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0d66548a OH |
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 | * | |
0d66548a OH |
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 */ | |
d6e640f9 | 24 | #define CAN_ERR_FLAG 0x20000000U /* error message frame */ |
0d66548a OH |
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) | |
d6e640f9 | 35 | * bit 29 : error message frame flag (0 = data frame, 1 = error message) |
0d66548a OH |
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 | */ | |
39 | typedef __u32 canid_t; | |
40 | ||
f057bbb6 RL |
41 | #define CAN_SFF_ID_BITS 11 |
42 | #define CAN_EFF_ID_BITS 29 | |
43 | ||
0d66548a | 44 | /* |
d6e640f9 | 45 | * Controller Area Network Error Message Frame Mask structure |
0d66548a OH |
46 | * |
47 | * bit 0-28 : error class mask (see include/linux/can/error.h) | |
48 | * bit 29-31 : set to zero | |
49 | */ | |
50 | typedef __u32 can_err_mask_t; | |
51 | ||
7c941636 OH |
52 | /* CAN payload length and DLC definitions according to ISO 11898-1 */ |
53 | #define CAN_MAX_DLC 8 | |
54 | #define CAN_MAX_DLEN 8 | |
55 | ||
56 | /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ | |
57 | #define CANFD_MAX_DLC 15 | |
58 | #define CANFD_MAX_DLEN 64 | |
59 | ||
0d66548a OH |
60 | /** |
61 | * struct can_frame - basic CAN frame structure | |
7c941636 OH |
62 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
63 | * @can_dlc: frame payload length in byte (0 .. 8) aka data length code | |
64 | * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 | |
65 | * mapping of the 'data length code' to the real payload length | |
66 | * @data: CAN frame payload (up to 8 byte) | |
0d66548a OH |
67 | */ |
68 | struct can_frame { | |
69 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ | |
7c941636 OH |
70 | __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ |
71 | __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); | |
0d66548a OH |
72 | }; |
73 | ||
7c941636 OH |
74 | /* |
75 | * defined bits for canfd_frame.flags | |
76 | * | |
035534ed OH |
77 | * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to |
78 | * be set in the CAN frame bitstream on the wire. The EDL bit switch turns | |
79 | * the CAN controllers bitstream processor into the CAN FD mode which creates | |
80 | * two new options within the CAN FD frame specification: | |
7c941636 | 81 | * |
035534ed OH |
82 | * Bit Rate Switch - to indicate a second bitrate is/was used for the payload |
83 | * Error State Indicator - represents the error state of the transmitting node | |
84 | * | |
85 | * As the CANFD_ESI bit is internally generated by the transmitting CAN | |
86 | * controller only the CANFD_BRS bit is relevant for real CAN controllers when | |
87 | * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make | |
88 | * sense for virtual CAN interfaces to test applications with echoed frames. | |
7c941636 | 89 | */ |
035534ed OH |
90 | #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ |
91 | #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ | |
7c941636 OH |
92 | |
93 | /** | |
94 | * struct canfd_frame - CAN flexible data rate frame structure | |
95 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition | |
96 | * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) | |
97 | * @flags: additional flags for CAN FD | |
98 | * @__res0: reserved / padding | |
99 | * @__res1: reserved / padding | |
100 | * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) | |
101 | */ | |
102 | struct canfd_frame { | |
103 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ | |
104 | __u8 len; /* frame payload length in byte */ | |
105 | __u8 flags; /* additional flags for CAN FD */ | |
106 | __u8 __res0; /* reserved / padding */ | |
107 | __u8 __res1; /* reserved / padding */ | |
108 | __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); | |
109 | }; | |
110 | ||
111 | #define CAN_MTU (sizeof(struct can_frame)) | |
112 | #define CANFD_MTU (sizeof(struct canfd_frame)) | |
113 | ||
0d66548a OH |
114 | /* particular protocols of the protocol family PF_CAN */ |
115 | #define CAN_RAW 1 /* RAW sockets */ | |
116 | #define CAN_BCM 2 /* Broadcast Manager */ | |
117 | #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ | |
118 | #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ | |
119 | #define CAN_MCNET 5 /* Bosch MCNet */ | |
120 | #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ | |
121 | #define CAN_NPROTO 7 | |
122 | ||
123 | #define SOL_CAN_BASE 100 | |
124 | ||
125 | /** | |
126 | * struct sockaddr_can - the sockaddr structure for CAN sockets | |
127 | * @can_family: address family number AF_CAN. | |
128 | * @can_ifindex: CAN network interface index. | |
129 | * @can_addr: protocol specific address information | |
130 | */ | |
131 | struct sockaddr_can { | |
bcb949b8 | 132 | __kernel_sa_family_t can_family; |
0d66548a OH |
133 | int can_ifindex; |
134 | union { | |
135 | /* transport protocol class address information (e.g. ISOTP) */ | |
136 | struct { canid_t rx_id, tx_id; } tp; | |
137 | ||
138 | /* reserved for future CAN protocols address information */ | |
139 | } can_addr; | |
140 | }; | |
141 | ||
142 | /** | |
143 | * struct can_filter - CAN ID based filter in can_register(). | |
144 | * @can_id: relevant bits of CAN ID which are not masked out. | |
145 | * @can_mask: CAN mask (see description) | |
146 | * | |
147 | * Description: | |
148 | * A filter matches, when | |
149 | * | |
150 | * <received_can_id> & mask == can_id & mask | |
151 | * | |
152 | * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can | |
d6e640f9 | 153 | * filter for error message frames (CAN_ERR_FLAG bit set in mask). |
0d66548a OH |
154 | */ |
155 | struct can_filter { | |
156 | canid_t can_id; | |
157 | canid_t can_mask; | |
158 | }; | |
159 | ||
160 | #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ | |
161 | ||
162 | #endif /* CAN_H */ |