| /* |
| * 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. |
| * |
| */ |
| |
| #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 message 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 message frame flag (0 = data frame, 1 = error message) |
| * 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; |
| |
| #define CAN_SFF_ID_BITS 11 |
| #define CAN_EFF_ID_BITS 29 |
| |
| /* |
| * Controller Area Network Error Message 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; |
| |
| /* CAN payload length and DLC definitions according to ISO 11898-1 */ |
| #define CAN_MAX_DLC 8 |
| #define CAN_MAX_DLEN 8 |
| |
| /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ |
| #define CANFD_MAX_DLC 15 |
| #define CANFD_MAX_DLEN 64 |
| |
| /** |
| * struct can_frame - basic CAN frame structure |
| * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
| * @can_dlc: frame payload length in byte (0 .. 8) aka data length code |
| * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 |
| * mapping of the 'data length code' to the real payload length |
| * @data: CAN frame payload (up to 8 byte) |
| */ |
| struct can_frame { |
| canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
| __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ |
| __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); |
| }; |
| |
| /* |
| * defined bits for canfd_frame.flags |
| * |
| * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to |
| * be set in the CAN frame bitstream on the wire. The EDL bit switch turns |
| * the CAN controllers bitstream processor into the CAN FD mode which creates |
| * two new options within the CAN FD frame specification: |
| * |
| * Bit Rate Switch - to indicate a second bitrate is/was used for the payload |
| * Error State Indicator - represents the error state of the transmitting node |
| * |
| * As the CANFD_ESI bit is internally generated by the transmitting CAN |
| * controller only the CANFD_BRS bit is relevant for real CAN controllers when |
| * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make |
| * sense for virtual CAN interfaces to test applications with echoed frames. |
| */ |
| #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ |
| #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ |
| |
| /** |
| * struct canfd_frame - CAN flexible data rate frame structure |
| * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
| * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) |
| * @flags: additional flags for CAN FD |
| * @__res0: reserved / padding |
| * @__res1: reserved / padding |
| * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) |
| */ |
| struct canfd_frame { |
| canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
| __u8 len; /* frame payload length in byte */ |
| __u8 flags; /* additional flags for CAN FD */ |
| __u8 __res0; /* reserved / padding */ |
| __u8 __res1; /* reserved / padding */ |
| __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); |
| }; |
| |
| #define CAN_MTU (sizeof(struct can_frame)) |
| #define CANFD_MTU (sizeof(struct canfd_frame)) |
| |
| /* 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 { |
| __kernel_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 message 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 */ |
