X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/659b098309c2bca57ac60a35a1b9900d6f28e74d..04ac67cc3cac14cd601daacd0592121ec0b84012:/lincan/include/can.h

diff --git a/lincan/include/can.h b/lincan/include/can.h
index 8247c35..c758e5e 100644
--- a/lincan/include/can.h
+++ b/lincan/include/can.h
@@ -1,84 +1,60 @@
-#ifndef _CANMSG_T_H
-#define _CANMSG_T_H
-
+/**************************************************************************/
+/* File: can.h - CAN driver IOCTL and messages interface                  */
+/*                                                                        */
+/* LinCAN - (Not only) Linux CAN bus driver                               */
+/* Copyright (C) 2002-2009 DCE FEE CTU Prague <http://dce.felk.cvut.cz>   */
+/* Copyright (C) 2002-2009 Pavel Pisa <pisa@cmp.felk.cvut.cz>             */
+/* Funded by OCERA and FRESCOR IST projects                               */
+/* Based on CAN driver code by Arnaud Westenberg <arnaud@wanadoo.nl>      */
+/*                                                                        */
+/* LinCAN is free software; you can redistribute it and/or modify it      */
+/* under terms of the GNU General Public License as published by the      */
+/* Free Software Foundation; either version 2, or (at your option) any    */
+/* later version.  LinCAN is distributed in the hope that it will be      */
+/* useful, but WITHOUT ANY WARRANTY; without even the implied warranty    */
+/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU    */
+/* General Public License for more details. You should have received a    */
+/* copy of the GNU General Public License along with LinCAN; see file     */
+/* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,  */
+/* Cambridge, MA 02139, USA.                                              */
+/*                                                                        */
+/* To allow use of LinCAN in the compact embedded systems firmware        */
+/* and RT-executives (RTEMS for example), main authors agree with next    */
+/* special exception:                                                     */
+/*                                                                        */
+/* Including LinCAN header files in a file, instantiating LinCAN generics */
+/* or templates, or linking other files with LinCAN objects to produce    */
+/* an application image/executable, does not by itself cause the          */
+/* resulting application image/executable to be covered by                */
+/* the GNU General Public License.                                        */
+/* This exception does not however invalidate any other reasons           */
+/* why the executable file might be covered by the GNU Public License.    */
+/* Publication of enhanced or derived LinCAN files is required although.  */
+/**************************************************************************/
+
+#ifndef _CAN_DRVAPI_T_H
+#define _CAN_DRVAPI_T_H
+
+#ifdef __KERNEL__
+
+#include <linux/time.h>
 #include <linux/types.h>
 #include <linux/ioctl.h>
 
-#ifndef PACKED
-#define PACKED __attribute__((packed))
-#endif
-
-#define CAN_MSG_LENGTH 8
+#else /* __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;
-
-/**
- * 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;
-};
+#include <inttypes.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/ioctl.h>
 
-/* 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 */
+#endif /* __KERNEL__ */
 
-/* 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)
+#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'
@@ -86,7 +62,29 @@ struct canfilt_t {
 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
@@ -104,5 +102,11 @@ typedef unsigned short channel_t;
 #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*/