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