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 */
12
13#ifndef CAN_H
14#define CAN_H
15
16#include <linux/types.h>
17#include <linux/socket.h>
18
19/* controller area network (CAN) kernel definitions */
20
21/* special address description flags for the CAN_ID */
22#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
23#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
24#define CAN_ERR_FLAG 0x20000000U /* error frame */
25
26/* valid bits in CAN ID for frame formats */
27#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
28#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
29#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
30
31/*
32 * Controller Area Network Identifier structure
33 *
34 * bit 0-28	: CAN identifier (11/29 bit)
35 * bit 29	: error frame flag (0 = data frame, 1 = error frame)
36 * bit 30	: remote transmission request flag (1 = rtr frame)
37 * bit 31	: frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
38 */
39typedef __u32 canid_t;
40
41/*
42 * Controller Area Network Error Frame Mask structure
43 *
44 * bit 0-28	: error class mask (see include/linux/can/error.h)
45 * bit 29-31	: set to zero
46 */
47typedef __u32 can_err_mask_t;
48
49/**
50 * struct can_frame - basic CAN frame structure
51 * @can_id:  the CAN ID of the frame and CAN_*_FLAG flags, see above.
52 * @can_dlc: the data length field of the CAN frame
53 * @data:    the CAN frame payload.
54 */
55struct can_frame {
56	canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */
57	__u8    can_dlc; /* data length code: 0 .. 8 */
58	__u8    data[8] __attribute__((aligned(8)));
59};
60
61/* particular protocols of the protocol family PF_CAN */
62#define CAN_RAW		1 /* RAW sockets */
63#define CAN_BCM		2 /* Broadcast Manager */
64#define CAN_TP16	3 /* VAG Transport Protocol v1.6 */
65#define CAN_TP20	4 /* VAG Transport Protocol v2.0 */
66#define CAN_MCNET	5 /* Bosch MCNet */
67#define CAN_ISOTP	6 /* ISO 15765-2 Transport Protocol */
68#define CAN_NPROTO	7
69
70#define SOL_CAN_BASE 100
71
72/**
73 * struct sockaddr_can - the sockaddr structure for CAN sockets
74 * @can_family:  address family number AF_CAN.
75 * @can_ifindex: CAN network interface index.
76 * @can_addr:    protocol specific address information
77 */
78struct sockaddr_can {
79	__kernel_sa_family_t can_family;
80	int         can_ifindex;
81	union {
82		/* transport protocol class address information (e.g. ISOTP) */
83		struct { canid_t rx_id, tx_id; } tp;
84
85		/* reserved for future CAN protocols address information */
86	} can_addr;
87};
88
89/**
90 * struct can_filter - CAN ID based filter in can_register().
91 * @can_id:   relevant bits of CAN ID which are not masked out.
92 * @can_mask: CAN mask (see description)
93 *
94 * Description:
95 * A filter matches, when
96 *
97 *          <received_can_id> & mask == can_id & mask
98 *
99 * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
100 * filter for error frames (CAN_ERR_FLAG bit set in mask).
101 */
102struct can_filter {
103	canid_t can_id;
104	canid_t can_mask;
105};
106
107#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
108
109#endif /* CAN_H */
110