class for use can on neo boards

qcan.h

#ifndef QCAN_H
#define QCAN_H

#include <QObject>
#include <QtSerialBus>

typedef struct //CAN message struct

       {
            quint16 i_length; // --> size of packet
            QTime neoTime; //time of comming frame
            quint64 i_timesStamp; //timestamp of the CAN trame in us
            quint8 i_channel; //can channel
            quint8 i_dlc; //data lenght max 8 bytes
            quint32 i_id; //bit 0-28 ID - bit 29 0 - bit 30 RTR - bit 31  1 for Extended trame 0 for std
            char data[8]; //8x8 bytes

       }structCan;

class QCan : public QObject
{
    Q_OBJECT
public:
    explicit QCan(QObject *parent = 0);
    ~QCan();

signals:
    void data(structCan frame);


public slots:
    void connectDevice(QString device, int bitrates, bool loopBack, bool listenMode);
    void disconnectDevice(QString device);

private slots:
    void checkMessages();
    void receiveError(QCanBusDevice::CanBusError error) const;

private:
    //methods
    void interpretError(const QCanBusFrame &);
    bool canShellOpen(QString &device, int rates);
    bool canShellClose(QString &device);

    //members
    QCanBusDevice *m_canDevice;
    structCan m_sCan;
};

#endif // QCAN_H