ntcan.h

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/* ntcan.h
**
**            Copyright (c) 2001-2006 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 207                   Fax. +49-511-37298-68
**  30165 Hannover                         http://www.esd-electronics.com
**  Germany                                sales@esd-electronics.com
**
**
*/

#ifndef _ntcan_h_
#define _ntcan_h_

#if ((__GNUC__ > 2) || (__GNUC__ > 2) && (__GNUC_MINOR__ >= 1))
# define NTCAN_GCCATTR_DEPRECATED __attribute__((deprecated))
#else
# define NTCAN_GCCATTR_DEPRECATED
#endif

#include <stdint.h>

#ifndef EXPORT
#define EXPORT
#endif

#ifndef CALLTYPE
#define CALLTYPE
#endif

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

/*------------------ Defines ------------------------------------------------*/
#define NTCAN_EV_BASE           0x40000000
#define NTCAN_EV_USER           0x40000080
#define NTCAN_EV_LAST           0x400000FF

#define NTCAN_20B_BASE          0x20000000

#define NTCAN_RTR               0x10
#define NTCAN_NO_DATA           0x20     /* only senseful in obj-mode */
#define NTCAN_INTERACTION       0x20     /* only senseful in non obj-mode */

#define NTCAN_EV_CAN_ERROR      NTCAN_EV_BASE
#define NTCAN_EV_BAUD_CHANGE    (NTCAN_EV_BASE + 0x1)
#define NTCAN_EV_CAN_ERROR_EXT  (NTCAN_EV_BASE + 0x2)

/* Mode-flags for canOpen() */
#define NTCAN_MODE_OVERLAPPED   0x20000000
#define NTCAN_MODE_OBJECT       0x10000000  /* Open for Rx object mode    */

/* Queue-Size in canOpen() */
#define NTCAN_MAX_TX_QUEUESIZE  2047
#define NTCAN_MAX_RX_QUEUESIZE  2047
#define NTCAN_NO_QUEUE          -1

/* No baudrate configured (returned from canGetBaudrate() )*/
#define NTCAN_NO_BAUDRATE       0x7FFFFFFF
#define NTCAN_AUTOBAUD          0x7FFFFFFE
/* Defines to easily use CiA-recommended baudrates
 * predefined by esd with canSetBaudrate() */
#define NTCAN_BAUD_1000  0x0
#define NTCAN_BAUD_800   0xE
#define NTCAN_BAUD_500   0x2
#define NTCAN_BAUD_250   0x4
#define NTCAN_BAUD_125   0x6
#define NTCAN_BAUD_100   0x7
#define NTCAN_BAUD_50    0x9
#define NTCAN_BAUD_20    0xB
#define NTCAN_BAUD_10    0xD
/* Defines to use with canSetBaudrate() */
#define NTCAN_USER_BAUD          0x80000000  /* DEPRECATED, please use the define below, as described in CAN-API manual */
#define NTCAN_USER_BAUDRATE      0x80000000
#define NTCAN_LISTEN_ONLY_MODE   0x40000000
#define NTCAN_USER_BAUDRATE_NUM  0x20000000

/*------------------- error-code-base----------------------------------------*/
#define NTCAN_ERRNO_BASE             0x00000100
/*------------------- error-codes--------------------------------------------*/
#define NTCAN_SUCCESS                0

#define NTCAN_RX_TIMEOUT             (NTCAN_ERRNO_BASE +1)
#define NTCAN_TX_TIMEOUT             (NTCAN_ERRNO_BASE +2)
/* #define NTCAN_RESERVED            (NTCAN_ERRNO_BASE +3) */
#define NTCAN_TX_ERROR               (NTCAN_ERRNO_BASE +4)
#define NTCAN_CONTR_OFF_BUS          (NTCAN_ERRNO_BASE +5)
#define NTCAN_CONTR_BUSY             (NTCAN_ERRNO_BASE +6)
#define NTCAN_CONTR_WARN             (NTCAN_ERRNO_BASE +7)
#define NTCAN_NO_ID_ENABLED          (NTCAN_ERRNO_BASE +9)
#define NTCAN_ID_ALREADY_ENABLED     (NTCAN_ERRNO_BASE +10)
#define NTCAN_ID_NOT_ENABLED         (NTCAN_ERRNO_BASE +11)
/* #define NTCAN_RESERVED            (NTCAN_ERRNO_BASE +12) */
#define NTCAN_INVALID_FIRMWARE       (NTCAN_ERRNO_BASE +13)
#define NTCAN_MESSAGE_LOST           (NTCAN_ERRNO_BASE +14)
#define NTCAN_INVALID_HARDWARE       (NTCAN_ERRNO_BASE +15)

#define NTCAN_PENDING_WRITE          (NTCAN_ERRNO_BASE +16)
#define NTCAN_PENDING_READ           (NTCAN_ERRNO_BASE +17)
#define NTCAN_INVALID_DRIVER         (NTCAN_ERRNO_BASE +18)

#define NTCAN_SOCK_CONN_TIMEOUT      (NTCAN_ERRNO_BASE + 0x80)
#define NTCAN_SOCK_CMD_TIMEOUT       (NTCAN_ERRNO_BASE + 0x81)
#define NTCAN_SOCK_HOST_NOT_FOUND    (NTCAN_ERRNO_BASE + 0x82)  /* gethostbyname() failed */

#define NTCAN_INVALID_PARAMETER      EINVAL
#define NTCAN_INVALID_HANDLE         EBADFD
/* #define NTCAN_IO_INCOMPLETE       not reasonable under Linux */
/* #define NTCAN_IO_PENDING          not reasonable under Linux */
#define NTCAN_NET_NOT_FOUND          ENODEV
#define NTCAN_INSUFFICIENT_RESOURCES ENOMEM

#define NTCAN_OPERATION_ABORTED      EINTR
#define NTCAN_WRONG_DEVICE_STATE     (NTCAN_ERRNO_BASE +19)
#define NTCAN_HANDLE_FORCED_CLOSE    (NTCAN_ERRNO_BASE +20)
#define NTCAN_NOT_IMPLEMENTED        ENOSYS
#define NTCAN_NOT_SUPPORTED          (NTCAN_ERRNO_BASE +21)
#define NTCAN_CONTR_ERR_PASSIVE      (NTCAN_ERRNO_BASE +22)

/*
 *  Dear ntcan-user,
 *  we regret, that we were forced to change the name of our handle type.
 *  This had to be done to keep "inter-system" compatibility of your
 *  application sources, after a change in VxWorks 6.0. Please replace all
 *  occurrences of HANDLE with NTCAN_HANDLE in your application's source
 *  code.
 */
typedef int32_t OVERLAPPED;
#ifndef NTCAN_CLEAN_NAMESPACE
typedef int32_t HANDLE NTCAN_GCCATTR_DEPRECATED;
#endif
typedef int32_t NTCAN_RESULT;
typedef int32_t NTCAN_HANDLE;

#pragma pack(1)

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                                   */
        uint8_t  data[8];       /* 8 data-bytes                               */
} CMSG;

typedef struct {
        int32_t  evid;          /* event-id: possible range:EV_BASE...EV_LAST */
        uint8_t  len;           /* length of message: 0-8                     */
        uint8_t  reserved[3];   /* reserved                                   */
        union {
                uint8_t   c[8];
                uint16_t  s[4];
                uint32_t  l[2];
        } evdata;
} EVMSG;

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                                 */
        uint8_t   data[8];        /* 8 data-bytes                             */
        uint64_t  timestamp;      /* time stamp of this message               */
} CMSG_T;

typedef struct {
        uint16_t  hardware;
        uint16_t  firmware;
        uint16_t  driver;
        uint16_t  dll;
        uint32_t  boardstatus;
        uint8_t   boardid[14];
        uint16_t  features;
} CAN_IF_STATUS;


typedef struct
{
  int32_t id;
  int32_t flags;
  uint64_t time_start;
  uint64_t time_interval;
  uint8_t reserved[8];
} CSCHED;

#pragma pack()


/* Feature-flags returned by canStatus() */
#define NTCAN_FEATURE_FULL_CAN         (1<<0)
#define NTCAN_FEATURE_BASIC_20B        (1<<1)
#define NTCAN_FEATURE_DEVICE_NET       (1<<2)
#define NTCAN_FEATURE_CYCLIC_TX        (1<<3) /* Cyclic Tx support            */
#define NTCAN_FEATURE_RX_OBJECT_MODE   (1<<4) /* Receive object mode support  */
#define NTCAN_FEATURE_TIMESTAMP        (1<<5) /* Timestamp support            */
#define NTCAN_FEATURE_LISTEN_ONLY_MODE (1<<6) /* Listen-only-mode support     */
#define NTCAN_FEATURE_SMART_DISCONNECT (1<<7) /* Leave-bus-after-last-close   */

/* Bus states delivered by status-event */
#define NTCAN_BUSSTATE_OK           0x00
#define NTCAN_BUSSTATE_WARN         0x40
#define NTCAN_BUSSTATE_ERRPASSIVE   0x80
#define NTCAN_BUSSTATE_BUSOFF       0xC0

/*
 * IOCTL codes for canIoctl()
 */
#define NTCAN_IOCTL_FLUSH_RX_FIFO         0x0001   /* Flush Rx FIFO                 */
#define NTCAN_IOCTL_GET_RX_MSG_COUNT      0x0002   /* Ret # CMSG in Rx FIFO         */
#define NTCAN_IOCTL_GET_RX_TIMEOUT        0x0003   /* Ret configured Rx tout        */
#define NTCAN_IOCTL_GET_TX_TIMEOUT        0x0004   /* Ret configured Tx tout        */

/*
 * AB: The following IOCTLs aren't implemented in candev-driver, yet.
 *     And probably never will, since candev driver is deprecated.
 */
#define NTCAN_IOCTL_SET_20B_HND_FILTER    0x0005   /* Configure 20B filter          */
#define NTCAN_IOCTL_GET_SERIAL            0x0006   /* Get HW serial number          */
#define NTCAN_IOCTL_GET_TIMESTAMP_FREQ    0x0007   /* Get timestamp frequency in Hz */
#define NTCAN_IOCTL_GET_TIMESTAMP         0x0008   /* Get timestamp counter         */
#define NTCAN_IOCTL_ABORT_RX              0x0009   /* Abort a pending read          */
#define NTCAN_IOCTL_ABORT_TX              0x000A   /* Abort pending write           */
#define NTCAN_IOCTL_SET_RX_TIMEOUT        0x000B   /* Change rx-timeout parameter   */
#define NTCAN_IOCTL_SET_TX_TIMEOUT        0x000C   /* Change tx-timeout parameter   */
#define NTCAN_IOCTL_TX_OBJ_CREATE         0x000D   /* Create obj, arg->CMSG          */
#define NTCAN_IOCTL_TX_OBJ_AUTOANSWER_ON  0x000E   /* Switch autoanswer on,arg->CMSG */
#define NTCAN_IOCTL_TX_OBJ_AUTOANSWER_OFF 0x000F   /* Switch autoanswer off,arg->CMSG*/
#define NTCAN_IOCTL_TX_OBJ_UPDATE         0x0010   /* update  obj, arg->CMSG         */
#define NTCAN_IOCTL_TX_OBJ_DESTROY        0x0011   /* Destroy obj, arg->id           */

#define NTCAN_IOCTL_TX_OBJ_SCHEDULE_START 0x0013   /* Start scheduling for handle    */
#define NTCAN_IOCTL_TX_OBJ_SCHEDULE_STOP  0x0014   /* Stop scheduling for handle     */
#define NTCAN_IOCTL_TX_OBJ_SCHEDULE       0x0015   /* Set sched. for obj,arg->CSCHED */


/*...prototypes................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canSetBaudrate(
                NTCAN_HANDLE  handle,      /* nt-handle                        */
                uint32_t      baud );      /* baudrate-constant                */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canGetBaudrate(
                NTCAN_HANDLE  handle,      /* nt-handle                        */
                uint32_t     *baud );      /* Out: baudrate                    */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canOpen(
                int32_t       net,         /* net number                       */
                uint32_t      flags,       /*                                  */
                int32_t       txqueuesize, /* nr of entries in message queue   */
                int32_t       rxqueuesize, /* nr of entries in message queue   */
                int32_t       txtimeout,   /* tx-timeout in miliseconds        */
                int32_t       rxtimeout,   /* rx-timeout in miliseconds        */
                NTCAN_HANDLE *handle );    /* out: nt-handle                   */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canClose(     /* ret NTCAN_OK, if success         */
                NTCAN_HANDLE  handle );    /* handle                           */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canIdAdd(     /* ret NTCAN_OK, if success         */
                NTCAN_HANDLE  handle,      /* read handle                      */
                int32_t       id  );       /* can identifier                   */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canIdDelete(  /* ret 0, if success                */
                NTCAN_HANDLE  handle,      /* read handle                      */
                int32_t       id  );       /* can identifier                   */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canGetOverlappedResult(
                NTCAN_HANDLE  handle,      /* handle                           */
                OVERLAPPED   *ovrlppd,     /* overlapped-structure             */
                int32_t      *len,         /* out: cnt of available CMSG-Buffer*/
                int32_t       bWait );     /* FALSE =>do not wait, else wait   */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canTake(      /* ret 0, if success                */
                NTCAN_HANDLE  handle,      /* handle                           */
                CMSG         *cmsg,        /* ptr to data-buffer               */
                int32_t      *len );       /* out: size of CMSG-Buffer         */
                                           /* in:  count of read messages      */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canRead(      /* ret 0, if success                */
                NTCAN_HANDLE  handle,      /* handle                           */
                CMSG         *cmsg,        /* ptr to data-buffer               */
                int32_t      *len,         /* out: size of CMSG-Buffer         */
                                           /* in:  count of read messages      */
                OVERLAPPED   *ovrlppd);    /* NULL or overlapped-structure     */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canSend(      /* ret 0, if success                */
                NTCAN_HANDLE  handle,      /* handle                           */
                CMSG         *cmsg,        /* ptr to data-buffer               */
                int32_t      *len );       /* size of CMSG-Buffer              */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canWrite(     /* ret 0, if success                */
                NTCAN_HANDLE  handle,      /* handle                           */
                CMSG         *cmsg,        /* ptr to data-buffer               */
                int32_t      *len,         /* size of CMSG-Buffer              */
                OVERLAPPED   *ovrlppd);    /* NULL or overlapped-structure     */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canSendT(     /* ret 0, if success                */
                NTCAN_HANDLE  handle,      /* handle                           */
                CMSG_T       *cmsg,        /* ptr to data-buffer               */
                int32_t      *len );       /* size of CMSG-Buffer              */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canWriteT(    /* ret 0, if success                */
                NTCAN_HANDLE  handle,      /* handle                           */
                CMSG_T       *cmsg,        /* ptr to data-buffer               */
                int32_t      *len,         /* size of CMSG-Buffer              */
                OVERLAPPED   *ovrlppd);    /* NULL or overlapped-structure     */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canReadEvent(
                NTCAN_HANDLE  handle,      /* handle                           */
                EVMSG        *evmsg,       /* ptr to event-msg-buffer          */
                OVERLAPPED   *ovrlppd);    /* NULL or overlapped-structure     */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canSendEvent(
                NTCAN_HANDLE  handle,      /* handle                           */
                EVMSG        *evmsg );     /* ptr to event-msg-buffer          */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canStatus(
                NTCAN_HANDLE   handle,     /* handle                           */
                CAN_IF_STATUS *cstat );    /* ptr to can-status-buffer         */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canIoctl(
                NTCAN_HANDLE  handle,      /* handle                           */
                uint32_t      ulCmd,       /* Command                          */
                void         *pArg );      /* Ptr to command specific argument */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canTakeT(
                NTCAN_HANDLE  handle,      /* In: handle                       */
                CMSG_T       *cmsg_t,      /* In: ptr to receive buffer        */
                int32_t      *len );       /* out: size of CMSG_T-Buffer       */
                                           /* In: count of read messages       */
/*.............................................................................*/
EXPORT NTCAN_RESULT CALLTYPE canReadT(
                NTCAN_HANDLE  handle,      /* In: handle                       */
                CMSG_T       *cmsg_t,      /* Int ptr to receive buffer        */
                int32_t      *len,         /* out: size of CMSG_T-Buffer       */
                                           /* In: count of read messages       */
                OVERLAPPED   *ovrlppd);    /* In: always NULL                  */

#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* _ntcan_h_ */