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/*
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* linux/can.h
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*
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* Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
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*
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* Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
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* Urs Thuermann <urs.thuermann@volkswagen.de>
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* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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*/
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#ifndef CAN_H
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#define CAN_H
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#include <linux/types.h>
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#include <linux/socket.h>
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/* controller area network (CAN) kernel definitions */
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/* special address description flags for the CAN_ID */
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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
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#define CAN_ERR_FLAG 0x20000000U /* error message frame */
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/* valid bits in CAN ID for frame formats */
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#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
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#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
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#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
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/*
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* Controller Area Network Identifier structure
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*
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* bit 0-28 : CAN identifier (11/29 bit)
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* bit 29 : error message frame flag (0 = data frame, 1 = error message)
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* bit 30 : remote transmission request flag (1 = rtr frame)
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* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
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*/
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typedef __u32 canid_t;
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#define CAN_SFF_ID_BITS 11
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#define CAN_EFF_ID_BITS 29
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/*
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* Controller Area Network Error Message Frame Mask structure
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*
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* bit 0-28 : error class mask (see include/linux/can/error.h)
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* bit 29-31 : set to zero
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*/
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typedef __u32 can_err_mask_t;
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/* CAN payload length and DLC definitions according to ISO 11898-1 */
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#define CAN_MAX_DLC 8
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#define CAN_MAX_DLEN 8
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/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
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#define CANFD_MAX_DLC 15
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#define CANFD_MAX_DLEN 64
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/**
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* struct can_frame - basic CAN frame structure
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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
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* @can_dlc: frame payload length in byte (0 .. 8) aka data length code
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* N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1
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* mapping of the 'data length code' to the real payload length
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* @data: CAN frame payload (up to 8 byte)
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*/
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struct can_frame {
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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__u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
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__u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)));
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};
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/*
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* defined bits for canfd_frame.flags
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*
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* The use of struct canfd_frame implies the Extended Data Length (EDL) bit to
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* be set in the CAN frame bitstream on the wire. The EDL bit switch turns
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* the CAN controllers bitstream processor into the CAN FD mode which creates
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* two new options within the CAN FD frame specification:
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*
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* Bit Rate Switch - to indicate a second bitrate is/was used for the payload
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* Error State Indicator - represents the error state of the transmitting node
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*
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* As the CANFD_ESI bit is internally generated by the transmitting CAN
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* controller only the CANFD_BRS bit is relevant for real CAN controllers when
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* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
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* sense for virtual CAN interfaces to test applications with echoed frames.
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*/
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#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
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#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
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/**
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* struct canfd_frame - CAN flexible data rate frame structure
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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
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* @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
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* @flags: additional flags for CAN FD
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* @__res0: reserved / padding
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* @__res1: reserved / padding
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* @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
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*/
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struct canfd_frame {
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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__u8 len; /* frame payload length in byte */
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__u8 flags; /* additional flags for CAN FD */
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__u8 __res0; /* reserved / padding */
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__u8 __res1; /* reserved / padding */
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__u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
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};
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#define CAN_MTU (sizeof(struct can_frame))
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#define CANFD_MTU (sizeof(struct canfd_frame))
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/* particular protocols of the protocol family PF_CAN */
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#define CAN_RAW 1 /* RAW sockets */
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#define CAN_BCM 2 /* Broadcast Manager */
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#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
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#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
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#define CAN_MCNET 5 /* Bosch MCNet */
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#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
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#define CAN_NPROTO 7
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#define SOL_CAN_BASE 100
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/**
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* struct sockaddr_can - the sockaddr structure for CAN sockets
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* @can_family: address family number AF_CAN.
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* @can_ifindex: CAN network interface index.
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* @can_addr: protocol specific address information
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*/
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struct sockaddr_can {
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__kernel_sa_family_t can_family;
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int can_ifindex;
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union {
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/* transport protocol class address information (e.g. ISOTP) */
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struct { canid_t rx_id, tx_id; } tp;
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/* reserved for future CAN protocols address information */
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} can_addr;
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};
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/**
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* struct can_filter - CAN ID based filter in can_register().
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* @can_id: relevant bits of CAN ID which are not masked out.
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* @can_mask: CAN mask (see description)
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*
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* Description:
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* A filter matches, when
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*
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* <received_can_id> & mask == can_id & mask
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*
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* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
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* filter for error message frames (CAN_ERR_FLAG bit set in mask).
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*/
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struct can_filter {
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canid_t can_id;
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canid_t can_mask;
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};
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#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
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#endif /* CAN_H */
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