add can.h

include/linux/can.h

+/*
+ * 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
+ *
+ * As the default for CAN FD should be to support the high data rate in the
+ * payload section of the frame (HDR) and to support up to 64 byte in the
+ * data section (EDL) the bits are only set in the non-default case.
+ * Btw. as long as there's no real implementation for CAN FD network driver
+ * these bits are only preliminary.
+ *
+ * RX: NOHDR/NOEDL - info about received CAN FD frame
+ *     ESI         - bit from originating CAN controller
+ * TX: NOHDR/NOEDL - control per-frame settings if supported by CAN controller
+ *     ESI         - bit is set by local CAN controller
+ */
+#define CANFD_NOHDR 0x01 /* frame without high data rate */
+#define CANFD_NOEDL 0x02 /* frame without extended data length */
+#define CANFD_ESI   0x04 /* error state indicator */
+
+/**
+ * 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 */