can.h
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/*
* socketcan/can.h
*
* Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
*
* $Id: can.h 1038 2009-08-21 10:00:21Z hartkopp $
*
* 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/version.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/socketcan/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 */