include/linux/can.h

   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  */
  41 typedef __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  */
  49 typedef __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  */
  57 struct 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  */
  80 struct 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  */
 104 struct 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 */