canmsg.h

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/* canmsg.h - common kernel-space and user-space CAN message structure
 * Linux CAN-bus device driver.
 * Written by Pavel Pisa - OCERA team member
 * email:pisa@cmp.felk.cvut.cz
 * This software is released under the GPL-License.
 * Version lincan-0.3  17 Jun 2004
 */

#ifndef _CANMSG_T_H
#define _CANMSG_T_H

#ifdef __KERNEL__

#include <linux/time.h>
#include <linux/types.h>

#else /* __KERNEL__ */

#include <sys/time.h>
#include <sys/types.h>

#endif /* __KERNEL__ */

#ifdef __cplusplus
extern "C" {
#endif

/*
 * CAN_MSG_VERSION_2 enables new canmsg_t layout compatible with
 * can4linux project from http://www.port.de/
 *
 */
#define CAN_MSG_VERSION_2

/* Number of data bytes in one CAN message */
#define CAN_MSG_LENGTH 8

#ifdef CAN_MSG_VERSION_2

typedef struct timeval canmsg_tstamp_t ;

typedef unsigned long canmsg_id_t;

struct canmsg_t {
        int             flags;
        int             cob;
        canmsg_id_t     id;
        canmsg_tstamp_t timestamp;
        unsigned short  length;
        unsigned char   data[CAN_MSG_LENGTH];
};

#else /*CAN_MSG_VERSION_2*/
#ifndef PACKED
#define PACKED __attribute__((packed))
#endif
/* Old, deprecated version of canmsg_t structure */
struct canmsg_t {
        short           flags;
        int             cob;
        canmsg_id_t     id;
        unsigned long   timestamp;
        unsigned int    length;
        unsigned char   data[CAN_MSG_LENGTH];
} PACKED;
#endif /*CAN_MSG_VERSION_2*/

typedef struct canmsg_t canmsg_t;

struct canfilt_t {
        int             flags;
        int             queid;
        int             cob;
        canmsg_id_t     id;
        canmsg_id_t     mask;
};

typedef struct canfilt_t canfilt_t;

/* Definitions to use for canmsg_t and canfilt_t flags */
#define MSG_RTR   (1<<0)
#define MSG_OVR   (1<<1)
#define MSG_EXT   (1<<2)
#define MSG_LOCAL (1<<3)
/* If you change above lines, check canque_filtid2internal function */

/* Additional definitions used for canfilt_t only */
#define MSG_FILT_MASK_SHIFT   8
#define MSG_RTR_MASK   (MSG_RTR<<MSG_FILT_MASK_SHIFT)
#define MSG_EXT_MASK   (MSG_EXT<<MSG_FILT_MASK_SHIFT)
#define MSG_LOCAL_MASK (MSG_LOCAL<<MSG_FILT_MASK_SHIFT)
#define MSG_PROCESSLOCAL (MSG_OVR<<MSG_FILT_MASK_SHIFT)

/* Can message ID mask */
#define MSG_ID_MASK ((1l<<29)-1)

#ifdef __cplusplus
} /* extern "C"*/
#endif

#endif /*_CANMSG_T_H*/

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