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 */ 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 */ 112