4 * Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
8 * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
9 * Urs Thuermann <urs.thuermann@volkswagen.de>
10 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
11 * All rights reserved.
13 * Send feedback to <socketcan-users@lists.berlios.de>
20 #include <linux/version.h>
21 #include <linux/types.h>
22 #include <linux/socket.h>
24 /* controller area network (CAN) kernel definitions */
26 /* special address description flags for the CAN_ID */
27 #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
28 #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
29 #define CAN_ERR_FLAG 0x20000000U /* error frame */
31 /* valid bits in CAN ID for frame formats */
32 #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
33 #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
34 #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
37 * Controller Area Network Identifier structure
39 * bit 0-28 : CAN identifier (11/29 bit)
40 * bit 29 : error frame flag (0 = data frame, 1 = error frame)
41 * bit 30 : remote transmission request flag (1 = rtr frame)
42 * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
44 typedef __u32 canid_t;
47 * Controller Area Network Error Frame Mask structure
49 * bit 0-28 : error class mask (see include/socketcan/can/error.h)
50 * bit 29-31 : set to zero
52 typedef __u32 can_err_mask_t;
55 * struct can_frame - basic CAN frame structure
56 * @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above.
57 * @can_dlc: the data length field of the CAN frame
58 * @data: the CAN frame payload.
61 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
62 __u8 can_dlc; /* data length code: 0 .. 8 */
63 __u8 data[8] __attribute__((aligned(8)));
66 /* particular protocols of the protocol family PF_CAN */
67 #define CAN_RAW 1 /* RAW sockets */
68 #define CAN_BCM 2 /* Broadcast Manager */
69 #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
70 #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
71 #define CAN_MCNET 5 /* Bosch MCNet */
72 #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
75 #define SOL_CAN_BASE 100
78 * struct sockaddr_can - the sockaddr structure for CAN sockets
79 * @can_family: address family number AF_CAN.
80 * @can_ifindex: CAN network interface index.
81 * @can_addr: protocol specific address information
84 sa_family_t can_family;
87 /* transport protocol class address information (e.g. ISOTP) */
88 struct { canid_t rx_id, tx_id; } tp;
90 /* reserved for future CAN protocols address information */
95 * struct can_filter - CAN ID based filter in can_register().
96 * @can_id: relevant bits of CAN ID which are not masked out.
97 * @can_mask: CAN mask (see description)
100 * A filter matches, when
102 * <received_can_id> & mask == can_id & mask
104 * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
105 * filter for error frames (CAN_ERR_FLAG bit set in mask).
112 #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */