28c2f1dccf316a">00126</a> <span class="preprocessor"></span><span class="preprocessor">#define MSG_LOCAL_MASK (MSG_LOCAL<<MSG_FILT_MASK_SHIFT)</span>
<a name="l00127"></a><a class="code" href="canmsg_8h.html#04ffeb2a735d56a5aba55991b32e984a">00127</a> <span class="preprocessor"></span><span class="preprocessor">#define MSG_PROCESSLOCAL (MSG_OVR<<MSG_FILT_MASK_SHIFT)</span>
<a name="l00128"></a>00128 <span class="preprocessor"></span>
<a name="l00129"></a>00129 <span class="comment">/* Can message ID mask */</span>
<a name="l00130"></a><a class="code" href="canmsg_8h.html#0f1f59219b1d9926cb0c22100ac71198">00130</a> <span class="preprocessor">#define MSG_ID_MASK ((1l<<29)-1)</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span>
<a name="l00132"></a>00132 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00133"></a>00133 <span class="preprocessor"></span>} <span class="comment">/* extern "C"*/</span>
<a name="l00134"></a>00134 <span class="preprocessor">#endif</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span>
<a name="l00136"></a>00136 <span class="preprocessor">#endif </span><span class="comment">/*_CANMSG_T_H*/</span>
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