1 /* $NetBSD: can.h,v 1.3 2017/05/30 13:30:51 bouyer Exp $ */ 2 3 /*- 4 * Copyright (c) 2003, 2017 The NetBSD Foundation, Inc. 5 * All rights reserved. 6 * 7 * This code is derived from software contributed to The NetBSD Foundation 8 * by Robert Swindells and Manuel Bouyer 9 * 10 * Redistribution and use in source and binary forms, with or without 11 * modification, are permitted provided that the following conditions 12 * are met: 13 * 1. Redistributions of source code must retain the above copyright 14 * notice, this list of conditions and the following disclaimer. 15 * 2. Redistributions in binary form must reproduce the above copyright 16 * notice, this list of conditions and the following disclaimer in the 17 * documentation and/or other materials provided with the distribution. 18 * 19 * THIS SOFTWARE IS PROVIDED BY THE NETBSD FOUNDATION, INC. AND CONTRIBUTORS 20 * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 21 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 22 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS 23 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 * POSSIBILITY OF SUCH DAMAGE. 30 */ 31 32 #ifndef _NETCAN_CAN_H 33 #define _NETCAN_CAN_H 34 35 #include <sys/featuretest.h> 36 #include <sys/types.h> 37 38 39 /* Definitions compatible (as much as possible) with socketCAN */ 40 41 /* 42 * CAN id structure 43 * bits 0-28 : CAN identifier (11/29 bits, see bit 31) 44 * bit2 29-31 : see below 45 */ 46 47 typedef uint32_t canid_t; 48 typedef uint32_t can_err_mask_t; 49 50 /* canid_t bits 29-31 descriptions */ 51 #define CAN_EFF_FLAG 0x80000000U /* extended frame format */ 52 #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ 53 #define CAN_ERR_FLAG 0x20000000U /* error message frame */ 54 55 /* valid bits in CAN ID for frame formats */ 56 #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ 57 #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ 58 #define CAN_ERR_MASK 0x1FFFFFFFU /* error frame format */ 59 60 /* CAN payload length and DLC definitions according to ISO 11898-1 */ 61 #define CAN_MAX_DLC 8 62 #define CAN_MAX_DLEN 8 63 64 /* CAN frame */ 65 struct can_frame { 66 canid_t can_id; /* ID + EFF/RTR/ERR flags */ 67 uint8_t can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ 68 uint8_t __pad; 69 uint8_t __res0; 70 uint8_t __res1; 71 uint8_t data[CAN_MAX_DLEN] __aligned(8); 72 }; 73 74 #define CAN_MTU (sizeof(struct can_frame)) 75 76 /* protocols */ 77 #define CAN_RAW 1 /* RAW sockets */ 78 #define CAN_NPROTO 2 79 80 /* 81 * Socket address, CAN style 82 */ 83 struct sockaddr_can { 84 u_int8_t can_len; 85 sa_family_t can_family; 86 int can_ifindex; 87 union { 88 /* transport protocol class address information (e.g. ISOTP) */ 89 struct { canid_t rx_id, tx_id; } tp; 90 /* reserved for future CAN protocols address information */ 91 } can_addr; 92 }; 93 94 /* 95 * Options for use with [gs]etsockopt for raw sockets 96 * First word of comment is data type; bool is stored in int. 97 */ 98 #define SOL_CAN_RAW CAN_RAW 99 100 #define CAN_RAW_FILTER 1 /* struct can_filter: set filter */ 101 #define CAN_RAW_LOOPBACK 4 /* bool: loopback to local sockets (default:on) */ 102 #define CAN_RAW_RECV_OWN_MSGS 5 /* bool: receive my own msgs (default:off) */ 103 104 /* 105 * CAN ID based filter 106 * checks received can_id & can_filter.can_mask against 107 * can_filter.can_id & can_filter.can_mask 108 * valid flags for can_id: 109 * CAN_INV_FILTER: invert filter 110 * valid flags for can_mask: 111 * CAN_ERR_FLAG: filter for error message frames 112 */ 113 struct can_filter { 114 canid_t can_id; 115 canid_t can_mask; 116 }; 117 118 #define CAN_INV_FILTER 0x20000000U 119 120 #ifdef _NETBSD_SOURCE 121 #ifdef _KERNEL 122 123 #define satoscan(sa) ((struct sockaddr_can *)(sa)) 124 #define scantosa(scan) ((struct sockaddr *)(scan)) 125 126 #endif /* _KERNEL */ 127 #endif /* _NETBSD_SOURCE */ 128 #endif /* _NETCAN_CAN_H */ 129