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/*
* 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 */