Oliver Hartkopp | 0d66548 | 2007-11-16 15:52:17 -0800 | [diff] [blame] | 1 | /* |
| 2 | * linux/can.h |
| 3 | * |
| 4 | * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) |
| 5 | * |
| 6 | * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> |
| 7 | * Urs Thuermann <urs.thuermann@volkswagen.de> |
| 8 | * Copyright (c) 2002-2007 Volkswagen Group Electronic Research |
| 9 | * All rights reserved. |
| 10 | * |
| 11 | * Send feedback to <socketcan-users@lists.berlios.de> |
| 12 | * |
| 13 | */ |
| 14 | |
| 15 | #ifndef CAN_H |
| 16 | #define CAN_H |
| 17 | |
| 18 | #include <linux/types.h> |
| 19 | #include <linux/socket.h> |
| 20 | |
| 21 | /* controller area network (CAN) kernel definitions */ |
| 22 | |
| 23 | /* special address description flags for the CAN_ID */ |
| 24 | #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ |
| 25 | #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ |
| 26 | #define CAN_ERR_FLAG 0x20000000U /* error frame */ |
| 27 | |
| 28 | /* valid bits in CAN ID for frame formats */ |
| 29 | #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ |
| 30 | #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ |
| 31 | #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ |
| 32 | |
| 33 | /* |
| 34 | * Controller Area Network Identifier structure |
| 35 | * |
| 36 | * bit 0-28 : CAN identifier (11/29 bit) |
| 37 | * bit 29 : error frame flag (0 = data frame, 1 = error frame) |
| 38 | * bit 30 : remote transmission request flag (1 = rtr frame) |
| 39 | * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) |
| 40 | */ |
| 41 | typedef __u32 canid_t; |
| 42 | |
| 43 | /* |
| 44 | * Controller Area Network Error Frame Mask structure |
| 45 | * |
| 46 | * bit 0-28 : error class mask (see include/linux/can/error.h) |
| 47 | * bit 29-31 : set to zero |
| 48 | */ |
| 49 | typedef __u32 can_err_mask_t; |
| 50 | |
| 51 | /** |
| 52 | * struct can_frame - basic CAN frame structure |
| 53 | * @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above. |
| 54 | * @can_dlc: the data length field of the CAN frame |
| 55 | * @data: the CAN frame payload. |
| 56 | */ |
| 57 | struct can_frame { |
| 58 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
| 59 | __u8 can_dlc; /* data length code: 0 .. 8 */ |
| 60 | __u8 data[8] __attribute__((aligned(8))); |
| 61 | }; |
| 62 | |
| 63 | /* particular protocols of the protocol family PF_CAN */ |
| 64 | #define CAN_RAW 1 /* RAW sockets */ |
| 65 | #define CAN_BCM 2 /* Broadcast Manager */ |
| 66 | #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ |
| 67 | #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ |
| 68 | #define CAN_MCNET 5 /* Bosch MCNet */ |
| 69 | #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ |
| 70 | #define CAN_NPROTO 7 |
| 71 | |
| 72 | #define SOL_CAN_BASE 100 |
| 73 | |
| 74 | /** |
| 75 | * struct sockaddr_can - the sockaddr structure for CAN sockets |
| 76 | * @can_family: address family number AF_CAN. |
| 77 | * @can_ifindex: CAN network interface index. |
| 78 | * @can_addr: protocol specific address information |
| 79 | */ |
| 80 | struct sockaddr_can { |
| 81 | sa_family_t can_family; |
| 82 | int can_ifindex; |
| 83 | union { |
| 84 | /* transport protocol class address information (e.g. ISOTP) */ |
| 85 | struct { canid_t rx_id, tx_id; } tp; |
| 86 | |
| 87 | /* reserved for future CAN protocols address information */ |
| 88 | } can_addr; |
| 89 | }; |
| 90 | |
| 91 | /** |
| 92 | * struct can_filter - CAN ID based filter in can_register(). |
| 93 | * @can_id: relevant bits of CAN ID which are not masked out. |
| 94 | * @can_mask: CAN mask (see description) |
| 95 | * |
| 96 | * Description: |
| 97 | * A filter matches, when |
| 98 | * |
| 99 | * <received_can_id> & mask == can_id & mask |
| 100 | * |
| 101 | * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can |
| 102 | * filter for error frames (CAN_ERR_FLAG bit set in mask). |
| 103 | */ |
| 104 | struct can_filter { |
| 105 | canid_t can_id; |
| 106 | canid_t can_mask; |
| 107 | }; |
| 108 | |
| 109 | #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ |
| 110 | |
| 111 | #endif /* CAN_H */ |