can4linux.h

/*
 * 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) 2001-2011 oe @ port GmbH Halle/Saale
 * Copyright (c) 2013 Heinz-Jürgen Oertel <hj.oertel@t-online.de>
 *------------------------------------------------------------------
 *
 */


#ifndef __CAN_H
#define __CAN_H


#define CAN4LINUXVERSION 0x0403 /* Version 4.3 */

#ifndef __KERNEL__
#include <sys/time.h>
#endif
 /*---------- the can message structure */

#if defined CANFD
# define CAN_MSG_LENGTH 64              
#else
# define CAN_MSG_LENGTH 8               
#endif


/* values of the canmsg.flags field */
#define MSG_ACTIVE      (0)             
#define MSG_BASE        (0)             
#define MSG_RTR         (1<<0)          
#define MSG_OVR         (1<<1)          
#define MSG_EXT         (1<<2)          
#define MSG_SELF        (1<<3)          
#define MSG_PASSIVE     (1<<4)          
#define MSG_BUSOFF      (1<<5)          
#define MSG_WARNING     (1<<6)          
#define MSG_BOVR        (1<<7)          
#define MSG_CANFD       (1<<8)          
#define MSG_RESI        (1<<9)          
#define MSG_ERR_MASK    (MSG_OVR+MSG_PASSIVE+MSG_BUSOFF+MSG_BOVR+MSG_WARNING)


/* valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK 0x000007FFU        /* base frame format (SFF) */
#define CAN_EFF_MASK 0x1FFFFFFFU        /* extended frame format (EFF) */
#define CANDRIVERERROR  0xFFFFFFFFul    /* invalid CAN ID == Error */

typedef struct {
        int             flags;
        int             cob;     
        unsigned   long id;      
        struct timeval  timestamp;      
        short      int  length;  
        unsigned   char data[CAN_MSG_LENGTH];
} canmsg_t;



/* Use 'c' as magic number, follow chapter 6 of LDD3 */
#define CAN4L_IOC_MAGIC 'c'

#define CAN_IOCTL_COMMAND       0       
#define CAN_IOCTL_CONFIG        1       
#define CAN_IOCTL_SEND          2       
#define CAN_IOCTL_CONFIGURERTR  4       
#define CAN_IOCTL_STATUS        5       
/*---------- CAN ioctl parameter types */

struct command_par {
        int cmd;                        
        int target;                     
        unsigned long val1;             
        unsigned long val2;             
        int error;                      
        unsigned long retval;           
};


typedef struct command_par command_par_t; 
typedef struct command_par config_par_t; 
typedef struct can_statuspar {
        unsigned int baud;              
        unsigned int status;            
        unsigned int error_warning_limit;       
        unsigned int rx_errors;         
        unsigned int tx_errors;         
        unsigned int error_code;        
        unsigned int rx_buffer_size;    
        unsigned int rx_buffer_used;    
        unsigned int tx_buffer_size;    
        unsigned int tx_buffer_used;    
        unsigned long retval;           
        unsigned int type;              
} can_statuspar_t;

#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
#define CAN_TYPE_BlackFinCAN    6
#define CAN_TYPE_AT91SAM9263    7
#define CAN_TYPE_MCP2515        8
#define CAN_TYPE_XCANPS         9
#define CAN_TYPE_DCAN           10
#define CAN_TYPE_IFI_CAN_FD     11
#define CAN_TYPE_VIRTUAL        100


typedef struct send_par {
        canmsg_t *tx;                   
        int error;                      
        unsigned long retval;           
} send_par_t;

typedef struct receive_par {
        canmsg_t *rx;                   
        int error;                      
        unsigned long retval;           
} receive_par_t;

typedef struct configure_rtr_par {
        unsigned message;               
        canmsg_t *tx;                   
        int error;                      
        unsigned long retval;           
} configure_rtr_par_t;

# define CMD_START              1
# define CMD_STOP               2
# define CMD_RESET              3
# define CMD_CLEARBUFFERS       4
# define CMD_CTRL_LED           5 /* on board LEDS */
# define CMD_CTRL_TERM          6 /* termination resistor */


/* LEDs on Interface Boards (can4linux-examples/canled.c) */
enum can_led_color {
                green  = 1,
                yellow = 2,
                red    = 4
            };
enum can_led_state {
                off = 0,
                on
            };

enum can_termination_state {
                term_off = 0,
                term_on
            };


# 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
# define CONF_LISTEN_ONLY_MODE  8       /* for SJA1000 PeliCAN */
# define CONF_SELF_RECEPTION    9       /* */
# define CONF_BTR               10      /* set direct bit timing registers
                                           (SJA1000) */
# define CONF_TIMESTAMP         11      /* use TS in received messages */
# define CONF_WAKEUP            12      /* wake up processes */
# define CONF_SPEEDFACTOR       13      /* speedfactor for CAN-FD second bitrate*/

# define  CONF_ACC1     100             /* for addidional code/mask settings */
# define  CONF_ACC2     101             /* for addidional code/mask settings */
# define  CONF_ACC3     102             /* for addidional code/mask settings */
# define  CONF_ACC4     103             /* for addidional code/mask settings */
# define  CONF_ACC5     104             /* for addidional code/mask settings */
# define  CONF_ACC6     105             /* for addidional code/mask settings */
# define  CONF_ACC7     106             /* for addidional code/mask settings */

#endif  /* __CAN_H */