112 lines
3.2 KiB
C
112 lines
3.2 KiB
C
/*
|
|
* linux/can.h
|
|
*
|
|
* Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
|
|
*
|
|
* Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
|
|
* Urs Thuermann <urs.thuermann@volkswagen.de>
|
|
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
|
|
* All rights reserved.
|
|
*
|
|
* Send feedback to <socketcan-users@lists.berlios.de>
|
|
*
|
|
*/
|
|
|
|
#ifndef CAN_H
|
|
#define CAN_H
|
|
|
|
#include <linux/types.h>
|
|
#include <linux/socket.h>
|
|
|
|
/* controller area network (CAN) kernel definitions */
|
|
|
|
/* special address description flags for the CAN_ID */
|
|
#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
|
|
#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
|
|
#define CAN_ERR_FLAG 0x20000000U /* error frame */
|
|
|
|
/* valid bits in CAN ID for frame formats */
|
|
#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
|
|
#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
|
|
#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
|
|
|
|
/*
|
|
* Controller Area Network Identifier structure
|
|
*
|
|
* bit 0-28 : CAN identifier (11/29 bit)
|
|
* bit 29 : error frame flag (0 = data frame, 1 = error frame)
|
|
* bit 30 : remote transmission request flag (1 = rtr frame)
|
|
* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
|
|
*/
|
|
typedef __u32 canid_t;
|
|
|
|
/*
|
|
* Controller Area Network Error Frame Mask structure
|
|
*
|
|
* bit 0-28 : error class mask (see include/linux/can/error.h)
|
|
* bit 29-31 : set to zero
|
|
*/
|
|
typedef __u32 can_err_mask_t;
|
|
|
|
/**
|
|
* struct can_frame - basic CAN frame structure
|
|
* @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above.
|
|
* @can_dlc: the data length field of the CAN frame
|
|
* @data: the CAN frame payload.
|
|
*/
|
|
struct can_frame {
|
|
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
|
|
__u8 can_dlc; /* data length code: 0 .. 8 */
|
|
__u8 data[8] __attribute__((aligned(8)));
|
|
};
|
|
|
|
/* particular protocols of the protocol family PF_CAN */
|
|
#define CAN_RAW 1 /* RAW sockets */
|
|
#define CAN_BCM 2 /* Broadcast Manager */
|
|
#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
|
|
#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
|
|
#define CAN_MCNET 5 /* Bosch MCNet */
|
|
#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
|
|
#define CAN_NPROTO 7
|
|
|
|
#define SOL_CAN_BASE 100
|
|
|
|
/**
|
|
* struct sockaddr_can - the sockaddr structure for CAN sockets
|
|
* @can_family: address family number AF_CAN.
|
|
* @can_ifindex: CAN network interface index.
|
|
* @can_addr: protocol specific address information
|
|
*/
|
|
struct sockaddr_can {
|
|
sa_family_t can_family;
|
|
int can_ifindex;
|
|
union {
|
|
/* transport protocol class address information (e.g. ISOTP) */
|
|
struct { canid_t rx_id, tx_id; } tp;
|
|
|
|
/* reserved for future CAN protocols address information */
|
|
} can_addr;
|
|
};
|
|
|
|
/**
|
|
* struct can_filter - CAN ID based filter in can_register().
|
|
* @can_id: relevant bits of CAN ID which are not masked out.
|
|
* @can_mask: CAN mask (see description)
|
|
*
|
|
* Description:
|
|
* A filter matches, when
|
|
*
|
|
* <received_can_id> & mask == can_id & mask
|
|
*
|
|
* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
|
|
* filter for error frames (CAN_ERR_FLAG bit set in mask).
|
|
*/
|
|
struct can_filter {
|
|
canid_t can_id;
|
|
canid_t can_mask;
|
|
};
|
|
|
|
#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
|
|
|
|
#endif /* CAN_H */
|