-#ifndef _CANMSG_T_H
-#define _CANMSG_T_H
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
+/* can.h
+ * Header file for the Linux CAN-bus driver.
+ * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
+ * Rewritten for new CAN queues 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 PACKED
-#define PACKED __attribute__((packed))
-#endif
+#ifndef _CAN_DRVAPI_T_H
+#define _CAN_DRVAPI_T_H
-#define CAN_MSG_LENGTH 8
+#ifdef __KERNEL__
-/**
- * struct canmsg_t - structure representing CAN message
- * @flags: message flags
- * %MSG_RTR .. message is Remote Transmission Request,
- * %MSG_EXT .. message with extended ID,
- * %MSG_OVR .. indication of queue overflow condition,
- * %MSG_LOCAL .. message originates from this node.
- * @cob: communication object number (not used)
- * @id: ID of CAN message
- * @timestamp: not used
- * @length: length of used data
- * @data: data bytes buffer
- *
- * Header: can.h
- */
-struct canmsg_t {
- short flags;
- int cob;
- unsigned long id;
- unsigned long timestamp;
- unsigned int length;
- unsigned char data[CAN_MSG_LENGTH];
-} PACKED;
+#include <linux/time.h>
+#include <linux/types.h>
+#include <linux/ioctl.h>
-/**
- * struct canfilt_t - structure for acceptance filter setup
- * @flags: message flags
- * %MSG_RTR .. message is Remote Transmission Request,
- * %MSG_EXT .. message with extended ID,
- * %MSG_OVR .. indication of queue overflow condition,
- * %MSG_LOCAL .. message originates from this node.
- * there are corresponding mask bits
- * %MSG_RTR_MASK, %MSG_EXT_MASK, %MSG_LOCAL_MASK.
- * %MSG_PROCESSLOCAL enables local messages processing in the
- * combination with global setting
- * @queid: CAN queue identification in the case of the multiple
- * queues per one user (open instance)
- * @cob: communication object number (not used)
- * @id: selected required value of cared ID id bits
- * @mask: select bits significand for the comparation;
- * 1 .. take care about corresponding ID bit, 0 .. don't care
- *
- * Header: can.h
- */
-struct canfilt_t {
- int flags;
- int queid;
- int cob;
- unsigned long id;
- unsigned long mask;
-};
+#else /* __KERNEL__ */
-/* 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 */
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/ioctl.h>
-/* 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)
+#endif /* __KERNEL__ */
+#include "./canmsg.h"
-/* Can message ID mask */
-#define MSG_ID_MASK ((1l<<29)-1)
+#ifdef __cplusplus
+extern "C" {
+#endif
/* CAN ioctl magic number */
#define CAN_IOC_MAGIC 'd'
typedef unsigned long bittiming_t;
typedef unsigned short channel_t;
+/**
+ * struct can_baudparams_t - datatype for calling CONF_BAUDPARAMS IOCTL
+ * @flags: reserved for additional flags for chip configuration, should be written -1 or 0
+ * @baudrate: baud rate in Hz
+ * @sjw: synchronization jump width (0-3) prescaled clock cycles
+ * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
+ *
+ * The structure is used to configure new set of parameters into CAN controller chip.
+ * If default value of some field should be preserved, fill field by value -1.
+ */
+struct can_baudparams_t {
+ long flags;
+ long baudrate;
+ long sjw;
+ long sample_pt;
+};
+
/* CAN ioctl functions */
+#define CAN_DRV_QUERY _IO(CAN_IOC_MAGIC, 0)
+#define CAN_DRV_QRY_BRANCH 0 /* returns driver branch value - "LINC" for LinCAN driver */
+#define CAN_DRV_QRY_VERSION 1 /* returns driver version as (major<<16) | (minor<<8) | patch */
+#define CAN_DRV_QRY_MSGFORMAT 2 /* format of canmsg_t structure */
+
#define CMD_START _IOW(CAN_IOC_MAGIC, 1, channel_t)
#define CMD_STOP _IOW(CAN_IOC_MAGIC, 2, channel_t)
//#define CMD_RESET 3
#define STAT _IO(CAN_IOC_MAGIC, 9)
#define CANQUE_FILTER _IOW(CAN_IOC_MAGIC, 10, struct canfilt_t)
#define CANQUE_FLUSH _IO(CAN_IOC_MAGIC, 11)
+#define CONF_BAUDPARAMS _IOW(CAN_IOC_MAGIC, 11, struct can_baudparams_t)
+#define CANRTR_READ _IOWR(CAN_IOC_MAGIC, 12, struct canmsg_t)
+
+#ifdef __cplusplus
+} /* extern "C"*/
+#endif
-#endif /*_CANMSG_T_H*/
+#endif /*_CAN_DRVAPI_T_H*/
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