can.h.svn-base

canpie 一个can bus的协议栈 - CAN interface for embedded control - CAN interface for PC (without local

//****************************************************************************//
// File:          can.h                                                       //
// Description:                                                               //
// Author:        Uwe Koppe                                                   //
// e-mail:        [e-mail]                                      //
//                                                                            //
//============================================================================//
// This program is free software; you can redistribute it and/or modify       //
// it under the terms of the GNU Lesser General Public License as published   //
// by the Free Software Foundation; either version 2.1 of the License, or     //
// (at your option) any later version.                                        //
//============================================================================//
//                                                                            //
// Date        History                                                        //
// ----------  -------------------------------------------------------------- //
// 05.07.2004  Initial version                                                //
//                                                                            //
//****************************************************************************//


#ifndef  _CAN_H_
#define  _CAN_H_


//------------------------------------------------------------------------------
// CVS version information:
// $Id: can.h,v 1.3 2005/06/17 13:46:31 microcontrol Exp $
//------------------------------------------------------------------------------


/*----------------------------------------------------------------------------*\
** Include files                                                              **
**                                                                            **
\*----------------------------------------------------------------------------*/

#ifdef __KERNEL__
#include <linux/types.h>   // data types uint8_t ... uint32_t, kernel space
#else
#include <stdint.h>        // data types uint8_t ... uint32_t, user space
#include <sys/ioctl.h>     // definition of SIOCPROTOPRIVATE
#endif


//-----------------------------------------------------------------------------
/*!   \file    can.h
**
**
*/


/*----------------------------------------------------------------------------*\
** Definitions                                                                **
**                                                                            **
\*----------------------------------------------------------------------------*/

#define  AF_CAN   28    // this definition needs to be moved into socket.h!


#define CAN_FRAME_CTRL_EXT    0x01
#define CAN_FRAME_CTRL_RTR    0x02



enum SIOC_CAN {
   SIOC_CAN_FIRST = SIOCPROTOPRIVATE,
   SIOC_CAN_SET_BITRATE = SIOC_CAN_FIRST,
   SIOC_CAN_GET_BITRATE,
   SIOC_CAN_SET_MODE,
   SIOC_CAN_GET_STATE,
   
   SIOC_CAN_SET_TRMFIFOSIZE,
   SIOC_CAN_SET_RCVFIFOSIZE,
   
   SIOC_CAN_LAST = SIOC_CAN_SET_RCVFIFOSIZE
};


/*----------------------------------------------------------------------------*\
** Structures                                                                 **
**                                                                            **
\*----------------------------------------------------------------------------*/





/*----------------------------------------------------------------------------*/
/*!
** \struct  can_frame   can.h
** \brief   CAN message structure
**
** For transmission and reception of CAN messages a structure which holds
** all necessary informations is used. The structure has the following
** fields:
*/
struct can_frame {
   
   /*!   The identifier field may have 11 bits for standard frames
   **    (CAN specification 2.0A) or 29 bits for extended frames
   **    (CAN specification 2.0B). The three most significant bits
   **    are reserved (always read 0).
   */
   union {
      uint16_t uwStd;
      uint32_t ulExt;
   } id;
   
   /*!   The data field has up to 8 bytes (64 bit) of message data.
   **    The number of used bytes is described via the structure
   **    member 'dlc'.
   */
   union {
      uint8_t  aubByte[8];
      uint16_t auwWord[4];
      uint32_t aulLong[2];
   } data;

   /*!   The data length code denotes the number of data bytes 
   **    which are transmitted by a message.
   **    The possible value range for the data length code is
   **    from 0 to 8 (bytes).
   */
   uint8_t  dlc;

   /*!   The structure member 'ctrl' defines the
   **    different data frames (2.0A / 2.0B) and the RTR frames.
   **    See definitions CAN_FRAME_CTRL_XXX.
   **    Bit 0: Extended Frame if set to 1, else Standard Frame
   **    Bit 1: Remote Frame if set to 1, else Data Frame
   */
   uint8_t  ctrl;
   
};


struct sockaddr_can {
   
   /*!
   ** address family (AF_CAN)
   */
   sa_family_t    can_family;

   
   /*!
   ** logical CAN interface number, compliant to CANpie 
   ** first CAN interface number starts at 0
   */
   uint16_t       can_if;

   /* CAN_PROTO_RAW-specific */
   int32_t        can_id;
};


/*----------------------------------------------------------------------------*/
/*!
** \struct  can_bit_timing   can.h
** \brief   Bit timing structure
** 
*/
struct can_bit_timing {
   
   /*!   holds the value from enum CP_BAUD
   */
   uint8_t        ubBaudSel;
   
   /*!   Bit timing register 0
   */
   uint8_t        ubBtr0;

   /*!   Bit timing register 1
   */
   uint8_t        ubBtr1;

   /*!   Syncronisation jump width
   */
   uint8_t        ubSjw;
};


/*----------------------------------------------------------------------------*\
** Function prototypes                                                        **
**                                                                            **
\*----------------------------------------------------------------------------*/




#endif   /* _CAN_H_ */