4 * Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
6 * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
7 * Urs Thuermann <urs.thuermann@volkswagen.de>
8 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
16 #include <linux/version.h>
17 #include <linux/types.h>
18 #include <linux/socket.h>
20 /* controller area network (CAN) kernel definitions */
22 /* special address description flags for the CAN_ID */
23 #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
24 #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
25 #define CAN_ERR_FLAG 0x20000000U /* error message frame */
27 /* valid bits in CAN ID for frame formats */
28 #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
29 #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
30 #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
33 * Controller Area Network Identifier structure
35 * bit 0-28 : CAN identifier (11/29 bit)
36 * bit 29 : error message frame flag (0 = data frame, 1 = error message)
37 * bit 30 : remote transmission request flag (1 = rtr frame)
38 * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
40 typedef __u32 canid_t;
42 #define CAN_SFF_ID_BITS 11
43 #define CAN_EFF_ID_BITS 29
46 * Controller Area Network Error Message Frame Mask structure
48 * bit 0-28 : error class mask (see include/socketcan/can/error.h)
49 * bit 29-31 : set to zero
51 typedef __u32 can_err_mask_t;
53 /* CAN payload length and DLC definitions according to ISO 11898-1 */
55 #define CAN_MAX_DLEN 8
57 /* CAN FD payload length and DLC definitions according to ISO 11898-7 */
58 #define CANFD_MAX_DLC 15
59 #define CANFD_MAX_DLEN 64
62 * struct can_frame - basic CAN frame structure
63 * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
64 * @can_dlc: frame payload length in byte (0 .. 8) aka data length code
65 * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1
66 * mapping of the 'data length code' to the real payload length
67 * @data: CAN frame payload (up to 8 byte)
70 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
71 __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
72 __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)));
76 * defined bits for canfd_frame.flags
78 * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to
79 * be set in the CAN frame bitstream on the wire. The EDL bit switch turns
80 * the CAN controllers bitstream processor into the CAN FD mode which creates
81 * two new options within the CAN FD frame specification:
83 * Bit Rate Switch - to indicate a second bitrate is/was used for the payload
84 * Error State Indicator - represents the error state of the transmitting node
86 * As the CANFD_ESI bit is internally generated by the transmitting CAN
87 * controller only the CANFD_BRS bit is relevant for real CAN controllers when
88 * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
89 * sense for virtual CAN interfaces to test applications with echoed frames.
91 #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
92 #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
95 * struct canfd_frame - CAN flexible data rate frame structure
96 * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
97 * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
98 * @flags: additional flags for CAN FD
99 * @__res0: reserved / padding
100 * @__res1: reserved / padding
101 * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
104 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
105 __u8 len; /* frame payload length in byte */
106 __u8 flags; /* additional flags for CAN FD */
107 __u8 __res0; /* reserved / padding */
108 __u8 __res1; /* reserved / padding */
109 __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
112 #define CAN_MTU (sizeof(struct can_frame))
113 #define CANFD_MTU (sizeof(struct canfd_frame))
115 /* particular protocols of the protocol family PF_CAN */
116 #define CAN_RAW 1 /* RAW sockets */
117 #define CAN_BCM 2 /* Broadcast Manager */
118 #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
119 #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
120 #define CAN_MCNET 5 /* Bosch MCNet */
121 #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
124 #define SOL_CAN_BASE 100
126 // typedef unsigned short __kernel_sa_family_t;
127 // introduced in Linux 3.2 commit 6602a4baf4d1a73cc4685a39ef859e1c5ddf654c
130 * struct sockaddr_can - the sockaddr structure for CAN sockets
131 * @can_family: address family number AF_CAN.
132 * @can_ifindex: CAN network interface index.
133 * @can_addr: protocol specific address information
135 struct sockaddr_can {
136 sa_family_t can_family;
137 // __kernel_sa_family_t can_family;
140 /* transport protocol class address information (e.g. ISOTP) */
141 struct { canid_t rx_id, tx_id; } tp;
143 /* reserved for future CAN protocols address information */
148 * struct can_filter - CAN ID based filter in can_register().
149 * @can_id: relevant bits of CAN ID which are not masked out.
150 * @can_mask: CAN mask (see description)
153 * A filter matches, when
155 * <received_can_id> & mask == can_id & mask
157 * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
158 * filter for error message frames (CAN_ERR_FLAG bit set in mask).
165 #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */