CANOpen, SDO mit Arduino schicken

#ifndef CAN_H_

#define CAN_H_

#include <stdint.h>

typedef unsigned char __u8;

typedef unsigned short __u16;

typedef unsigned long __u32;

/* special address description flags for the CAN_ID */

#define CAN_EFF_FLAG 0x80000000UL /* EFF/SFF is set in the MSB */

#define CAN_RTR_FLAG 0x40000000UL /* remote transmission request */

#define CAN_ERR_FLAG 0x20000000UL /* error message frame */

/* valid bits in CAN ID for frame formats */

#define CAN_SFF_MASK 0x000007FFUL /* standard frame format (SFF) */

#define CAN_EFF_MASK 0x1FFFFFFFUL /* extended frame format (EFF) */

#define CAN_ERR_MASK 0x1FFFFFFFUL /* omit EFF, RTR, ERR flags */

/*

 * Controller Area Network Identifier structure

 *

 * bit 0-28 : CAN identifier (11/29 bit)

 * bit 29   : error message frame flag (0 = data frame, 1 = error message)

 * bit 30   : remote transmission request flag (1 = rtr frame)

 * bit 31   : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)

 */

typedef __u32 canid_t;

#define CAN_SFF_ID_BITS     11

#define CAN_EFF_ID_BITS     29

/* CAN payload length and DLC definitions according to ISO 11898-1 */

#define CAN_MAX_DLC 8

#define CAN_MAX_DLEN 8

struct can_frame {

    canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */

    __u8    can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */

    __u8    data[CAN_MAX_DLEN] __attribute__((aligned(8)));

};

#endif /* CAN_H_ */