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Oliver Hartkopp0d665482007-11-16 15:52:17 -08001/*
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 */
41typedef __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 */
49typedef __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 */
57struct 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 */
80struct 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 */
104struct 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 */