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
47typedef uint32_t canid_t;
48typedef 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 */
65struct 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 */
83struct 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 */
113struct 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