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/* canio.h
**
** Copyright (c) 2001-2015 by electronic system design gmbh
**
** This software is copyrighted by and is the sole property of
** esd gmbh. All rights, title, ownership, or other interests
** in the software remain the property of esd gmbh. This
** software may only be used in accordance with the corresponding
** license agreement. Any unauthorized use, duplication, transmission,
** distribution, or disclosure of this software is expressly forbidden.
**
** This Copyright notice may not be removed or modified without prior
** written consent of esd gmbh.
**
** esd gmbh, reserves the right to modify this software without notice.
**
** electronic system design gmbh Tel. +49-511-37298-0
** Vahrenwalder Str 205 Fax. +49-511-37298-68
** 30165 Hannover http://www.esd.eu
** Germany support@esd.eu
**
**
** user-header for io-control for esd-can-driver linux
**
*/
#ifndef __CANIO_H__
#define __CANIO_H__
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
#include <linux/ioctl.h>
/* Following define is used to en-/disable code on non-64-Bit platforms */
#define PLATFORM_64BIT defined(__ppc64__) || defined(__x86_64__)
#ifdef __KERNEL__
# define CANIO_UINT8 u8
# define CANIO_INT8 s8
# define CANIO_UINT16 u16
# define CANIO_INT16 s16
# define CANIO_UINT32 u32
# define CANIO_INT32 s32
# define CANIO_UINT64 u64
# define CANIO_INT64 s64
#else
# include <stdint.h>
# define CANIO_UINT8 uint8_t
# define CANIO_INT8 int8_t
# define CANIO_UINT16 uint16_t
# define CANIO_INT16 int16_t
# define CANIO_UINT32 uint32_t
# define CANIO_INT32 int32_t
# define CANIO_UINT64 uint64_t
# define CANIO_INT64 int64_t
#endif
/* CAN-id-regions */
#define CANIO_IDS_REGION_20A 0
#define CANIO_IDS_REGION_20B 1
#define CANIO_IDS_REGION_EV 2
/* FJ: 2013-04-11
* EtherCAN server still needs this ...
*/
typedef struct {
int32_t id1st;
int32_t idlst;
} CAN_IDSET;
#define CANIO_20B_BASE 0x20000000
/* CAN-id-values (11-Bit/20a) */
#define CANIO_IDS 0x800 /* range of 20a-IDs */
#define CANIO_ID_BASE 0x00000000
#define CANIO_ID_LAST (CANIO_ID_BASE+CANIO_IDS-1)
/* CAN-id-values (29-Bit/20b) */
#define CANIO_IDS_20B 0x20000000 /* range of 20b-IDs */
#define CANIO_ID_20B_BASE 0x20000000
#define CANIO_ID_20B_LAST (CANIO_ID_20B_BASE+CANIO_IDS_20B-1)
#define CANIO_ID_INVALID 0xFFFFFFFF
/* CAN-event-id-values */
#define CANIO_EVS 0x100 /* range of events */
#define CANIO_EV_BASE 0x40000000
#define CANIO_EV_CAN_ERROR CANIO_EV_BASE
#define CANIO_EV_BAUD_CHANGE (CANIO_EV_BASE + 0x01)
#define CANIO_EV_CAN_ERROR_EXT (CANIO_EV_BASE + 0x02)
#define CANIO_EV_BUSLOAD (CANIO_EV_BASE + 0x03)
#define CANIO_EV_CAN_DEFERRED_TX (CANIO_EV_BASE + 0x30)
#define CANIO_EV_ECHO(NR) (CANIO_EV_BASE + 0x40 + ((NR) & 0x1F))
#define CANIO_EV_ECHO_FIRST (CANIO_EV_BASE + 0x40)
#define CANIO_EV_ECHO_LAST (CANIO_EV_BASE + 0x5F)
#define CANIO_EV_DNET_EVPOLL (CANIO_EV_BASE + 0x7C)
#define CANIO_EV_DNET_EVEXPL (CANIO_EV_BASE + 0x7D)
#define CANIO_EV_DNET_EV (CANIO_EV_BASE + 0x7E)
#define CANIO_EV_DNET_CALL (CANIO_EV_BASE + 0x7F)
#define CANIO_EV_USER (CANIO_EV_BASE + 0x80)
#define CANIO_EV_TEMP (CANIO_EV_USER + 0x01) /* D31 events */
#define CANIO_EV_WATCHDOG (CANIO_EV_USER + 0x05) /* D31 events */
#define CANIO_EV_STOP_RELAIS (CANIO_EV_USER + 0x08)
#define CANIO_EV_TEMP_SENSOR (CANIO_EV_USER + 0x0A) /* D31 events */
#define CANIO_EV_ARINC_TIMER (CANIO_EV_USER + 0x20) /* Events used on CAN-xxx/400 */
#define CANIO_EV_ARINC_TIME_SET (CANIO_EV_USER + 0x21) /* Events used on CAN-xxx/400 */
#define CANIO_EV_ARINC_INTERVAL_SET (CANIO_EV_USER + 0x22) /* Events used on CAN-xxx/400 */
#define CANIO_EV_ARINC_INTERVAL_GET (CANIO_EV_USER + 0x23) /* Events used on CAN-xxx/400 */
#define CANIO_EV_ARINC_START_SET (CANIO_EV_USER + 0x24) /* Events used on CAN-xxx/400 */
#define CANIO_EV_ARINC_START_GET (CANIO_EV_USER + 0x25) /* Events used on CAN-xxx/400 */
#define CANIO_EV_ARINC_START (CANIO_EV_USER + 0x26) /* Events used on CAN-xxx/400 */
#define CANIO_EV_ARINC_STOP (CANIO_EV_USER + 0x27) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_STATUS (CANIO_EV_USER + 0x28) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_CONFIG (CANIO_EV_USER + 0x29) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_SCRATCH (CANIO_EV_USER + 0x2A) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_FRAME_LOW (CANIO_EV_USER + 0x2B) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_FRAME_HIGH (CANIO_EV_USER + 0x2C) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_FWINFO_1 (CANIO_EV_USER + 0x2D) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_FWINFO_2 (CANIO_EV_USER + 0x2E) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_FWINFO_3 (CANIO_EV_USER + 0x2F) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_INFO_1 (CANIO_EV_USER + 0x30) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_INFO_2 (CANIO_EV_USER + 0x31) /* Events used on CAN-xxx/400 */
#define CANIO_EV_IRIGB_1PPS (CANIO_EV_USER + 0x32) /* Events used on CAN-xxx/400 */
/* #define CANIO_EV_ECHO (CANIO_EV_USER + 0x3F)*//* only defined in <win32/canio.h> */
#define CANIO_EV_WATCHDOG_RESET (CANIO_EV_USER + 0x45) /* D31 events */
#define CANIO_EV_TEMP_RANGE (CANIO_EV_USER + 0x46) /* D31 events */
#define CANIO_EV_PXI_CLOCK_SOURCE (CANIO_EV_USER + 0x50) /* Events used on CAN-xxx/400 */
#define CANIO_EV_PXI_STARTRIGGER_CONF (CANIO_EV_USER + 0x51) /* Events used on CAN-xxx/400 */
#define CANIO_EV_LAST (CANIO_EV_BASE + 0xFF)
#define CANIO_DN_BASE 0x41000000
#define CANIO_DN_LAST 0x41FFFFFF
/*
* Flags in CMSG's <len> field
*/
#define CANIO_RTR 0x10 /* CAN message is RTR */
/* -> NTCAN_FD bit not set */
#define CANIO_ERR_PASSIVE 0x10 /* Sender is error passive */
/* -> NTCAN_FD bit set */
#define CANIO_NO_DATA 0x20 /* No updated data */
/* -> Object mode handle */
#define CANIO_INTERACTION 0x20 /* Interaction data */
/* -> FIFO mode handle */
#define CANIO_MARK_TX_ERROR 0x40 /* TX done with error in */
/* local-echo mode */
#define CANIO_FD 0x80 /* Frame is CAN-FD message */
#define CANIO_AUTO_ANSWER_VALID 0x20 /* Used only in 2.x driver !!! */
#define CANIO_DLC(len) ((len) & 0x0F)
#define CANIO_DLC_AND_TYPE(len) ((len) & (0x0F | CANIO_RTR))
#define CANIO_IS_RTR(len) (((len) & (CANIO_FD | CANIO_RTR)) == CANIO_RTR)
#define CANIO_IS_INTERACTION(len) ((len) & CANIO_INTERACTION)
#define CANIO_IS_FD(len) ((len) & CANIO_FD)
#define CANIO_IS_FD_ERR_PASSIVE(len) (((len) & (CANIO_FD | CANIO_ERR_PASSIVE)) == \
(CANIO_FD | CANIO_ERR_PASSIVE))
#define CANIO_LEN_TO_DATASIZE(len) __canLenToDataSize((len))
static __inline__ uint8_t __rotl8(uint8_t value, uint8_t shift)
{
return (value << shift) | (value >> (8 - shift));
}
static __inline__ uint8_t __canLenToDataSize(uint8_t len) {
static const uint8_t ucLenCan[] = {
0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7,
8, 8, 8, 12, 8, 16, 8, 20, 8, 24, 8, 32, 8, 48, 8, 64,
0, 0, 0, 1, 0, 2, 0, 3, 0, 4, 0, 5, 0, 6, 0, 7,
0, 8, 0, 12, 0, 16, 0, 20, 0, 24, 0, 32, 0, 48, 0, 64
};
return(ucLenCan[__rotl8(len, 1) & 0x3F]);
}
#define CANIO_MAX_TX_QUEUESIZE 0x4000
#define CANIO_MAX_RX_QUEUESIZE 0x4000
#define CANIO_MAX_TX_TIMEOUT 0xFFFF
#define CANIO_MAX_RX_TIMEOUT 0xFFFF
/*
* Bits for baudrate configuration (must be in sync with ntcan.h)
*
* The MSB of the baudrate constant is reserved to indicate the
* meaning of the lower 24 bits. The two macros CANIO_BAUD_MODE()
* and CANIO_BAUD_ARG() can be used to mask either the mode bits
* or the argument.
*
* In addition there is a special constant to indicate an unconfigured
* CAN controller.
*/
#define CANIO_BAUD_NOT_SET 0x7FFFFFFF
#define CANIO_USER_BAUD 0x80000000
#define CANIO_LISTEN_ONLY_MODE 0x40000000
#define CANIO_USER_BAUD_NUM 0x20000000
#define CANIO_AUTOBAUD 0x00FFFFFE
#define CANIO_AUTOBAUD_OLD 0x7FFFFFFE /* Old autobaud constant used */
/* in drivers prior V3.8.3 */
#define CANIO_NO_IMPLICIT_CLK_DIV 0x00000800
#define CANIO_BAUD_ARG(baud) ((baud) & 0x00FFFFFF)
#define CANIO_BAUD_MODE(baud) ((baud) & 0xFF000000)
/* Defines to decode CAN controller type, as delivered by canStatus(), etc. */
#define CANIO_CANCTL_SJA1000 0x00
#define CANIO_CANCTL_I82527 0x01
#define CANIO_CANCTL_FUJI 0x02
#define CANIO_CANCTL_LPC2292 0x03
#define CANIO_CANCTL_LPC17XX CANIO_CANCTL_LPC2292
#define CANIO_CANCTL_MSCAN 0x04
#define CANIO_CANCTL_ATSAM 0x05
#define CANIO_CANCTL_ESDACC 0x06
#define CANIO_CANCTL_STM32 0x07
#define CANIO_CANCTL_CC770 0x08
#define CANIO_CANCTL_SPEAR 0x09
#define CANIO_CANCTL_FLEXCAN 0x0A
#define CANIO_CANCTL_SITARA 0x0B
#define CANIO_CANCTL_MCP2515 0x0C
#define CANIO_CANCTL_MCAN 0x0D
/* Defines for CAN transceiver types */
#define CANIO_TRX_PCA82C251 0x00 /* NXP PCA82C251 */
#define CANIO_TRX_SN65HVD251 0x01 /* TI SN65HVD251 */
#define CANIO_TRX_SN65HVD265 0x02 /* TI SN65HVD265 */
/*********************************************************************
* IO-controls *
*********************************************************************/
/*
* Define own private IOCTL for "candev"-driver
*/
#define IOCTL_CAN_SET_ID 1
#define IOCTL_CAN_SET_BAUD 2
#define IOCTL_CAN_SET_MODE 3
#define IOCTL_CAN_SET_TIMEOUT 4
#define IOCTL_CAN_SEND 5
#define IOCTL_CAN_TAKE 7
#define IOCTL_CAN_UPDATE 8
#define IOCTL_CAN_SET_QUEUESIZE 9 /* Also used to distinguish old and new driver */
#define IOCTL_CAN_TX_BUFFER 10
#define IOCTL_CAN_RX_BUFFER 11
#define IOCTL_CAN_DEBUG 12
#define IOCTL_CAN_GET_BAUD 17
#define IOCTL_CAN_SEND_DEVNET 18
#define IOCTL_CAN_FLUSH_RX_FIFO 19
#define IOCTL_CAN_GET_RX_MESSAGES 20
#define IOCTL_CAN_GET_RX_TIMEOUT 21
#define IOCTL_CAN_GET_TX_TIMEOUT 22
#define IOCTL_CAN_ABORT 23
#define IOCTL_CAN_GET_SERIAL 24
#define IOCTL_CAN_RAW 250
/*
* Structures used as args for "candev"-ioctls
*/
/*
* IOCTL_CAN_SET_BAUD:
* arg = CAN_BAUDSET*
* Values for baud-argument:
* baud = int 0 = 1000.0 kBit/s
* 1 = 666.6 kBit/s
* 2 = 500.0 kBit/s
* 3 = 333.3 kBit/s
* 4 = 250.0 kBit/s
* 5 = 166.0 kBit/s
* 6 = 125.0 kBit/s
* 7 = 100.0 kBit/s
* 8 = 66.6 kBit/s
* 9 = 50.0 kBit/s
* 10 = 33.3 kBit/s
* 11 = 20.0 kBit/s
* 12 = 12.5 kBit/s
* 13 = 10.0 kBit/s
* 14 = 800.0 kBit/s
* 15 = 1600.0 kBit/s
* 16 = 83.3 kBit/s
*/
typedef struct /* structure for baud setting */
{
int32_t net; /* net number */
int32_t baud; /* baudrate */
} CAN_BAUDSET, *PCAN_BAUDSET;
typedef union {
uint64_t tick;
#if ( defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) ) || ( !defined(__BYTE_ORDER) && defined(__BIG_ENDIAN))
struct {
uint32_t HighPart;
uint32_t LowPart;
} h;
#endif /* __BIG_ENDIAN */
#if ( defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN) ) || ( !defined(__BYTE_ORDER) && defined(__LITTLE_ENDIAN))
struct {
uint32_t LowPart;
uint32_t HighPart;
} h;
#endif /* __LITTLE_ENDIAN */
} CAN_TIMESTAMP, CAN_TIMESTAMP_FREQ;
/*
* arg = CAN_MSG*
*/
typedef struct { /* structure for action-routines */
int32_t id; /* id of can-frame or event-id */
uint8_t len; /* count of data-bytes (0...8) */
uint8_t msg_lost; /* message-lost-counter */
uint8_t reserved[2]; /* reserved for future */
union { /* data-buffer */
int8_t c[8];
int16_t s[4];
int32_t l[2];
int64_t ll[1];
} buf;
} CAN_MSG, *PCAN_MSG;
typedef struct {
int32_t id; /* can-id */
uint8_t len; /* length of message: 0-8 */
uint8_t msg_lost; /* count of lost rx-messages */
uint8_t reserved[2]; /* reserved */
union { /* data-buffer */
int8_t c[8];
int16_t s[4];
int32_t l[2];
int64_t ll[1];
} buf;
CAN_TIMESTAMP timestamp; /* time stamp of this message */
} CAN_MSG_T, *PCAN_MSG_T;
typedef struct {
int32_t id; /* can-id */
uint8_t len; /* length of message: 0-8 */
uint8_t msg_lost; /* count of lost rx-messages */
uint8_t reserved[2]; /* reserved */
union { /* data-buffer */
int8_t c[64];
int16_t s[32];
int32_t l[16];
int64_t ll[8];
} buf;
CAN_TIMESTAMP timestamp; /* time stamp of this message */
} CAN_MSG_X, *PCAN_MSG_X;
typedef struct _CAN_SCHED
{
int32_t id;
int32_t flags;
uint64_t time_start;
uint64_t time_interval;
uint32_t countStart; /* Start value for counting */
uint32_t countStop; /* Stop value for counting. After reaching this
value, the counter is loaded with the countStart value. */
} CAN_SCHED;
/*
* IOCTL_CAN_SET_QUEUESIZE:
* arg = CAN_QUEUE*
*/
typedef struct {
int32_t tx_size; /* queuesize for tx-direction */
int32_t rx_size; /* queuesize for rx-direction */
} CAN_QUEUE, *PCAN_QUEUE;
#pragma pack(1)
typedef struct { /* structure for action-routines */
uint32_t id; /* 0x40/0x01/macid/len of dnet req */
uint16_t x1; /* para2 */
uint16_t x2; /* para2 */
union { /* data-buffer */
int8_t c[8];
int16_t s[4];
int32_t l[2];
int64_t ll[1];
} buf;
} DNET_MSG, *PDNET_MSG;
#pragma pack()
/*
* Define own private IOCTL for "esdcan"-driver
* AB: To esd developers:
* Don't forget to add the "_32-defines" (for 64-platforms)
* and additions to esdcan_unregister_ioctl32() and
* esdcan_register_ioctl32() in esdcan.c, when adding new IOCTLs.
*/
#define IOCTL_BASE 'C'
#define IOCTL_ESDCAN_CREATE _IOW (IOCTL_BASE, 0, IOCTL_ARG*)
#define IOCTL_ESDCAN_ID_RANGE_ADD _IOW (IOCTL_BASE, 1, IOCTL_ARG*)
#define IOCTL_ESDCAN_ID_RANGE_DEL _IOW (IOCTL_BASE, 2, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_BAUD _IOW (IOCTL_BASE, 3, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_MODE _IOW (IOCTL_BASE, 4, IOCTL_ARG*) /* AB: DEPRECATED/REMOVED, not needed in esdcan (candev legacy)*/
#define IOCTL_ESDCAN_SET_TIMEOUT _IOW (IOCTL_BASE, 5, IOCTL_ARG*)
#define IOCTL_ESDCAN_SEND _IOW (IOCTL_BASE, 6, IOCTL_ARG*)
#define IOCTL_ESDCAN_TAKE _IOR (IOCTL_BASE, 7, IOCTL_ARG*)
#define IOCTL_ESDCAN_DEBUG _IOWR (IOCTL_BASE, 9, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_BAUD _IOR (IOCTL_BASE, 10, IOCTL_ARG*)
#define IOCTL_ESDCAN_DESTROY _IO (IOCTL_BASE, 11)
#define IOCTL_ESDCAN_DESTROY_DEPRECATED _IOW (IOCTL_BASE, 11, unsigned long) /* Compatibility to libs <= 3.0.7 */
#define IOCTL_ESDCAN_TX_ABORT _IOW (IOCTL_BASE, 12, IOCTL_ARG*)
#define IOCTL_ESDCAN_RX_ABORT _IOW (IOCTL_BASE, 13, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_CREATE _IOW (IOCTL_BASE, 16, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_UPDATE _IOW (IOCTL_BASE, 17, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF _IOW (IOCTL_BASE, 18, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_DESTROY _IOW (IOCTL_BASE, 19, IOCTL_ARG*)
#define IOCTL_ESDCAN_RX_OBJ _IOW (IOCTL_BASE, 20, IOCTL_ARG*)
#define IOCTL_ESDCAN_READ _IOWR (IOCTL_BASE, 21, IOCTL_ARG*)
#define IOCTL_ESDCAN_WRITE _IOWR (IOCTL_BASE, 22, IOCTL_ARG*)
#define IOCTL_ESDCAN_UPDATE _IOW (IOCTL_BASE, 23, IOCTL_ARG*)
#define IOCTL_ESDCAN_FLUSH_RX_FIFO _IO (IOCTL_BASE, 24)
#define IOCTL_ESDCAN_FLUSH_RX_FIFO_DEPRECATED _IOW (IOCTL_BASE, 24, unsigned long) /* Compatibility to libs <= 3.0.7 */
#define IOCTL_ESDCAN_GET_RX_MESSAGES _IOR (IOCTL_BASE, 25, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_RX_TIMEOUT _IOR (IOCTL_BASE, 26, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_TX_TIMEOUT _IOR (IOCTL_BASE, 27, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_TIMESTAMP_FREQ _IOR (IOCTL_BASE, 28, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_TIMESTAMP _IOR (IOCTL_BASE, 29, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_TICKS_FREQ _IOR (IOCTL_BASE, 30, IOCTL_ARG*) /* BL: DEPRECATED/REMOVED, use IOCTL_ESDCAN_GET_TIMESTAMP_FREQ */
#define IOCTL_ESDCAN_GET_TICKS _IOR (IOCTL_BASE, 31, IOCTL_ARG*) /* BL: DEPRECATED/REMOVED, use IOCTL_ESDCAN_GET_TIMESTAMP */
#define IOCTL_ESDCAN_SEND_T _IOW (IOCTL_BASE, 32, IOCTL_ARG*)
#define IOCTL_ESDCAN_WRITE_T _IOW (IOCTL_BASE, 33, IOCTL_ARG*)
#define IOCTL_ESDCAN_TAKE_T _IOWR (IOCTL_BASE, 34, IOCTL_ARG*)
#define IOCTL_ESDCAN_READ_T _IOWR (IOCTL_BASE, 35, IOCTL_ARG*)
#define IOCTL_ESDCAN_PURGE_TX_FIFO _IO (IOCTL_BASE, 36)
#define IOCTL_ESDCAN_PURGE_TX_FIFO_DEPRECATED _IOW (IOCTL_BASE, 36, unsigned long) /* Compatibility to libs <= 3.0.7 */
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON _IOW (IOCTL_BASE, 37, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_RX_TIMEOUT _IOW (IOCTL_BASE, 38, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_TX_TIMEOUT _IOW (IOCTL_BASE, 39, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_FEATURES _IOR (IOCTL_BASE, 40, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_SCHEDULE _IOW (IOCTL_BASE, 41, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_SCHEDULE_START _IO (IOCTL_BASE, 42)
#define IOCTL_ESDCAN_TX_OBJ_SCHEDULE_STOP _IO (IOCTL_BASE, 43)
#define IOCTL_ESDCAN_SET_20B_HND_FILTER _IOW (IOCTL_BASE, 44, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_SERIAL _IOR (IOCTL_BASE, 45, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_ALT_RTR_ID _IO (IOCTL_BASE, 46)
#define IOCTL_ESDCAN_SET_BUSLOAD_INTERVAL _IOW (IOCTL_BASE, 47, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_BUSLOAD_INTERVAL _IOR (IOCTL_BASE, 48, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_BITRATE_DETAILS _IOR (IOCTL_BASE, 49, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_BUS_STATISTIC _IOR (IOCTL_BASE, 50, IOCTL_ARG*)
#define IOCTL_ESDCAN_RESET_BUS_STATISTIC _IO (IOCTL_BASE, 51)
#define IOCTL_ESDCAN_GET_ERROR_COUNTER _IOR (IOCTL_BASE, 52, IOCTL_ARG*)
#define IOCTL_ESDCAN_SER_REG_READ _IOWR (IOCTL_BASE, 53, IOCTL_ARG*) /* Special IOCTL, works only on specific hardware, NOT accessible via NTCAN */
#define IOCTL_ESDCAN_SER_REG_WRITE _IOWR (IOCTL_BASE, 54, IOCTL_ARG*) /* Special IOCTL, works only on specific hardware, NOT accessible via NTCAN */
#define IOCTL_ESDCAN_RESET_CAN_ERROR_CNT _IO (IOCTL_BASE, 55)
#define IOCTL_ESDCAN_ID_REGION_ADD _IOWR (IOCTL_BASE, 56, IOCTL_ARG*)
#define IOCTL_ESDCAN_ID_REGION_DEL _IOWR (IOCTL_BASE, 57, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_TX_TS_WIN _IOW (IOCTL_BASE, 58, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_TX_TS_WIN _IOR (IOCTL_BASE, 59, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_TX_TS_TIMEOUT _IOW (IOCTL_BASE, 60, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_TX_TS_TIMEOUT _IOR (IOCTL_BASE, 61, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_HND_FILTER _IOW (IOCTL_BASE, 62, IOCTL_ARG*)
#define IOCTL_ESDCAN_SEND_X _IOWR (IOCTL_BASE, 72, IOCTL_ARG*)
#define IOCTL_ESDCAN_WRITE_X _IOWR (IOCTL_BASE, 73, IOCTL_ARG*)
#define IOCTL_ESDCAN_TAKE_X _IOWR (IOCTL_BASE, 74, IOCTL_ARG*)
#define IOCTL_ESDCAN_READ_X _IOWR (IOCTL_BASE, 75, IOCTL_ARG*)
#define IOCTL_ESDCAN_SET_BAUD_X _IOW (IOCTL_BASE, 76, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_BAUD_X _IOWR (IOCTL_BASE, 77, IOCTL_ARG*)
#define IOCTL_ESDCAN_EEI_CREATE _IOR (IOCTL_BASE, 81, IOCTL_ARG*)
#define IOCTL_ESDCAN_EEI_DESTROY _IOW (IOCTL_BASE, 82, IOCTL_ARG*)
#define IOCTL_ESDCAN_EEI_STATUS _IOWR (IOCTL_BASE, 83, IOCTL_ARG*)
#define IOCTL_ESDCAN_EEI_CONFIGURE _IOW (IOCTL_BASE, 84, IOCTL_ARG*)
#define IOCTL_ESDCAN_EEI_START _IOW (IOCTL_BASE, 85, IOCTL_ARG*)
#define IOCTL_ESDCAN_EEI_STOP _IOW (IOCTL_BASE, 86, IOCTL_ARG*)
#define IOCTL_ESDCAN_EEI_TRIGGER_NOW _IOW (IOCTL_BASE, 87, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_UPDATE_T _IOW (IOCTL_BASE,101, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF_T _IOW (IOCTL_BASE,102, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON_T _IOW (IOCTL_BASE,103, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_DESTROY_T _IOW (IOCTL_BASE,104, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_CREATE_X _IOW (IOCTL_BASE,105, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_UPDATE_X _IOW (IOCTL_BASE,106, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF_X _IOW (IOCTL_BASE,107, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON_X _IOW (IOCTL_BASE,108, IOCTL_ARG*)
#define IOCTL_ESDCAN_TX_OBJ_DESTROY_X _IOW (IOCTL_BASE,109, IOCTL_ARG*)
#define IOCTL_ESDCAN_GET_INFO _IOR (IOCTL_BASE,110, IOCTL_ARG*)
#if PLATFORM_64BIT
#define GEN_IOCTL32(arg) (((arg) & (~IOCSIZE_MASK)) | (0x4 << IOCSIZE_SHIFT)) /* patch pointer size difference in ioctl commands */
#define REGISTER_IOCTL_32(arg, ret) \
if ( ret |= register_ioctl32_conversion(arg##_32, esdcan_ioctl_32) ) { \
CAN_PRINT(("esd CAN driver: Problem with registering IOCTL32: 0x%x!\n", arg##_32)); \
}
#define REGISTER_IOCTL_COMPAT(arg, ret) \
if ( ret |= register_ioctl32_conversion(arg, NULL) ) { \
CAN_PRINT(("esd CAN driver: Problem with registering IOCTL32: 0x%x!\n", arg)); \
}
#define UNREGISTER_IOCTL_32(arg) \
if ( unregister_ioctl32_conversion(arg##_32) ) { \
CAN_PRINT(("esd CAN driver: Problem with unregistering IOCTL32: 0x%x!\n", arg##_32)); \
}
#define UNREGISTER_IOCTL_COMPAT(arg) \
if ( unregister_ioctl32_conversion(arg) ) { \
CAN_PRINT(("esd CAN driver: Problem with unregistering IOCTL32: 0x%x!\n", arg)); \
}
#define IOCTL_ESDCAN_CREATE_32 GEN_IOCTL32(IOCTL_ESDCAN_CREATE)
#define IOCTL_ESDCAN_ID_RANGE_ADD_32 GEN_IOCTL32(IOCTL_ESDCAN_ID_RANGE_ADD)
#define IOCTL_ESDCAN_ID_RANGE_DEL_32 GEN_IOCTL32(IOCTL_ESDCAN_ID_RANGE_DEL)
#define IOCTL_ESDCAN_SET_BAUD_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_BAUD)
#define IOCTL_ESDCAN_SET_MODE_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_MODE)
#define IOCTL_ESDCAN_SET_TIMEOUT_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_TIMEOUT)
#define IOCTL_ESDCAN_SEND_32 GEN_IOCTL32(IOCTL_ESDCAN_SEND)
#define IOCTL_ESDCAN_TAKE_32 GEN_IOCTL32(IOCTL_ESDCAN_TAKE)
#define IOCTL_ESDCAN_DEBUG_32 GEN_IOCTL32(IOCTL_ESDCAN_DEBUG)
#define IOCTL_ESDCAN_GET_BAUD_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_BAUD)
#define IOCTL_ESDCAN_DESTROY_32 /* same as IOCTL_ESDCAN_DESTROY */
#define IOCTL_ESDCAN_DESTROY_DEPRECATED_32 GEN_IOCTL32(IOCTL_ESDCAN_DESTROY_DEPRECATED)
#define IOCTL_ESDCAN_TX_ABORT_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_ABORT)
#define IOCTL_ESDCAN_RX_ABORT_32 GEN_IOCTL32(IOCTL_ESDCAN_RX_ABORT)
#define IOCTL_ESDCAN_TX_OBJ_CREATE_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_CREATE)
#define IOCTL_ESDCAN_TX_OBJ_UPDATE_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_UPDATE)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF)
#define IOCTL_ESDCAN_TX_OBJ_DESTROY_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_DESTROY)
#define IOCTL_ESDCAN_RX_OBJ_32 GEN_IOCTL32(IOCTL_ESDCAN_RX_OBJ)
#define IOCTL_ESDCAN_READ_32 GEN_IOCTL32(IOCTL_ESDCAN_READ)
#define IOCTL_ESDCAN_WRITE_32 GEN_IOCTL32(IOCTL_ESDCAN_WRITE)
#define IOCTL_ESDCAN_UPDATE_32 GEN_IOCTL32(IOCTL_ESDCAN_UPDATE)
#define IOCTL_ESDCAN_FLUSH_RX_FIFO_32 /* same as IOCTL_ESDCAN_PURGE_TX_FIFO */
#define IOCTL_ESDCAN_FLUSH_RX_FIFO_DEPRECATED_32 GEN_IOCTL32(IOCTL_ESDCAN_FLUSH_RX_FIFO_DEPRECATED)
#define IOCTL_ESDCAN_GET_RX_MESSAGES_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_RX_MESSAGES)
#define IOCTL_ESDCAN_GET_RX_TIMEOUT_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_RX_TIMEOUT)
#define IOCTL_ESDCAN_GET_TX_TIMEOUT_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_TX_TIMEOUT)
#define IOCTL_ESDCAN_GET_TIMESTAMP_FREQ_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_TIMESTAMP_FREQ)
#define IOCTL_ESDCAN_GET_TIMESTAMP_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_TIMESTAMP)
#define IOCTL_ESDCAN_GET_TICKS_FREQ_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_TICKS_FREQ)
#define IOCTL_ESDCAN_GET_TICKS_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_TICKS)
#define IOCTL_ESDCAN_SEND_T_32 GEN_IOCTL32(IOCTL_ESDCAN_SEND_T)
#define IOCTL_ESDCAN_WRITE_T_32 GEN_IOCTL32(IOCTL_ESDCAN_WRITE_T)
#define IOCTL_ESDCAN_TAKE_T_32 GEN_IOCTL32(IOCTL_ESDCAN_TAKE_T)
#define IOCTL_ESDCAN_READ_T_32 GEN_IOCTL32(IOCTL_ESDCAN_READ_T)
#define IOCTL_ESDCAN_PURGE_TX_FIFO_32 /* same as IOCTL_ESDCAN_PURGE_TX_FIFO */
#define IOCTL_ESDCAN_PURGE_TX_FIFO_DEPRECATED_32 GEN_IOCTL32(IOCTL_ESDCAN_PURGE_TX_FIFO_DEPRECATED)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON)
#define IOCTL_ESDCAN_SET_RX_TIMEOUT_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_RX_TIMEOUT)
#define IOCTL_ESDCAN_SET_TX_TIMEOUT_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_TX_TIMEOUT)
#define IOCTL_ESDCAN_GET_FEATURES_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_FEATURES)
#define IOCTL_ESDCAN_TX_OBJ_SCHEDULE_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_SCHEDULE)
#define IOCTL_ESDCAN_TX_OBJ_SCHEDULE_START_32 /* same as IOCTL_ESDCAN_TX_OBJ_SCHEDULE_START */
#define IOCTL_ESDCAN_TX_OBJ_SCHEDULE_STOP_32 /* same as IOCTL_ESDCAN_TX_OBJ_SCHEDULE_STOP */
#define IOCTL_ESDCAN_SET_20B_HND_FILTER_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_20B_HND_FILTER)
#define IOCTL_ESDCAN_GET_SERIAL_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_SERIAL)
#define IOCTL_ESDCAN_SET_ALT_RTR_ID_32 /* same as IOCTL_ESDCAN_SET_ALT_RTR_ID */
#define IOCTL_ESDCAN_SET_BUSLOAD_INTERVAL_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_BUSLOAD_INTERVAL)
#define IOCTL_ESDCAN_GET_BUSLOAD_INTERVAL_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_BUSLOAD_INTERVAL)
#define IOCTL_ESDCAN_GET_BITRATE_DETAILS_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_BITRATE_DETAILS)
#define IOCTL_ESDCAN_GET_BUS_STATISTIC_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_BUS_STATISTIC)
#define IOCTL_ESDCAN_RESET_BUS_STATISTIC_32 /* same as IOCTL_ESDCAN_RESET_BUS_STATISTIC */
#define IOCTL_ESDCAN_GET_ERROR_COUNTER_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_ERROR_COUNTER)
#define IOCTL_ESDCAN_SER_REG_READ_32 GEN_IOCTL32(IOCTL_ESDCAN_SER_REG_READ)
#define IOCTL_ESDCAN_SER_REG_WRITE_32 GEN_IOCTL32(IOCTL_ESDCAN_SER_REG_WRITE)
#define IOCTL_ESDCAN_RESET_CAN_ERROR_CNT_32 /* same as IOCTL_ESDCAN_RESET_CAN_ERROR_CNT */
#define IOCTL_ESDCAN_ID_REGION_ADD_32 GEN_IOCTL32(IOCTL_ESDCAN_ID_REGION_ADD)
#define IOCTL_ESDCAN_ID_REGION_DEL_32 GEN_IOCTL32(IOCTL_ESDCAN_ID_REGION_DEL)
#define IOCTL_ESDCAN_SET_TX_TS_WIN_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_TX_TS_WIN)
#define IOCTL_ESDCAN_GET_TX_TS_WIN_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_TX_TS_WIN)
#define IOCTL_ESDCAN_SET_TX_TS_TIMEOUT_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_TX_TS_TIMEOUT)
#define IOCTL_ESDCAN_GET_TX_TS_TIMEOUT_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_TX_TS_TIMEOUT)
#define IOCTL_ESDCAN_SET_HND_FILTER_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_HND_FILTER)
#define IOCTL_ESDCAN_SEND_X_32 GEN_IOCTL32(IOCTL_ESDCAN_SEND_X)
#define IOCTL_ESDCAN_WRITE_X_32 GEN_IOCTL32(IOCTL_ESDCAN_WRITE_X)
#define IOCTL_ESDCAN_TAKE_X_32 GEN_IOCTL32(IOCTL_ESDCAN_TAKE_X)
#define IOCTL_ESDCAN_READ_X_32 GEN_IOCTL32(IOCTL_ESDCAN_READ_X)
#define IOCTL_ESDCAN_SET_BAUD_X_32 GEN_IOCTL32(IOCTL_ESDCAN_SET_BAUD_X)
#define IOCTL_ESDCAN_GET_BAUD_X_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_BAUD_X)
#define IOCTL_ESDCAN_EEI_CREATE_32 GEN_IOCTL32(IOCTL_ESDCAN_EEI_CREATE)
#define IOCTL_ESDCAN_EEI_DESTROY_32 GEN_IOCTL32(IOCTL_ESDCAN_EEI_DESTROY)
#define IOCTL_ESDCAN_EEI_STATUS_32 GEN_IOCTL32(IOCTL_ESDCAN_EEI_STATUS)
#define IOCTL_ESDCAN_EEI_CONFIGURE_32 GEN_IOCTL32(IOCTL_ESDCAN_EEI_CONFIGURE)
#define IOCTL_ESDCAN_EEI_START_32 GEN_IOCTL32(IOCTL_ESDCAN_EEI_START)
#define IOCTL_ESDCAN_EEI_STOP_32 GEN_IOCTL32(IOCTL_ESDCAN_EEI_STOP)
#define IOCTL_ESDCAN_EEI_TRIGGER_NOW_32 GEN_IOCTL32(IOCTL_ESDCAN_EEI_TRIGGER_NOW)
#define IOCTL_ESDCAN_TX_OBJ_UPDATE_T_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_UPDATE_T)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF_T_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF_T)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON_T_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON_T)
#define IOCTL_ESDCAN_TX_OBJ_DESTROY_T_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_DESTROY_T)
#define IOCTL_ESDCAN_TX_OBJ_CREATE_X_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_CREATE_X)
#define IOCTL_ESDCAN_TX_OBJ_UPDATE_X_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_UPDATE_X)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF_X_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_OFF_X)
#define IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON_X_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_AUTOANSWER_ON_X)
#define IOCTL_ESDCAN_TX_OBJ_DESTROY_X_32 GEN_IOCTL32(IOCTL_ESDCAN_TX_OBJ_DESTROY_X)
#define IOCTL_ESDCAN_GET_INFO_32 GEN_IOCTL32(IOCTL_ESDCAN_GET_INFO)
#endif
/*
* Structures used as args for "esdcan"-ioctls
*/
typedef struct {
void *buffer;
uint32_t size;
} IOCTL_ARG;
#if PLATFORM_64BIT
typedef struct {
uint32_t buffer;
uint32_t size;
} IOCTL_ARG_32;
#endif
/* argument for CAN_INIT ioctl */
typedef struct {
uint32_t mode;
uint32_t queue_size_tx;
uint32_t queue_size_rx;
} CAN_INIT_ARG;
/* argument for CAN_ID_ADD/DEL ioctl */
typedef struct {
int32_t id_start;
int32_t id_stop;
} CAN_ID_RANGE_ARG;
typedef struct {
int32_t id1st;
int32_t cnt;
} CAN_ID_REGION_ARG;
/* argument for IOCTL_ESDCAN_SER_REG_READ/IOCTL_ESDCAN_SER_REG_WRITE ioctl */
typedef struct {
uint32_t addr;
uint32_t value;
} SERIAL_ARG;
/*
* Structures used as args for "esdcan"- and "candev"-ioctls
*/
/*
* IOCTL_CAN_SET_TIMEOUT, IOCTL_ESDCAN_SET_TIMEOUT:
* arg = CAN_TIMEOUT*
*/
typedef struct { /* structure for timeout-setting */
uint32_t txtout; /* tx-timeout in msec */
uint32_t rxtout; /* rx-timeout in msec */
} CAN_TIMEOUT, *PCAN_TIMEOUT, CAN_TIMEOUT_ARG;
/*
* Flag for usSize member of flash_ex structure to indicate wheter
* flash data is provided or the provided data is to be programmed.
*/
#define FLASH_DATA_PROVIDE 0x8000
/*
* IOCTL_CAN_DEBUG, IOCTL_ESDCAN_DEBUG:
* arg = CAN_DEBUG*
*/
typedef struct { /* structure for action-routines */
uint32_t password; /* password */
uint32_t cmd; /* command to execute */
union {
struct {
uint8_t access; /* byte/word/long access */
uint8_t bus; /* bus-nr */
uint8_t reserved[2];
uint32_t address;
union {
uint8_t c;
uint16_t s;
uint32_t l;
} data;
} dm_sm;
struct {
uint16_t drv_ver;
uint16_t firm_ver;
uint16_t hard_ver;
uint16_t board_stat;
int8_t firm_info[14];
uint16_t features;
int8_t ctrl_type;
int8_t reserved[5];
} ver;
struct {
uint32_t sector;
uint16_t offset;
uint16_t len;
uint8_t data[14];
} flash;
struct {
uint16_t usSize;
uint32_t ulOffset;
uint8_t data[16];
} flash_ex;
struct {
int8_t mode;
} trans_mode;
struct {
uint32_t uiVerbose;
} regs;
struct {
uint32_t uiXor; /* to be used with esdACC boards */
} leds;
struct {
uint32_t uiVerbose;
} bm_info;
struct {
uint32_t count;
uint32_t delay;
} usb_test;
struct {
uint32_t config;
uint32_t output;
uint32_t input;
} usb_io_test;
} p;
} CAN_DEBUG, *PCAN_DEBUG, CAN_DEBUG_ARG;
typedef struct { /* handle filter mask */
uint32_t acr;
uint32_t amr;
uint32_t idArea;
} CAN_FILTER_MASK, *PCAN_FILTER_MASK;
#define CAN_BITRATE_FLAG_SAM 0x00000001
typedef struct
{
uint32_t baud; /* value configured by user via canSetBaudrate() */
uint32_t valid; /* validity of all _following_ infos (-1 = invalid, CANIO_SUCCESS, CANIO_NOT_IMPLEMENTED) */
uint32_t rate; /* CAN bitrate in Bit/s */
uint32_t clock; /* frequency of CAN controller */
uint8_t ctrl_type; /* CANIO_CANCTL_XXX defines */
uint8_t tq_pre_sp; /* number of time quantas before samplepoint (TSEG1) */
uint8_t tq_post_sp; /* number of time quantas past samplepoint (TSEG2) */
uint8_t sjw; /* syncronization jump width in time quantas (SJW) */
uint32_t error; /* actual deviation of configured baudrate in %*100 */
uint32_t flags; /* baudrate flags (possibly ctrl. specific, e.g. SAM) */
uint32_t reserved1; /* for future use */
uint32_t reserved2; /* for future use */
uint32_t baud_req; /* requested bitrate, while request pending, else -1 (RESERVED IN NTCAN) */
} CAN_BITRATE;
#define CAN_BAUDRATE_MODE_OFF 0
#define CAN_BAUDRATE_MODE_INDEX 1
#define CAN_BAUDRATE_MODE_BTR 2
#define CAN_BAUDRATE_MODE_NUM 3
#define CAN_BAUDRATE_MODE_OLDBTR 4
typedef struct {
uint32_t mode; /* One of CAN_BAUDRATE_MODE_XXX constants */
union {
uint32_t idx; /* esd bitrate table index */
struct {
uint32_t brp; /* Bitrate pre-scaler */
uint32_t tseg1; /* TSEG1 register */
uint32_t tseg2; /* TSEG2 register */
uint32_t sjw; /* SJW register */
} btr;
uint32_t rate; /* numerical bitrate */
uint32_t oldbtr; /* old bitrate timing register (btr) format */
} m;
} CAN_BAUDRATE_CFG;
#define CAN_BAUDRATE_CONTROL_STM 0x10000000 /* Self test mode */
#define CAN_BAUDRATE_CONTROL_LOM 0x40000000 /* Listen only mode */
typedef struct {
uint32_t control; /* Combination of CAN_BAUDRATE_CONTROL_XXX constants */
CAN_BAUDRATE_CFG arbitration; /* Bitrate in arbitration phase */
CAN_BAUDRATE_CFG data; /* Bitrate in data phase */
uint32_t reserved;
} CAN_BAUDRATE_X;
typedef struct _CAN_FRAME_COUNT {
uint32_t std_data; /* # of std CAN messages */
uint32_t std_rtr; /* # of std RTR requests */
uint32_t ext_data; /* # of ext CAN messages */
uint32_t ext_rtr; /* # of ext RTR requests */
} CAN_FRAME_COUNT;
typedef struct _CAN_BUS_STAT {
/* keep this struct in sync with NTCAN_BUS_STATISTIC */
uint64_t timestamp; /* Timestamp */
CAN_FRAME_COUNT rcv_count; /* # of received frames */
CAN_FRAME_COUNT xmit_count; /* # of transmitted frames */
uint32_t ctrl_ovr_count; /* # of controller overruns */
uint32_t fifo_ovr_count; /* # of FIFO overruns */
uint32_t err_frames_count; /* # of error frames */
uint32_t rcv_byte_count; /* # of received bytes */
uint32_t xmit_byte_count; /* # of transmitted bytes */
uint32_t abort_frames_count; /* # of aborted frames */
uint32_t rcv_count_fd; /* # of received FD frames */
uint32_t xmit_count_fd; /* # of transmitted FD frames */
uint64_t bit_count; /* # of received bits */
} CAN_BUS_STAT;
typedef struct _CAN_CTRL_STATE {
uint8_t rcv_err_counter; /* Receive error counter */
uint8_t xmit_err_counter; /* Transmit error counter */
uint8_t status; /* CAN controller status */
uint8_t type; /* CAN controller type */
} CAN_CTRL_STATE;
typedef struct _EEI_UNIT {
uint32_t handle; /* Handle for ErrorInjection Unit */
uint8_t mode_trigger; /* Trigger mode */
uint8_t mode_trigger_option; /* Options to trigger */
uint8_t mode_triggerarm_delay; /* Enable delayed arming of trigger unit*/
uint8_t mode_triggeraction_delay; /* Enable delayed TX out */
uint8_t mode_repeat; /* Enable repeat */
uint8_t mode_trigger_now; /* Trigger with next TX point */
uint8_t mode_ext_trigger_option; /* Switch between trigger and sending */
uint8_t mode_send_async; /* Send without timing synchronization */
uint8_t reserved1[4];
uint64_t timestamp_send; /* Timestamp for Trigger Timestamp */
uint32_t trigger_pattern[5]; /* Trigger for mode Pattern Match */
uint32_t trigger_mask[5]; /* Mask to trigger Pattern */
uint8_t trigger_ecc; /* ECC for Trigger Field Position */
uint8_t reserved2[3];
uint32_t external_trigger_mask; /* Enable Mask for external Trigger */
uint32_t reserved3[16];
uint32_t tx_pattern[5]; /* TX pattern */
uint32_t tx_pattern_len; /* Length of TX pattern */
uint32_t triggerarm_delay; /* Delay for mode triggerarm delay */
uint32_t triggeraction_delay; /* Delay for mode trigger delay */
uint32_t number_of_repeat; /* Number of repeats in mode repeat */
uint32_t reserved4;
uint32_t tx_pattern_recessive[5]; /* Recessive TX pattern (USB400 Addon) */
uint32_t reserved5[9];
} EEI_UNIT;
typedef struct _EEI_STATUS {
uint32_t handle; /* Handle for ErrorInjection Unit */
uint8_t status; /* Status form Unit */
uint8_t unit_index; /* Error Injection Unit ID */
uint8_t units_total; /* Max Error Units in esdacc core */
uint8_t units_free; /* Free Error Units in esdacc core */
CAN_TIMESTAMP trigger_timestamp; /* Timestamp of trigger time */
uint16_t trigger_cnt; /* Count of trigger in Repeat mode */
uint16_t reserved0;
uint32_t reserved1[27];
} EEI_STATUS;
typedef struct _CAN_INFO {
uint16_t hardware; /* Hardware version */
uint16_t firmware; /* Firmware / FPGA version (0 = N/A) */
uint16_t driver; /* Driver version */
uint16_t dll; /* NTCAN library version */
uint32_t features; /* Device/driver capability flags */
uint32_t serial; /* Serial # (0 = N/A) */
uint64_t timestamp_freq; /* Timestamp frequency (in Hz, 1 = N/A) */
uint32_t ctrl_clock; /* Frequency of CAN controller (in Hz) */
uint8_t ctrl_type; /* Controller type (CANIO_CANCTL_XXX) */
uint8_t base_net; /* Base net number */
uint8_t ports; /* Number of physical ports */
uint8_t trx_type; /* Transceiver type (CANIO_TRX_XXX) */
uint16_t boardstatus; /* Hardware status */
uint16_t firmware2; /* Second firmware version (0 = N/A) */
char boardid[32]; /* Board ID string */
char serial_string[16]; /* Serial # as string */
char drv_build_info[64]; /* Build info of driver */
char lib_build_info[64]; /* Build info of library */
uint8_t reserved2[44]; /* Reserved for future use */
} CAN_INFO;
/*
* Mode-flags (prefix CANIO_MODE_) are used by user/application
* with IOCTL_ESDCAN_SET_MODE to set the driver into a certain mode.
* !!! They have to be defined according to ntcan.h !!!
*/
#define CANIO_MODE_AUTO_ANSWER 0x00000002 /* mode-mask for auto-answer */
#define CANIO_MODE_NO_RTR 0x00000010 /* mode-mask for ignoring rtr */
#define CANIO_MODE_NO_DATA 0x00000020 /* mode-mask for ignoring data */
#define CANIO_MODE_SET_RTR_RCV 0x00000040 /* used to mark active RTR-reception (TODO: ???) */
#define CANIO_MODE_RTR_RCV 0x00000060 /* mode-mask for object mode (TODO: ???) */
#define CANIO_MODE_NO_INTERACTION 0x00000100 /* Ignore locally send interaction messages */
#define CANIO_MODE_MARK_INTERACTION 0x00000200 /* Mark interaction messages in len field */
#define CANIO_MODE_LOCAL_ECHO 0x00000400 /* Echo sent frames to same handle */
/* reserved NTCAN_MODE_SPS_CNTRL 0x00008000 Enable firmware SPS */
#define CANIO_MODE_LOM 0x00010000 /* mode-mask for listening only mode */
#define CANIO_MODE_DEFERRED_TX 0x00020000 /* mode-mask for "scheduled tx" */
#define CANIO_MODE_FD 0x00040000 /* Enable CAN-FD support */
#define CANIO_MODE_OBJECT 0x10000000 /* mode-mask for object mode */
#define CANIO_MODE_OVERLAPPED 0x20000000 /* reserved for windows, only */
#define CANIO_MODE_EVENTS 0x40000000 /* mode-mask for enabled events (TODO: ???) */
/*
* Feature flags
*/
#define FEATURE_FULL_CAN (1<<0) /*! Marks Full-CAN-controller, used by nucleus for flat-mode,... */
#define FEATURE_CAN_20B (1<<1) /*! CAN 2.OB support */
#define FEATURE_DEVICE_NET (1<<2)
#define FEATURE_CYCLIC_TX (1<<3) /*! On certain boards with special customer firmware only */
#define FEATURE_TIMESTAMPED_TX (1<<3) /*! SAME AS CYCLIC_TX, Timestamped TX support */
#define FEATURE_RX_OBJECT_MODE (1<<4) /*! DIFFERS FROM MODE FLAG: flat (receive object) mode */
/* AB: the following feature-flags aren't implemented in candev-driver */
#define FEATURE_TS (1<<5) /*! feature flag for hardware timestamping */
#define FEATURE_LOM (1<<6) /*! feature/mode flag for listening-only-mode */
#define FEATURE_SMART_DISCONNECT (1<<7) /*! feature/mode flag for stay-on-bus-after-last-close */
#define FEATURE_LOCAL_ECHO (1<<8) /*! feature/mode interaction with local echo */
#define FEATURE_SMART_ID_FILTER (1<<9) /*! Enabling/disabling ID ranges */
#define FEATURE_SCHEDULING (1<<10) /*! Scheduling feature */
#define FEATURE_DIAGNOSTIC (1<<11) /*! Bus diagnostic support */
#define FEATURE_ERROR_INJECTION (1<<12) /*! esdACC error injection support */
#define FEATURE_IRIGB (1<<13) /*! IRIG-B support */
#define FEATURE_PXI (1<<14) /*! Board supports backplane clock and startrigger for timestamp */
#define FEATURE_CAN_FD (1<<15) /*! CAN-FD support */
#define FEATURE_SELF_TEST (1<<16) /*! Self-test support */
#define FEATURE_MASK_DOCUMENTED (FEATURE_FULL_CAN | \
FEATURE_CAN_20B | \
FEATURE_DEVICE_NET | \
FEATURE_TIMESTAMPED_TX | \
FEATURE_RX_OBJECT_MODE | \
FEATURE_TS | \
FEATURE_SMART_DISCONNECT | \
FEATURE_LOM | \
FEATURE_LOCAL_ECHO | \
FEATURE_SMART_ID_FILTER | \
FEATURE_SCHEDULING | \
FEATURE_DIAGNOSTIC | \
FEATURE_ERROR_INJECTION | \
FEATURE_IRIGB | \
FEATURE_PXI)
/*
* Following defines are used in a nodes status cell for
* - i20: wrong firmware / hardware
* - bus status (ok, warn, err. passive, bus off)
*/
#define CANIO_STATUS_WRONG_FIRMWARE 0x00000001 /*! Wrong firmware version (disables CAN-functionality) */
#define CANIO_STATUS_WRONG_HARDWARE 0x00000002 /*! Wrong hardware version (disables CAN-functionality) */
#define CANIO_STATUS_OK 0x00000000 /*! can Status = OK */
#define CANIO_STATUS_WARN 0x40000000 /*! can status = controller warn */
#define CANIO_STATUS_ERRPASSIVE 0x80000000 /*! can status = error passive */
#define CANIO_STATUS_BUSOFF 0xC0000000 /*! can status = controller off bus */
#define CANIO_STATUS_MASK_BUSSTATE 0xC0000000 /*! use to retrieve bus states */
/*
* Flags for scheduling mode
*/
#define CANIO_SCHED_FLAG_EN 0x00000000 /* ID is enabled */
#define CANIO_SCHED_FLAG_DIS 0x00000002 /* ID is disabled */
#define CANIO_SCHED_FLAG_REL 0x00000000 /* Start time is relative */
#define CANIO_SCHED_FLAG_ABS 0x00000001 /* Start time is absolute */
#define CANIO_SCHED_FLAG_INC8 0x00000100 /* 8 Bit incrementer */
#define CANIO_SCHED_FLAG_INC16 0x00000200 /* 16 Bit incrementer */
#define CANIO_SCHED_FLAG_INC32 0x00000300 /* 32 Bit incrementer */
#define CANIO_SCHED_FLAG_DEC8 0x00000400 /* 8 Bit decrementer */
#define CANIO_SCHED_FLAG_DEC16 0x00000500 /* 16 Bit decrementer */
#define CANIO_SCHED_FLAG_DEC32 0x00000600 /* 32 Bit decrementer */
#define CANIO_SCHED_FLAG_OFS0 0x00000000 /* Counter at offset 0 */
#define CANIO_SCHED_FLAG_OFS1 0x00001000 /* Counter at offset 1 */
#define CANIO_SCHED_FLAG_OFS2 0x00002000 /* Counter at offset 2 */
#define CANIO_SCHED_FLAG_OFS3 0x00003000 /* Counter at offset 3 */
#define CANIO_SCHED_FLAG_OFS4 0x00004000 /* Counter at offset 4 */
#define CANIO_SCHED_FLAG_OFS5 0x00005000 /* Counter at offset 5 */
#define CANIO_SCHED_FLAG_OFS6 0x00006000 /* Counter at offset 6 */
#define CANIO_SCHED_FLAG_OFS7 0x00007000 /* Counter at offset 7 */
/* flags for scheduling mode */
#define CANIO_SCHED_FLAG_EN 0x00000000 /* ID is enabled */
#define CANIO_SCHED_FLAG_DIS 0x00000002 /* ID is disabled */
#define CANIO_SCHED_FLAG_REL 0x00000000 /* Start time is relative */
#define CANIO_SCHED_FLAG_ABS 0x00000001 /* Start time is absolute */
#define CANIO_SCHED_FLAG_INC8 0x00000100 /* 8 Bit incrementer */
#define CANIO_SCHED_FLAG_INC16 0x00000200 /* 16 Bit incrementer */
#define CANIO_SCHED_FLAG_INC32 0x00000300 /* 32 Bit incrementer */
#define CANIO_SCHED_FLAG_DEC8 0x00000400 /* 8 Bit decrementer */
#define CANIO_SCHED_FLAG_DEC16 0x00000500 /* 16 Bit decrementer */
#define CANIO_SCHED_FLAG_DEC32 0x00000600 /* 32 Bit decrementer */
#define CANIO_SCHED_FLAG_OFS0 0x00000000 /* Counter at offset 0 */
#define CANIO_SCHED_FLAG_OFS1 0x00001000 /* Counter at offset 1 */
#define CANIO_SCHED_FLAG_OFS2 0x00002000 /* Counter at offset 2 */
#define CANIO_SCHED_FLAG_OFS3 0x00003000 /* Counter at offset 3 */
#define CANIO_SCHED_FLAG_OFS4 0x00004000 /* Counter at offset 4 */
#define CANIO_SCHED_FLAG_OFS5 0x00005000 /* Counter at offset 5 */
#define CANIO_SCHED_FLAG_OFS6 0x00006000 /* Counter at offset 6 */
#define CANIO_SCHED_FLAG_OFS7 0x00007000 /* Counter at offset 7 */
/*
* Debug-command-values
*/
#define CAN_DEBUG_DM 0 /* dump memory */
#define CAN_DEBUG_SM 1 /* set memory */
#define CAN_DEBUG_IP 2 /* input port */
#define CAN_DEBUG_OP 3 /* output port */
#define CAN_DEBUG_VER 4 /* get version-information */
/*#define CAN_DEBUG_MAP 5 */ /* map memory-space to user-space */
#define CAN_DEBUG_REGISTER 10 /* display register */
/*#define CAN_DEBUG_RXFIFO 11 */ /* display interface rx fifo */
/* #define CAN_DEBUG_CONFIG 20 ?*//* Set/Get/Save config data */
#define CAN_DEBUG_FLASH_ENTER 128 /* enter flash-mode */
#define CAN_DEBUG_FLASH_ERASE 129 /* erase sector */
#define CAN_DEBUG_FLASH_PROG 130 /* flash some bytes */
#define CAN_DEBUG_FLASH_EXIT 131 /* exit flash-mode */
#define CAN_DEBUG_FLASH_PROG_EX 132 /* flash some bytes */
#define CAN_DEBUG_SET_TRANS 140 /* Set firmware mode to 2.0A or 2.0B */
#define CAN_DEBUG_LEDS 150 /* Toggle LEDs, etc. */
#define CAN_DEBUG_BUSMASTER_INFO 151 /* Print information regarding busmastering */
#define CAN_DEBUG_USB_TEST 152 /* Send generated testframes */
#define CAN_DEBUG_USB_IO_TEST 153 /* IO Config for IRIG Trigger Lines */
/* debug-access-values */
#define CAN_ACCESS_BYTE 0
#define CAN_ACCESS_WORD 1
#define CAN_ACCESS_LONG 2
/*
* can-error-codes
*/
#define CANIO_ERRNO_BASE 0x00000100 /* base for esd-codes */
#define CANIO_SUCCESS 0
#define CANIO_RX_TIMEOUT (CANIO_ERRNO_BASE+1)
#define CANIO_TX_TIMEOUT (CANIO_ERRNO_BASE+2)
/* #define CANIO_UNUSED (CANIO_ERRNO_BASE+3) */
#define CANIO_TX_ERROR (CANIO_ERRNO_BASE+4)
#define CANIO_CONTR_OFF_BUS (CANIO_ERRNO_BASE+5)
#define CANIO_CONTR_BUSY (CANIO_ERRNO_BASE+6)
#define CANIO_CONTR_WARN (CANIO_ERRNO_BASE+7)
#define CANIO_OLDDATA (CANIO_ERRNO_BASE+8)
#define CANIO_NO_ID_ENABLED (CANIO_ERRNO_BASE+9)
#define CANIO_ID_ALREADY_ENABLED (CANIO_ERRNO_BASE+10)
#define CANIO_ID_NOT_ENABLED (CANIO_ERRNO_BASE+11)
/* #define CANIO_UNUSED (CANIO_ERRNO_BASE+12) */
#define CANIO_INVALID_FIRMWARE (CANIO_ERRNO_BASE+13)
#define CANIO_MESSAGE_LOST (CANIO_ERRNO_BASE+14)
#define CANIO_INVALID_HARDWARE (CANIO_ERRNO_BASE+15)
#define CANIO_PENDING_WRITE (CANIO_ERRNO_BASE+16)
#define CANIO_PENDING_READ (CANIO_ERRNO_BASE+17)
#define CANIO_INVALID_DRIVER (CANIO_ERRNO_BASE+18)
#define CANIO_INVALID_PARAMETER EINVAL
#define CANIO_INVALID_HANDLE EBADFD
/* #define CANIO_IO_INCOMPLETE not reasonable under Linux */
/* #define CANIO_IO_PENDING not reasonable under Linux */
#define CANIO_NET_NOT_FOUND ENODEV
#define CANIO_INSUFFICIENT_RESOURCES ENOMEM
#define CANIO_OPERATION_ABORTED EINTR
#define CANIO_WRONG_DEVICE_STATE (CANIO_ERRNO_BASE+19)
#define CANIO_HANDLE_FORCED_CLOSE (CANIO_ERRNO_BASE+20)
#define CANIO_NOT_IMPLEMENTED ENOSYS
#define CANIO_NOT_SUPPORTED (CANIO_ERRNO_BASE+21)
#define CANIO_CONTR_ERR_PASSIVE (CANIO_ERRNO_BASE+22)
#define CANIO_ERROR_NO_BAUDRATE (CANIO_ERRNO_BASE+23)
#define CANIO_ERROR_LOM (CANIO_ERRNO_BASE+24) /* Der MT Gedenk Fehlercode... */
/* Errors used in esdcan, but not formerly present in canio.h
* Used in situations, where errno-systems return the respecting errno */
#define CANIO_EIO EIO
#define CANIO_EFAULT EFAULT
#define CANIO_EBUSY EBUSY
#define CANIO_EAGAIN EAGAIN
#define CANIO_ENOENT ENOENT
#define CANIO_ERESTART ERESTART
/* This error should never ever reach user level!!! */
#define CANIO_ERROR 1 /* todo: Generic Error...not EPERM */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* __CANIO_H__ */
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