PicoLowLevel
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can.h
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1#ifndef CAN_H_
2#define CAN_H_
3
4#include <stdint.h>
5
6
7typedef unsigned char __u8;
8typedef unsigned short __u16;
9typedef unsigned long __u32;
10
11
12/* special address description flags for the CAN_ID */
13#define CAN_EFF_FLAG 0x80000000UL /* EFF/SFF is set in the MSB */
14#define CAN_RTR_FLAG 0x40000000UL /* remote transmission request */
15#define CAN_ERR_FLAG 0x20000000UL /* error message frame */
16
17/* valid bits in CAN ID for frame formats */
18#define CAN_SFF_MASK 0x000007FFUL /* standard frame format (SFF) */
19#define CAN_EFF_MASK 0x1FFFFFFFUL /* extended frame format (EFF) */
20#define CAN_ERR_MASK 0x1FFFFFFFUL /* omit EFF, RTR, ERR flags */
21
22/*
23 * Controller Area Network Identifier structure
24 *
25 * bit 0-28 : CAN identifier (11/29 bit)
26 * bit 29 : error message frame flag (0 = data frame, 1 = error message)
27 * bit 30 : remote transmission request flag (1 = rtr frame)
28 * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
29 */
30typedef __u32 canid_t;
31
32#define CAN_SFF_ID_BITS 11
33#define CAN_EFF_ID_BITS 29
34
35/* CAN payload length and DLC definitions according to ISO 11898-1 */
36#define CAN_MAX_DLC 8
37#define CAN_MAX_DLEN 8
38
39struct can_frame {
40 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
41 __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
42 __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)));
43};
44
45#endif /* CAN_H_ */
unsigned long __u32
Definition can.h:9
unsigned char __u8
Definition can.h:7
unsigned short __u16
Definition can.h:8
#define CAN_MAX_DLEN
Definition can.h:37
__u32 canid_t
Definition can.h:30
Definition can.h:39
__u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)))
canid_t can_id
Definition can.h:40
__u8 can_dlc
Definition can.h:41