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