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<h1>include/rtdm/rtcan.h</h1><a href="rtcan_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00236"></a>00236 <span class="preprocessor">#ifndef _RTCAN_H</span>
<a name="l00237"></a>00237 <span class="preprocessor"></span><span class="preprocessor">#define _RTCAN_H</span>
<a name="l00238"></a>00238 <span class="preprocessor"></span>
<a name="l00239"></a>00239 <span class="preprocessor">#ifdef __KERNEL__</span>
<a name="l00240"></a>00240 <span class="preprocessor"></span>
<a name="l00241"></a>00241 <span class="preprocessor">#include &lt;linux/net.h&gt;</span>
<a name="l00242"></a>00242 <span class="preprocessor">#include &lt;linux/socket.h&gt;</span>
<a name="l00243"></a>00243 <span class="preprocessor">#include &lt;linux/if.h&gt;</span>
<a name="l00244"></a>00244 
<a name="l00245"></a>00245 <span class="preprocessor">#else </span><span class="comment">/* !__KERNEL__ */</span>
<a name="l00246"></a>00246 
<a name="l00247"></a>00247 <span class="preprocessor">#include &lt;net/if.h&gt;</span>
<a name="l00248"></a>00248 
<a name="l00249"></a>00249 <span class="preprocessor">#endif </span><span class="comment">/* !__KERNEL__ */</span>
<a name="l00250"></a>00250 
<a name="l00251"></a>00251 <span class="preprocessor">#include &lt;<a class="code" href="rtdm_8h.html" title="Real-Time Driver Model for Xenomai, user API header.">rtdm/rtdm.h</a>&gt;</span>
<a name="l00252"></a>00252 
<a name="l00253"></a>00253 <span class="preprocessor">#define RTCAN_PROFILE_VER  2</span>
<a name="l00254"></a>00254 <span class="preprocessor"></span>
<a name="l00255"></a>00255 <span class="preprocessor">#ifndef AF_CAN</span>
<a name="l00256"></a>00256 <span class="preprocessor"></span>
<a name="l00258"></a><a class="code" href="group__rtcan.html#g546620c7e758f003b24b7fdae4f97bd4">00258</a> <span class="preprocessor">#define AF_CAN  29</span>
<a name="l00259"></a>00259 <span class="preprocessor"></span>
<a name="l00261"></a><a class="code" href="group__rtcan.html#geac0c3db7a1e021f17987bcc76893849">00261</a> <span class="preprocessor">#define PF_CAN  AF_CAN</span>
<a name="l00262"></a>00262 <span class="preprocessor"></span>
<a name="l00263"></a>00263 <span class="preprocessor">#endif</span>
<a name="l00264"></a>00264 <span class="preprocessor"></span>
<a name="l00269"></a><a class="code" href="group__rtcan.html#gd981aa82a29d828882a2fb4c35c1cdd7">00269</a> <span class="preprocessor">#define SOL_CAN_RAW  103</span>
<a name="l00270"></a>00270 <span class="preprocessor"></span>
<a name="l00272"></a><a class="code" href="group__rtcan.html#gd4cb716102402e9be0b5919cd2dd6ead">00272</a> <span class="keyword">typedef</span> uint32_t <a class="code" href="group__rtcan.html#gd4cb716102402e9be0b5919cd2dd6ead" title="Type of CAN id (see CAN_xxx_MASK and CAN_xxx_FLAG).">can_id_t</a>;
<a name="l00273"></a>00273 <span class="keyword">typedef</span> uint32_t canid_t;
<a name="l00274"></a>00274 
<a name="l00276"></a><a class="code" href="group__rtcan.html#ge3b8d6d39f9bbd387bf74031aba8f4f5">00276</a> <span class="keyword">typedef</span> <a class="code" href="group__rtcan.html#gd4cb716102402e9be0b5919cd2dd6ead" title="Type of CAN id (see CAN_xxx_MASK and CAN_xxx_FLAG).">can_id_t</a> <a class="code" href="group__rtcan.html#ge3b8d6d39f9bbd387bf74031aba8f4f5" title="Type of CAN error mask.">can_err_mask_t</a>;
<a name="l00277"></a>00277 
<a name="l00284"></a><a class="code" href="group__rtcan.html#g83b943dca61d0aad5b07ec01c3317572">00284</a> <span class="preprocessor">#define CAN_EFF_MASK  0x1FFFFFFF</span>
<a name="l00285"></a>00285 <span class="preprocessor"></span>
<a name="l00287"></a><a class="code" href="group__rtcan.html#gfe4fc3f9cab58aeeb463861289e8ce93">00287</a> <span class="preprocessor">#define CAN_SFF_MASK  0x000007FF</span>
<a name="l00288"></a>00288 <span class="preprocessor"></span>
<a name="l00296"></a><a class="code" href="group__rtcan.html#g5ae55ab3741140024858bd7b8762ea42">00296</a> <span class="preprocessor">#define CAN_EFF_FLAG  0x80000000</span>
<a name="l00297"></a>00297 <span class="preprocessor"></span>
<a name="l00298"></a><a class="code" href="group__rtcan.html#gf324d65226057755175038a15d9bbd75">00298</a> <span class="preprocessor">#define CAN_RTR_FLAG  0x40000000</span>
<a name="l00299"></a>00299 <span class="preprocessor"></span>
<a name="l00300"></a><a class="code" href="group__rtcan.html#g24df2eae50a2cef0f7f08c73a246a012">00300</a> <span class="preprocessor">#define CAN_ERR_FLAG  0x20000000</span>
<a name="l00301"></a>00301 <span class="preprocessor"></span>
<a name="l00302"></a><a class="code" href="group__rtcan.html#g5cb484fa2d90489f6b4e7a77c254c59f">00302</a> <span class="preprocessor">#define CAN_INV_FILTER CAN_ERR_FLAG</span>
<a name="l00303"></a>00303 <span class="preprocessor"></span>
<a name="l00313"></a><a class="code" href="group__rtcan.html#g57682d9a1e4f4d90943dbaa683582bf5">00313</a> <span class="preprocessor">#define CAN_RAW  1</span>
<a name="l00314"></a>00314 <span class="preprocessor"></span>
<a name="l00316"></a>00316 <span class="preprocessor">#define CAN_BAUDRATE_UNKNOWN       ((uint32_t)-1)</span>
<a name="l00317"></a>00317 <span class="preprocessor"></span><span class="preprocessor">#define CAN_BAUDRATE_UNCONFIGURED  0</span>
<a name="l00318"></a>00318 <span class="preprocessor"></span>
<a name="l00322"></a><a class="code" href="group__rtcan.html#g1c314e1f81a7211a9778da835202a741">00322</a> <span class="keyword">typedef</span> uint32_t <a class="code" href="group__rtcan.html#g1c314e1f81a7211a9778da835202a741" title="Baudrate definition in bits per second.">can_baudrate_t</a>;
<a name="l00323"></a>00323 
<a name="l00327"></a><a class="code" href="group__rtcan.html#g42c4f551b57f47d4e004c02505a01f71">00327</a> <span class="keyword">enum</span> <a class="code" href="group__rtcan.html#g42c4f551b57f47d4e004c02505a01f71" title="Supported CAN bit-time types.">CAN_BITTIME_TYPE</a> {
<a name="l00329"></a><a class="code" href="group__rtcan.html#gg42c4f551b57f47d4e004c02505a01f71160d7c514df2477f8016ed1bf5a6709f">00329</a>         <a class="code" href="group__rtcan.html#gg42c4f551b57f47d4e004c02505a01f71160d7c514df2477f8016ed1bf5a6709f" title="Standard bit-time definition according to Bosch.">CAN_BITTIME_STD</a>,
<a name="l00331"></a><a class="code" href="group__rtcan.html#gg42c4f551b57f47d4e004c02505a01f71e164a942c698440f2548bd82fea33e55">00331</a>         <a class="code" href="group__rtcan.html#gg42c4f551b57f47d4e004c02505a01f71e164a942c698440f2548bd82fea33e55" title="Hardware-specific BTR bit-time definition.">CAN_BITTIME_BTR</a>
<a name="l00332"></a>00332 };
<a name="l00333"></a>00333 
<a name="l00337"></a><a class="code" href="group__rtcan.html#g94a6fb4128854d6fec6e0882df4374f2">00337</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> <a class="code" href="group__rtcan.html#g42c4f551b57f47d4e004c02505a01f71" title="Supported CAN bit-time types.">CAN_BITTIME_TYPE</a> <a class="code" href="group__rtcan.html#g94a6fb4128854d6fec6e0882df4374f2" title="See CAN_BITTIME_TYPE.">can_bittime_type_t</a>;
<a name="l00338"></a>00338 
<a name="l00342"></a><a class="code" href="structcan__bittime__std.html">00342</a> <span class="keyword">struct </span><a class="code" href="structcan__bittime__std.html" title="Standard bit-time parameters according to Bosch.">can_bittime_std</a> {
<a name="l00343"></a><a class="code" href="structcan__bittime__std.html#08d6def90babb8958ec9da1f328e2bae">00343</a>         uint32_t <a class="code" href="structcan__bittime__std.html#08d6def90babb8958ec9da1f328e2bae" title="Baud rate prescaler.">brp</a>;           
<a name="l00344"></a><a class="code" href="structcan__bittime__std.html#071c82fd3d0a66ce45fe51c8fedb156a">00344</a>         uint8_t <a class="code" href="structcan__bittime__std.html#071c82fd3d0a66ce45fe51c8fedb156a" title="from 1 to 8">prop_seg</a>;       
<a name="l00345"></a><a class="code" href="structcan__bittime__std.html#4ea4b12dc1d6cec75599f88b3c3dde3c">00345</a>         uint8_t <a class="code" href="structcan__bittime__std.html#4ea4b12dc1d6cec75599f88b3c3dde3c" title="from 1 to 8">phase_seg1</a>;     
<a name="l00346"></a><a class="code" href="structcan__bittime__std.html#55a0d5efff79f06626177ff46101997b">00346</a>         uint8_t <a class="code" href="structcan__bittime__std.html#55a0d5efff79f06626177ff46101997b" title="from 1 to 8">phase_seg2</a>;     
<a name="l00347"></a><a class="code" href="structcan__bittime__std.html#0c42abf9132d5e08196a0af51b86905f">00347</a>         uint8_t <a class="code" href="structcan__bittime__std.html#0c42abf9132d5e08196a0af51b86905f" title="from 1 to 4">sjw</a>:7;          
<a name="l00348"></a><a class="code" href="structcan__bittime__std.html#e6ab12fbeab86132bd178d63a1fd968f">00348</a>         uint8_t <a class="code" href="structcan__bittime__std.html#e6ab12fbeab86132bd178d63a1fd968f" title="1 - enable triple sampling">sam</a>:1;          
<a name="l00349"></a>00349 };
<a name="l00350"></a>00350 
<a name="l00354"></a><a class="code" href="structcan__bittime__btr.html">00354</a> <span class="keyword">struct </span><a class="code" href="structcan__bittime__btr.html" title="Hardware-specific BTR bit-times.">can_bittime_btr</a> {
<a name="l00355"></a>00355 
<a name="l00356"></a><a class="code" href="structcan__bittime__btr.html#17d058dedc9a9339e378f2b7b352a554">00356</a>         uint8_t <a class="code" href="structcan__bittime__btr.html#17d058dedc9a9339e378f2b7b352a554" title="Bus timing register 0.">btr0</a>;           
<a name="l00357"></a><a class="code" href="structcan__bittime__btr.html#6d93f9587762eb9d0a9a05612b108afe">00357</a>         uint8_t <a class="code" href="structcan__bittime__btr.html#6d93f9587762eb9d0a9a05612b108afe" title="Bus timing register 1.">btr1</a>;           
<a name="l00358"></a>00358 };
<a name="l00359"></a>00359 
<a name="l00363"></a><a class="code" href="structcan__bittime.html">00363</a> <span class="keyword">struct </span><a class="code" href="structcan__bittime.html" title="Custom CAN bit-time definition.">can_bittime</a> {
<a name="l00365"></a><a class="code" href="structcan__bittime.html#7635b85b6a373e78cdbed846986e330f">00365</a>         <a class="code" href="group__rtcan.html#g94a6fb4128854d6fec6e0882df4374f2" title="See CAN_BITTIME_TYPE.">can_bittime_type_t</a> <a class="code" href="structcan__bittime.html#7635b85b6a373e78cdbed846986e330f" title="Type of bit-time definition.">type</a>;
<a name="l00366"></a>00366 
<a name="l00367"></a>00367         <span class="keyword">union </span>{
<a name="l00369"></a><a class="code" href="structcan__bittime.html#63ff3bc997c3c48090dfcff8876dc909">00369</a>                 <span class="keyword">struct </span><a class="code" href="structcan__bittime__std.html" title="Standard bit-time parameters according to Bosch.">can_bittime_std</a> <a class="code" href="structcan__bittime.html#63ff3bc997c3c48090dfcff8876dc909" title="Standard bit-time.">std</a>;
<a name="l00371"></a><a class="code" href="structcan__bittime.html#1553dfa8833111c9b6f1dc2ab4984b72">00371</a>                 <span class="keyword">struct </span><a class="code" href="structcan__bittime__btr.html" title="Hardware-specific BTR bit-times.">can_bittime_btr</a> <a class="code" href="structcan__bittime.html#1553dfa8833111c9b6f1dc2ab4984b72" title="Hardware-spcific BTR bit-time.">btr</a>;
<a name="l00372"></a>00372         };
<a name="l00373"></a>00373 };
<a name="l00374"></a>00374 
<a name="l00379"></a><a class="code" href="group__rtcan.html#gc0d6cdda2cf4abb51116b86bc99acf99">00379</a> <span class="keyword">enum</span> <a class="code" href="group__rtcan.html#gc0d6cdda2cf4abb51116b86bc99acf99">CAN_MODE</a> {
<a name="l00381"></a><a class="code" href="group__rtcan.html#ggc0d6cdda2cf4abb51116b86bc99acf9904f549e87bf7ddf764c563062dd76790">00381</a>         <a class="code" href="group__rtcan.html#ggc0d6cdda2cf4abb51116b86bc99acf9904f549e87bf7ddf764c563062dd76790">CAN_MODE_STOP</a> = 0,
<a name="l00382"></a>00382 
<a name="l00386"></a><a class="code" href="group__rtcan.html#ggc0d6cdda2cf4abb51116b86bc99acf99f9c617b6b198770017f6e7198bfb50b6">00386</a>         <a class="code" href="group__rtcan.html#ggc0d6cdda2cf4abb51116b86bc99acf99f9c617b6b198770017f6e7198bfb50b6">CAN_MODE_START</a>,
<a name="l00387"></a>00387 
<a name="l00394"></a><a class="code" href="group__rtcan.html#ggc0d6cdda2cf4abb51116b86bc99acf9957866c198e12c54747aca0786dc33e3e">00394</a>         <a class="code" href="group__rtcan.html#ggc0d6cdda2cf4abb51116b86bc99acf9957866c198e12c54747aca0786dc33e3e">CAN_MODE_SLEEP</a>
<a name="l00395"></a>00395 };
<a name="l00399"></a><a class="code" href="group__rtcan.html#g47a129d7188a7cd7b68fbf60ebbfd9e8">00399</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> <a class="code" href="group__rtcan.html#gc0d6cdda2cf4abb51116b86bc99acf99">CAN_MODE</a> <a class="code" href="group__rtcan.html#g47a129d7188a7cd7b68fbf60ebbfd9e8" title="See CAN_MODE.">can_mode_t</a>;
<a name="l00400"></a>00400 
<a name="l00416"></a><a class="code" href="group__rtcan.html#ge4ba49824d17e7d06300cb8b4a4bff45">00416</a> <span class="preprocessor">#define CAN_CTRLMODE_LISTENONLY 0x1</span>
<a name="l00417"></a>00417 <span class="preprocessor"></span>
<a name="l00423"></a><a class="code" href="group__rtcan.html#g19ec0cc4379e80c32cbd333cf7c145e9">00423</a> <span class="preprocessor">#define CAN_CTRLMODE_LOOPBACK   0x2</span>
<a name="l00424"></a>00424 <span class="preprocessor"></span>
<a name="l00428"></a><a class="code" href="group__rtcan.html#ga1db20ee5ae4803157e38db4b6c6150b">00428</a> <span class="keyword">typedef</span> <span class="keywordtype">int</span> <a class="code" href="group__rtcan.html#ga1db20ee5ae4803157e38db4b6c6150b" title="See CAN_CTRLMODE.">can_ctrlmode_t</a>;
<a name="l00429"></a>00429 
<a name="l00434"></a><a class="code" href="group__rtcan.html#g8680f5710e1a13d553067cc32c86226b">00434</a> <span class="keyword">enum</span> <a class="code" href="group__rtcan.html#g8680f5710e1a13d553067cc32c86226b">CAN_STATE</a> {
<a name="l00436"></a><a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b7db2add3bd2ed5a01893a3d2a012ac67">00436</a>         <a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b7db2add3bd2ed5a01893a3d2a012ac67" title="CAN controller is error active.">CAN_STATE_ACTIVE</a> = 0,
<a name="l00437"></a>00437 
<a name="l00439"></a><a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b8e8ffc38c3886c8ab4b7a6ebd24db2e1">00439</a>         <a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b8e8ffc38c3886c8ab4b7a6ebd24db2e1" title="CAN controller is error active, warning level is reached.">CAN_STATE_BUS_WARNING</a>,
<a name="l00440"></a>00440 
<a name="l00442"></a><a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b16806979589ee8f20ee84c767903b667">00442</a>         <a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b16806979589ee8f20ee84c767903b667" title="CAN controller is error passive.">CAN_STATE_BUS_PASSIVE</a>,
<a name="l00443"></a>00443 
<a name="l00445"></a><a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b679935a8710667fcb99423d217cd9959">00445</a>         <a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b679935a8710667fcb99423d217cd9959" title="CAN controller went into Bus Off.">CAN_STATE_BUS_OFF</a>,
<a name="l00446"></a>00446 
<a name="l00448"></a><a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226bcc4b4039f38316b01662d775eeb981ff">00448</a>         <a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226bcc4b4039f38316b01662d775eeb981ff" title="CAN controller is scanning to get the baudrate.">CAN_STATE_SCANNING_BAUDRATE</a>,
<a name="l00449"></a>00449 
<a name="l00451"></a><a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b644e7a441f2e607b93528d3128508cc8">00451</a>         <a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b644e7a441f2e607b93528d3128508cc8" title="CAN controller is in stopped mode.">CAN_STATE_STOPPED</a>,
<a name="l00452"></a>00452 
<a name="l00454"></a><a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b2bb74d448dac491e9cfcc7f7bcc14857">00454</a>         <a class="code" href="group__rtcan.html#gg8680f5710e1a13d553067cc32c86226b2bb74d448dac491e9cfcc7f7bcc14857" title="CAN controller is in Sleep mode.">CAN_STATE_SLEEPING</a>,
<a name="l00455"></a>00455 };
<a name="l00459"></a><a class="code" href="group__rtcan.html#g046ddfab86ca47210233f254bc874c6d">00459</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> <a class="code" href="group__rtcan.html#g8680f5710e1a13d553067cc32c86226b">CAN_STATE</a> <a class="code" href="group__rtcan.html#g046ddfab86ca47210233f254bc874c6d" title="See CAN_STATE.">can_state_t</a>;
<a name="l00460"></a>00460 
<a name="l00461"></a>00461 <span class="preprocessor">#define CAN_STATE_OPERATING(state) ((state) &lt; CAN_STATE_BUS_OFF)</span>
<a name="l00462"></a>00462 <span class="preprocessor"></span>
<a name="l00488"></a><a class="code" href="structcan__filter.html">00488</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcan__filter.html" title="Filter for reception of CAN messages.">can_filter</a> {
<a name="l00491"></a><a class="code" href="structcan__filter.html#ac0f27fee94e90063d8a80f4928e1298">00491</a>         uint32_t <a class="code" href="structcan__filter.html#ac0f27fee94e90063d8a80f4928e1298" title="CAN ID which must match with incoming IDs after passing the mask.">can_id</a>;
<a name="l00492"></a>00492 
<a name="l00495"></a><a class="code" href="structcan__filter.html#fa419227fe42bf1ce84a7c41600f1f90">00495</a>         uint32_t <a class="code" href="structcan__filter.html#fa419227fe42bf1ce84a7c41600f1f90" title="Mask which is applied to incoming IDs.">can_mask</a>;
<a name="l00496"></a>00496 } <a class="code" href="structcan__filter.html" title="Filter for reception of CAN messages.">can_filter_t</a>;
<a name="l00497"></a>00497 
<a name="l00501"></a><a class="code" href="structsockaddr__can.html">00501</a> <span class="keyword">struct </span><a class="code" href="structsockaddr__can.html" title="Socket address structure for the CAN address family.">sockaddr_can</a> {
<a name="l00503"></a><a class="code" href="structsockaddr__can.html#e9d8c789193e516c282a707d5a118ebc">00503</a>         sa_family_t <a class="code" href="structsockaddr__can.html#e9d8c789193e516c282a707d5a118ebc" title="CAN address family, must be AF_CAN.">can_family</a>;
<a name="l00504"></a>00504 
<a name="l00506"></a><a class="code" href="structsockaddr__can.html#f1586f4d4c039a7941f07c0d746a73a7">00506</a>         <span class="keywordtype">int</span> <a class="code" href="structsockaddr__can.html#f1586f4d4c039a7941f07c0d746a73a7" title="Interface index of CAN controller.">can_ifindex</a>;
<a name="l00507"></a>00507 };
<a name="l00508"></a>00508 
<a name="l00514"></a><a class="code" href="structcan__frame.html">00514</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcan__frame.html" title="Raw CAN frame.">can_frame</a> {
<a name="l00519"></a><a class="code" href="structcan__frame.html#0294f06f81a3ae0d155eb5fd14733d63">00519</a>         <a class="code" href="group__rtcan.html#gd4cb716102402e9be0b5919cd2dd6ead" title="Type of CAN id (see CAN_xxx_MASK and CAN_xxx_FLAG).">can_id_t</a> <a class="code" href="structcan__frame.html#0294f06f81a3ae0d155eb5fd14733d63" title="CAN ID of the frame.">can_id</a>;
<a name="l00520"></a>00520 
<a name="l00522"></a><a class="code" href="structcan__frame.html#a055f09fd81b299201618396b7dc9314">00522</a>         uint8_t <a class="code" href="structcan__frame.html#a055f09fd81b299201618396b7dc9314" title="Size of the payload in bytes.">can_dlc</a>;
<a name="l00523"></a>00523 
<a name="l00525"></a>00525         uint8_t data[8] <a class="code" href="structcan__frame.html#f58d971323fd8fdd65fb4b1140bc0ee5" title="Payload data bytes.">__attribute__</a> ((aligned(8)));
<a name="l00526"></a>00526 } <a class="code" href="structcan__frame.html" title="Raw CAN frame.">can_frame_t</a>;
<a name="l00527"></a>00527 
<a name="l00532"></a><a class="code" href="group__rtcan.html#ge06ad16f505d1ec6c1e55d82ac82ef89">00532</a> <span class="preprocessor">#define RTCAN_TAKE_NO_TIMESTAMPS        0  </span>
<a name="l00533"></a><a class="code" href="group__rtcan.html#ge39894e7e6d107d4bab150cc0ef993c8">00533</a> <span class="preprocessor">#define RTCAN_TAKE_TIMESTAMPS           1  </span>
<a name="l00536"></a>00536 <span class="preprocessor">#define RTIOC_TYPE_CAN  RTDM_CLASS_CAN</span>
<a name="l00537"></a>00537 <span class="preprocessor"></span>
<a name="l00576"></a><a class="code" href="group__rtcan.html#g87313c6e632294aa4582899a3bbc89e4">00576</a> <span class="preprocessor">#define CAN_RAW_FILTER          0x1</span>
<a name="l00577"></a>00577 <span class="preprocessor"></span>
<a name="l00606"></a><a class="code" href="group__rtcan.html#g451ba35aa4d0bef48cb7b0416f5b4367">00606</a> <span class="preprocessor">#define CAN_RAW_ERR_FILTER      0x2</span>
<a name="l00607"></a>00607 <span class="preprocessor"></span>
<a name="l00634"></a><a class="code" href="group__rtcan.html#ga7eb7dc3aa940a0aca20d3a564a147d9">00634</a> <span class="preprocessor">#define CAN_RAW_LOOPBACK        0x3</span>
<a name="l00635"></a>00635 <span class="preprocessor"></span>
<a name="l00642"></a><a class="code" href="group__rtcan.html#g712942ca3d0d621184fb2019a24677c3">00642</a> <span class="preprocessor">#define CAN_RAW_RECV_OWN_MSGS   0x4</span>
<a name="l00643"></a>00643 <span class="preprocessor"></span>
<a name="l00676"></a>00676 <span class="preprocessor">#ifdef DOXYGEN_CPP </span><span class="comment">/* For Doxygen only, already defined by kernel headers */</span>
<a name="l00677"></a><a class="code" href="group__rtcan.html#gee74ae50c8ea0a6aee277c6f124a3866">00677</a> <span class="preprocessor">#define SIOCGIFINDEX defined_by_kernel_header_file</span>
<a name="l00678"></a>00678 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00679"></a>00679 <span class="preprocessor"></span>
<a name="l00714"></a><a class="code" href="group__rtcan.html#g7c070037c218b40de849ebf4d299f977">00714</a> <span class="preprocessor">#define SIOCSCANBAUDRATE        _IOW(RTIOC_TYPE_CAN, 0x01, struct ifreq)</span>
<a name="l00715"></a>00715 <span class="preprocessor"></span>
<a name="l00741"></a><a class="code" href="group__rtcan.html#g9a3032f07b3a6a2f92eb2ba25a4ff8bf">00741</a> <span class="preprocessor">#define SIOCGCANBAUDRATE        _IOWR(RTIOC_TYPE_CAN, 0x02, struct ifreq)</span>
<a name="l00742"></a>00742 <span class="preprocessor"></span>
<a name="l00775"></a><a class="code" href="group__rtcan.html#g4e9547dcb608fd0b8d5cf57f926e5176">00775</a> <span class="preprocessor">#define SIOCSCANCUSTOMBITTIME   _IOW(RTIOC_TYPE_CAN, 0x03, struct ifreq)</span>
<a name="l00776"></a>00776 <span class="preprocessor"></span>
<a name="l00802"></a><a class="code" href="group__rtcan.html#gb92b51127ca47c491069b9f3e5013a7f">00802</a> <span class="preprocessor">#define SIOCGCANCUSTOMBITTIME   _IOWR(RTIOC_TYPE_CAN, 0x04, struct ifreq)</span>
<a name="l00803"></a>00803 <span class="preprocessor"></span>
<a name="l00845"></a><a class="code" href="group__rtcan.html#g72b56a34fe466bca858b1f5f401e1076">00845</a> <span class="preprocessor">#define SIOCSCANMODE            _IOW(RTIOC_TYPE_CAN, 0x05, struct ifreq)</span>
<a name="l00846"></a>00846 <span class="preprocessor"></span>
<a name="l00879"></a><a class="code" href="group__rtcan.html#g5b5f750db08d56f40489679f22236ef4">00879</a> <span class="preprocessor">#define SIOCGCANSTATE           _IOWR(RTIOC_TYPE_CAN, 0x06, struct ifreq)</span>
<a name="l00880"></a>00880 <span class="preprocessor"></span>
<a name="l00913"></a><a class="code" href="group__rtcan.html#g26fa69d2cded6e172b96b4a6dc3798df">00913</a> <span class="preprocessor">#define SIOCSCANCTRLMODE        _IOW(RTIOC_TYPE_CAN, 0x07, struct ifreq)</span>
<a name="l00914"></a>00914 <span class="preprocessor"></span>
<a name="l00941"></a><a class="code" href="group__rtcan.html#ga78d64e69ffd68a20f93a6aa64393d6a">00941</a> <span class="preprocessor">#define SIOCGCANCTRLMODE        _IOWR(RTIOC_TYPE_CAN, 0x08, struct ifreq)</span>
<a name="l00942"></a>00942 <span class="preprocessor"></span>
<a name="l00968"></a><a class="code" href="group__rtcan.html#gedd7bd75a1983735052fed62e101e5ce">00968</a> <span class="preprocessor">#define RTCAN_RTIOC_TAKE_TIMESTAMP _IOW(RTIOC_TYPE_CAN, 0x09, int)</span>
<a name="l00969"></a>00969 <span class="preprocessor"></span>
<a name="l01001"></a><a class="code" href="group__rtcan.html#gd8af08ea3624e8e9c464ff143fcb66c0">01001</a> <span class="preprocessor">#define RTCAN_RTIOC_RCV_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0A, nanosecs_rel_t)</span>
<a name="l01002"></a>01002 <span class="preprocessor"></span>
<a name="l01034"></a><a class="code" href="group__rtcan.html#gd3758528585b2779e8949df671f1cf6c">01034</a> <span class="preprocessor">#define RTCAN_RTIOC_SND_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0B, nanosecs_rel_t)</span>
<a name="l01035"></a>01035 <span class="preprocessor"></span>
<a name="l01037"></a>01037 <span class="preprocessor">#define CAN_ERR_DLC  8  </span><span class="comment">/* dlc for error frames */</span>
<a name="l01038"></a>01038 
<a name="l01059"></a><a class="code" href="group__rtcan.html#g168d1c5d468bad5e52ccbd70c5f37986">01059</a> <span class="preprocessor">#define CAN_ERR_TX_TIMEOUT      0x00000001U</span>
<a name="l01060"></a>01060 <span class="preprocessor"></span>
<a name="l01062"></a><a class="code" href="group__rtcan.html#ga79a977211fe6534a627541f71373df0">01062</a> <span class="preprocessor">#define CAN_ERR_LOSTARB         0x00000002U</span>
<a name="l01063"></a>01063 <span class="preprocessor"></span>
<a name="l01065"></a><a class="code" href="group__rtcan.html#g8086092a2e40c1b0429caaad3b2c8675">01065</a> <span class="preprocessor">#define CAN_ERR_CRTL            0x00000004U</span>
<a name="l01066"></a>01066 <span class="preprocessor"></span>
<a name="l01069"></a><a class="code" href="group__rtcan.html#g0fdfaa2091c61c2db8caa7a51e8c0037">01069</a> <span class="preprocessor">#define CAN_ERR_PROT            0x00000008U</span>
<a name="l01070"></a>01070 <span class="preprocessor"></span>
<a name="l01072"></a><a class="code" href="group__rtcan.html#gf0026f916a985610cc449ffa6a31445f">01072</a> <span class="preprocessor">#define CAN_ERR_TRX             0x00000010U</span>
<a name="l01073"></a>01073 <span class="preprocessor"></span>
<a name="l01075"></a><a class="code" href="group__rtcan.html#gdbe83f5e81c1c8c767daaf97c5849017">01075</a> <span class="preprocessor">#define CAN_ERR_ACK             0x00000020U</span>
<a name="l01076"></a>01076 <span class="preprocessor"></span>
<a name="l01078"></a><a class="code" href="group__rtcan.html#g8b0903e35c75de100b97a7b3e368b269">01078</a> <span class="preprocessor">#define CAN_ERR_BUSOFF          0x00000040U</span>
<a name="l01079"></a>01079 <span class="preprocessor"></span>
<a name="l01081"></a><a class="code" href="group__rtcan.html#g0b068b1221129441b89967ee2ddb9f44">01081</a> <span class="preprocessor">#define CAN_ERR_BUSERROR        0x00000080U</span>
<a name="l01082"></a>01082 <span class="preprocessor"></span>
<a name="l01084"></a><a class="code" href="group__rtcan.html#g54583090d19940d761a224bc0801ec6a">01084</a> <span class="preprocessor">#define CAN_ERR_RESTARTED       0x00000100U</span>
<a name="l01085"></a>01085 <span class="preprocessor"></span>
<a name="l01087"></a><a class="code" href="group__rtcan.html#gd4061a08b8c5aa6de3bb390efd3b6bd6">01087</a> <span class="preprocessor">#define CAN_ERR_MASK            0x1FFFFFFFU</span>
<a name="l01088"></a>01088 <span class="preprocessor"></span>
<a name="l01095"></a>01095 <span class="comment">/* arbitration lost in bit ... / data[0] */</span>
<a name="l01096"></a><a class="code" href="group__rtcan.html#g7fa1bc55bccfadf780c0556c7d4d7fef">01096</a> <span class="preprocessor">#define CAN_ERR_LOSTARB_UNSPEC  0x00 </span>
<a name="l01104"></a>01104 <span class="preprocessor"></span><span class="comment">/* error status of CAN-controller / data[1] */</span>
<a name="l01105"></a><a class="code" href="group__rtcan.html#gfcdc17774047f27e70f3c39f6fb66076">01105</a> <span class="preprocessor">#define CAN_ERR_CRTL_UNSPEC      0x00 </span>
<a name="l01106"></a><a class="code" href="group__rtcan.html#g23d6f05d55b62fffdbd0a50969bc2d04">01106</a> <span class="preprocessor">#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 </span>
<a name="l01107"></a><a class="code" href="group__rtcan.html#gb1412f1e2cc4f23334ed5ea766d12006">01107</a> <span class="preprocessor">#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 </span>
<a name="l01108"></a><a class="code" href="group__rtcan.html#ge93958bbabe5e2e6d328d8fa5d491a96">01108</a> <span class="preprocessor">#define CAN_ERR_CRTL_RX_WARNING  0x04 </span>
<a name="l01109"></a><a class="code" href="group__rtcan.html#gb46d1dddb458203ca07e0c351275c549">01109</a> <span class="preprocessor">#define CAN_ERR_CRTL_TX_WARNING  0x08 </span>
<a name="l01110"></a><a class="code" href="group__rtcan.html#g853db0a1bf833caea89e3597a0123c11">01110</a> <span class="preprocessor">#define CAN_ERR_CRTL_RX_PASSIVE  0x10 </span>
<a name="l01111"></a><a class="code" href="group__rtcan.html#g29185de9d3b35414a729af6e0fad6574">01111</a> <span class="preprocessor">#define CAN_ERR_CRTL_TX_PASSIVE  0x20 </span>
<a name="l01118"></a>01118 <span class="preprocessor"></span><span class="comment">/* error in CAN protocol (type) / data[2] */</span>
<a name="l01119"></a><a class="code" href="group__rtcan.html#g6cf7ee3a3d83315ed2589bb3bdb816b3">01119</a> <span class="preprocessor">#define CAN_ERR_PROT_UNSPEC     0x00 </span>
<a name="l01120"></a><a class="code" href="group__rtcan.html#g0443c62a7e861f429f51c7bb6dc4ee23">01120</a> <span class="preprocessor">#define CAN_ERR_PROT_BIT        0x01 </span>
<a name="l01121"></a><a class="code" href="group__rtcan.html#ge8f76071caf3ac10abb88be4347b9625">01121</a> <span class="preprocessor">#define CAN_ERR_PROT_FORM       0x02 </span>
<a name="l01122"></a><a class="code" href="group__rtcan.html#g31af2ea01de879fb1d153cb6c0d642f8">01122</a> <span class="preprocessor">#define CAN_ERR_PROT_STUFF      0x04 </span>
<a name="l01123"></a><a class="code" href="group__rtcan.html#g1b469132ce858c4a0222e367b986343a">01123</a> <span class="preprocessor">#define CAN_ERR_PROT_BIT0       0x08 </span>
<a name="l01124"></a><a class="code" href="group__rtcan.html#g13e44854f6873a4a08ba2c9de0544471">01124</a> <span class="preprocessor">#define CAN_ERR_PROT_BIT1       0x10 </span>
<a name="l01125"></a><a class="code" href="group__rtcan.html#g0c02b06cad0d95b340c1b6294a5f9f9f">01125</a> <span class="preprocessor">#define CAN_ERR_PROT_OVERLOAD   0x20 </span>
<a name="l01126"></a><a class="code" href="group__rtcan.html#g460ee0be98290e6916f85c8651d6de05">01126</a> <span class="preprocessor">#define CAN_ERR_PROT_ACTIVE     0x40 </span>
<a name="l01127"></a><a class="code" href="group__rtcan.html#gbee807ce2e8ccf6eafc9b6f73a9315fb">01127</a> <span class="preprocessor">#define CAN_ERR_PROT_TX         0x80 </span>
<a name="l01134"></a>01134 <span class="preprocessor"></span><span class="comment">/* error in CAN protocol (location) / data[3] */</span>
<a name="l01135"></a><a class="code" href="group__rtcan.html#g4ac83a947ca929b857af6352300ad6d8">01135</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_UNSPEC  0x00 </span>
<a name="l01136"></a><a class="code" href="group__rtcan.html#ga7a2392801977b667a4d39083d0c92c3">01136</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_SOF     0x03 </span>
<a name="l01137"></a><a class="code" href="group__rtcan.html#g0592a90c8dba2c8102479e184dcd6c62">01137</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_ID28_21 0x02 </span>
<a name="l01138"></a><a class="code" href="group__rtcan.html#g240923d7f939dd08d2e4f434468e3006">01138</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_ID20_18 0x06 </span>
<a name="l01139"></a><a class="code" href="group__rtcan.html#gd70fa4d644d5b71f8891de051643226a">01139</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_SRTR    0x04 </span>
<a name="l01140"></a><a class="code" href="group__rtcan.html#g4fe7a2839d2ca31e8dd383564b1865c1">01140</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_IDE     0x05 </span>
<a name="l01141"></a><a class="code" href="group__rtcan.html#gbb436ab756394e8844a3925edd92b95c">01141</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_ID17_13 0x07 </span>
<a name="l01142"></a><a class="code" href="group__rtcan.html#gfd6cd3681ebf245896d282daabdac0b7">01142</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_ID12_05 0x0F </span>
<a name="l01143"></a><a class="code" href="group__rtcan.html#g00bc04bfcae8d6486aa149cd19dd6102">01143</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_ID04_00 0x0E </span>
<a name="l01144"></a><a class="code" href="group__rtcan.html#g79567d5df1287ccdd1966d092b5e047c">01144</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_RTR     0x0C </span>
<a name="l01145"></a><a class="code" href="group__rtcan.html#g13aa190099e1600314bb8e46e0a693ce">01145</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_RES1    0x0D </span>
<a name="l01146"></a><a class="code" href="group__rtcan.html#gfe744ebfd9a71b557d3059bc3f8aee56">01146</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_RES0    0x09 </span>
<a name="l01147"></a><a class="code" href="group__rtcan.html#g2aa0ab15f3f4fc974653ff556688046a">01147</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_DLC     0x0B </span>
<a name="l01148"></a><a class="code" href="group__rtcan.html#g1877b10333d3805f2ea1ef9195a8dee1">01148</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_DATA    0x0A </span>
<a name="l01149"></a><a class="code" href="group__rtcan.html#g1e56b5931c70b6ecf21a3b7d9ceebe16">01149</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 </span>
<a name="l01150"></a><a class="code" href="group__rtcan.html#g893a0c29cb622265c5d22ba7f26575a2">01150</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 </span>
<a name="l01151"></a><a class="code" href="group__rtcan.html#g14988a58a4514b44061ab5b942c6bbdf">01151</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_ACK     0x19 </span>
<a name="l01152"></a><a class="code" href="group__rtcan.html#g8e928e081ef83a83c2885259fc0a6002">01152</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B </span>
<a name="l01153"></a><a class="code" href="group__rtcan.html#g811713c9831116e6e6c42631fb7d287a">01153</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_EOF     0x1A </span>
<a name="l01154"></a><a class="code" href="group__rtcan.html#gc52eb448c0ec04421f0e21ccf9a496a0">01154</a> <span class="preprocessor">#define CAN_ERR_PROT_LOC_INTERM  0x12 </span>
<a name="l01161"></a>01161 <span class="preprocessor"></span><span class="comment">/* error status of CAN-transceiver / data[4] */</span>
<a name="l01162"></a>01162 <span class="comment">/*                                               CANH CANL */</span>
<a name="l01163"></a><a class="code" href="group__rtcan.html#g2169eab29b3c954598fe6780d98b479a">01163</a> <span class="preprocessor">#define CAN_ERR_TRX_UNSPEC              0x00 </span>
<a name="l01164"></a><a class="code" href="group__rtcan.html#gc39d4c89032cba5c08981182e297c7d7">01164</a> <span class="preprocessor">#define CAN_ERR_TRX_CANH_NO_WIRE        0x04 </span>
<a name="l01165"></a><a class="code" href="group__rtcan.html#g294393d4f39d4476d0c57876c3504a98">01165</a> <span class="preprocessor">#define CAN_ERR_TRX_CANH_SHORT_TO_BAT   0x05 </span>
<a name="l01166"></a><a class="code" href="group__rtcan.html#g85ab738e9c73d380f96371f195aa41ab">01166</a> <span class="preprocessor">#define CAN_ERR_TRX_CANH_SHORT_TO_VCC   0x06 </span>
<a name="l01167"></a><a class="code" href="group__rtcan.html#g325c4d192a7de24a61b8fcca1d434669">01167</a> <span class="preprocessor">#define CAN_ERR_TRX_CANH_SHORT_TO_GND   0x07 </span>
<a name="l01168"></a><a class="code" href="group__rtcan.html#g1ecc59939f560d7e018af307df03a370">01168</a> <span class="preprocessor">#define CAN_ERR_TRX_CANL_NO_WIRE        0x40 </span>
<a name="l01169"></a><a class="code" href="group__rtcan.html#gf4ec9ec512befde085f5a7701d0813fe">01169</a> <span class="preprocessor">#define CAN_ERR_TRX_CANL_SHORT_TO_BAT   0x50 </span>
<a name="l01170"></a><a class="code" href="group__rtcan.html#gce999081029fcd690f89c76aa8738122">01170</a> <span class="preprocessor">#define CAN_ERR_TRX_CANL_SHORT_TO_VCC   0x60 </span>
<a name="l01171"></a><a class="code" href="group__rtcan.html#g428b96738439b9df662a999f1a5f9ffd">01171</a> <span class="preprocessor">#define CAN_ERR_TRX_CANL_SHORT_TO_GND   0x70 </span>
<a name="l01172"></a><a class="code" href="group__rtcan.html#gaed57dcbd07a56050c8915fcd8bd5ba8">01172</a> <span class="preprocessor">#define CAN_ERR_TRX_CANL_SHORT_TO_CANH  0x80 </span>
<a name="l01175"></a>01175 <span class="preprocessor"></span><span class="comment">/* controller specific additional information / data[5..7] */</span>
<a name="l01176"></a>01176 
<a name="l01190"></a>01190 <span class="preprocessor">#endif </span><span class="comment">/* _RTCAN_H */</span>
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