can_types.h

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#ifndef __CAN_TYPES_H__
#define __CAN_TYPES_H__

#ifdef WIN32
  #ifndef __WIN32__
    #define __WIN32__
  #endif
#endif

#ifdef __WIN32__
// Windows
#include <windows.h>

#define int32_t __int32
#define uint32_t unsigned __int32
#define int16_t __int16
#define uint16_t unsigned __int16
#else
// Linux & Mac
//#include <unistd.h>
//#include <stdlib.h>
//#include <sys/time.h>
#include <stdint.h>
#endif

#ifdef __cplusplus
  extern "C" {
#endif

#define INDEX_INVALID          0xFFFFFFFF

#define INDEX_FIFO_PUFFER_MASK 0x0000FFFF
#define INDEX_SOFT_FLAG        0x02000000
#define INDEX_RXD_TXT_FLAG     0x01000000
#define INDEX_CAN_KANAL_MASK   0x000F0000
#define INDEX_CAN_DEVICE_MASK  0x00F00000

#define INDEX_USER_MASK        0xFC000000

#define INDEX_CAN_KANAL_A      0x00000000
#define INDEX_CAN_KANAL_B      0x00010000

/***************************************************************/
/*  Typen                                                      */
/***************************************************************/

/******************************************/
/*            CAN Message Type            */
/******************************************/
#define MsgFlags Flags.Long
#define MsgLen Flags.Flag.Len
#define MsgRTR Flags.Flag.RTR
#define MsgEFF Flags.Flag.EFF
#define MsgTxD Flags.Flag.TxD
#define MsgErr Flags.Flag.Error
#define MsgSource Flags.Flag.Source
#define MsgData Data.Bytes

/*
Byte

 0 -> LEC Last Error Code 
        1 = Stuff Error More than 5 equal bits in a sequence have occurred in a part of a received message where this is not allowed.
        2 = Form Error A fixed format part of a received frame has the wrong format.
        3 = AckError The message this CAN Core transmitted was not acknowledged by another node.
        4 = Bit1Error During the transmission of a message (with the exception of the arbitration field), the device wanted to send a recessive level (bit of logical value ‘1’), but the monitored busvalue was dominant.
        5 = Bit0Error During the transmission of a message (or acknowledge bit or active error flag, or overload flag), the device wanted to send a dominant level (data or identifier bit logical value ‘0’), but the monitored Bus value was recessive. During busoff recovery this status is set each time a sequence of 11 recessive bits has been monitored. This enables the CPU to monitor the proceeding of the busoff recovery sequence (indicating the bus is not stuck at dominant level or continuously disturbed).
        6 = CRCError The CRC check sum was incorrect in the message received, the CRC received for an incoming message does not match with the calculated CRC for the received data.
  1 -> Bus Status
        0 = Ok
        1 = Error Warning
        2 = Error Passiv
        3 = Bus Off
  2 -> Receive Error Counter
  3 -> Transmit Error Counter               
*/

struct TCanFlagsBits
  {
  unsigned Len:4;    // DLC -> Datenlänge 0 - 8 Byte
  unsigned TxD:1;    // TxD -> 1 = Tx CAN Nachricht, 0 = Rx CAN Nachricht
                     //        Eine Erfolgreich versendete Nachricht wird als Bestätigung
                     //        ins Empfangsfifo zurückgeschrieben
                     //        Nicht alle Module unterstützen diese Funktion u. das 
                     //        Feature muss aktiveirt sein
  unsigned Error:1;  // Error -> 1 = CAN Bus Fehler Nachricht
                     //        Nicht alle Module unterstützen diese Funktion u. das 
                     //        Feature muss aktiveirt sein
  unsigned RTR:1;    // Remote Transmition Request bit -> Kennzeichnet eine RTR Nachricht
  unsigned EFF:1;    // Extended Frame Format bit -> 1 = 29 Bit Id's, 0 = 11 Bit Id's
  unsigned Source:8; // Quelle der Nachricht (Device)
  };

union TCanFlags
  {
  struct TCanFlagsBits Flag;
  uint32_t Long;
  };

union TCanData
  {
  char Chars[8];
  unsigned char Bytes[8];
  uint16_t Words[4];
  uint32_t Longs[2];
  };

struct TTime
  {
  uint32_t Sec;
  uint32_t USec;
  };

struct TCanMsg
  {
  uint32_t Id;
  union TCanFlags Flags;
  union TCanData Data;
  struct TTime Time;
  };

/******************************************/
/*         CAN Message Filter Type        */
/******************************************/
#define FilFlags Flags.Long
#define FilRTR Flags.Flag.RTR
#define FilEFF Flags.Flag.EFF
#define FilMode Flags.Flag.Mode
#define FilIdMode Flags.Flag.IdMode
#define FilEnable Flags.Flag.Enable

// * = Reserviert, zur Zeit noch unbenutzt

struct TMsgFilterFlagsBits
  {
  // 1. Byte
  unsigned Len:4;       // * Dlc
  unsigned Res:2;       // Reserviert
  unsigned RTR:1;       // Remote Transmition Request
  unsigned EFF:1;       // Extended Frame Format
  // 2. Byte
  unsigned IdMode:2;    // 0 = Maske & Code
                        // 1 = Start & Stop
                        // 2 = Single Id
  unsigned DLCCheck:1;  // *
  unsigned DataCheck:1; // *
  unsigned Res1:4;
  // 3. Byte
  unsigned Res2:8;
  // 4. Byte
  unsigned Type:4;      // 0 = Single Puffer
  unsigned Res3:2;
  unsigned Mode:1;      // 0 = Message entfernen
                        // 1 = Message nicht entfernen
  unsigned Enable:1;    // 0 = Filter sperren
                        // 1 = Filter freigeben
  };


union TMsgFilterFlags
  {
  struct TMsgFilterFlagsBits Flag;
  uint32_t Long;
  };

struct TMsgFilter
  {                     // IdMode    -> Maske & Code | Start & Stop | Single Id
                        // --------------------------+--------------+-----------
  uint32_t Maske;       // Filter-Id ->    Maske     |     Stop     |  
  uint32_t Code;        // Filter-Id ->    Code      |     Start    |    Id
  union TMsgFilterFlags Flags;
  union TCanData Data;  // *
  };

struct TCanIndexSource
  {
  // 1. u. 2 Byte
  unsigned SubIndex:16;
  // 3. Byte
  unsigned Source:8;
  // 4. Byte
  unsigned TxD:1;
  unsigned Soft:1;
  unsigned User:6;
  };

struct TCanIndexBits
  {
  // 1. u. 2 Byte
  unsigned SubIndex:16;
  // 3. Byte
  unsigned Channel:4;
  unsigned Device:4;
  // 4. Byte
  unsigned TxD:1;
  unsigned Soft:1;
  unsigned User:6;
  };

union TCanIndex
  {
  struct TCanIndexBits Item;
  struct TCanIndexSource SrcItem;
  uint32_t Long;
  };


#ifdef __cplusplus
  }
#endif


#endif