102 lines
2.5 KiB
C++
102 lines
2.5 KiB
C++
//****************************************************************************
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// Copyright (C) 2007
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// Nissan North America
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// All Rights Reserved. Proprietary and Confidential.
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//============================================================================
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/* prevent multiple inclusions */
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#ifndef __CanSocket__
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#define __CanSocket__
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/* includes *****************************************************************/
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#include <vector>
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#include "netlib.h"
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <linux/can/bcm.h>
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/* defines ******************************************************************/
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#define CAN_MAX_FILTER 31
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#define CAN_MAX_ADDRESSES 256
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/* macros *******************************************************************/
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/* structs & typedefs *******************************************************/
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typedef struct can_filter CanFilter;
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typedef struct can_frame CanFrame;
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typedef struct _BcmFrame {
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struct bcm_msg_head head;
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struct can_frame frame;
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} BcmFrame;
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/* c class definitions ******************************************************/
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//
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// Uses the Peak Systems CAN Linux driver and Nissan CAN data
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//
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class CanSocket {
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// public data
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public:
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int m_sock;
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int m_proto;
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// private data
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private:
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// device
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int m_flags;
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// errors
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bool m_logerrs;
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long m_errcount;
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// static data
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// public methods
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public:
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// constructors
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CanSocket();
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// destructor
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virtual ~CanSocket();
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// virtual functions
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// public methods
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void AddrFlags( u_long f ) { m_flags = f; };
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int GetSock(void) {return m_sock;};
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int GetSocket(void) {return m_sock;};
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int GetProto(void) {return m_proto;};
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int CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 );
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void CanClose(void);
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// misc
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int ClearFilters( void );
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int Blocking(bool block=true);
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int NonBlocking(void) { return Blocking(false); };
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int Loopback(bool loop=true);
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int NoLoopback(void) { return Loopback(false); };
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void LogErrors(bool logerrs=true) {m_logerrs = logerrs;};
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// rx filter
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int CanAddRx( u_int32_t addr );
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int CanAddRx( const CanFilter *filter, int max=1 );
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int CanDelRx( u_int32_t addr );
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// raw
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int CanRawRead( CanFrame *buf, int max=1 );
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int CanRawWrite( const CanFrame *buf, int max=1 );
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// bcm
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int CanBcmRead( BcmFrame *msg, int max=1 );
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int CanBcmWrite( BcmFrame *msg, int max=1 );
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};
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#endif
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