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 */