/* * 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 * Urs Thuermann * Copyright (c) 2002-2007 Volkswagen Group Electronic Research * All rights reserved. * * Send feedback to * */ #ifndef CAN_H #define CAN_H #include #include #include /* 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 * * & 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 */