/*

 * 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.

 *

 * Send feedback to <socketcan-users@lists.berlios.de>

 *

 */

#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 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 frame flag (0 = data frame, 1 = error frame)

 * 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;

/*

 * Controller Area Network Error 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;

/**

 * struct can_frame - basic CAN frame structure

 * @can_id:  the CAN ID of the frame and CAN_*_FLAG flags, see above.

 * @can_dlc: the data length field of the CAN frame

 * @data:    the CAN frame payload.

 */

struct can_frame {

	canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */

	__u8    can_dlc; /* data length code: 0 .. 8 */

	__u8    data[8] __attribute__((aligned(8)));

};

/* 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 {

	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 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 */