129 lines
4.1 KiB
C
129 lines
4.1 KiB
C
/* $NetBSD: can.h,v 1.3 2017/05/30 13:30:51 bouyer Exp $ */
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/*-
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* Copyright (c) 2003, 2017 The NetBSD Foundation, Inc.
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* All rights reserved.
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*
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* This code is derived from software contributed to The NetBSD Foundation
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* by Robert Swindells and Manuel Bouyer
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE NETBSD FOUNDATION, INC. AND CONTRIBUTORS
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* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _NETCAN_CAN_H
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#define _NETCAN_CAN_H
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#include <sys/featuretest.h>
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#include <sys/types.h>
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/* Definitions compatible (as much as possible) with socketCAN */
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/*
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* CAN id structure
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* bits 0-28 : CAN identifier (11/29 bits, see bit 31)
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* bit2 29-31 : see below
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*/
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typedef uint32_t canid_t;
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typedef uint32_t can_err_mask_t;
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/* canid_t bits 29-31 descriptions */
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#define CAN_EFF_FLAG 0x80000000U /* extended frame format */
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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
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#define CAN_ERR_FLAG 0x20000000U /* error message frame */
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/* valid bits in CAN ID for frame formats */
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#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
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#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
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#define CAN_ERR_MASK 0x1FFFFFFFU /* error frame format */
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/* CAN payload length and DLC definitions according to ISO 11898-1 */
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#define CAN_MAX_DLC 8
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#define CAN_MAX_DLEN 8
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/* CAN frame */
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struct can_frame {
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canid_t can_id; /* ID + EFF/RTR/ERR flags */
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uint8_t can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
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uint8_t __pad;
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uint8_t __res0;
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uint8_t __res1;
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uint8_t data[CAN_MAX_DLEN] __aligned(8);
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};
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#define CAN_MTU (sizeof(struct can_frame))
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/* protocols */
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#define CAN_RAW 1 /* RAW sockets */
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#define CAN_NPROTO 2
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/*
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* Socket address, CAN style
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*/
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struct sockaddr_can {
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u_int8_t can_len;
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sa_family_t can_family;
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int can_ifindex;
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union {
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/* transport protocol class address information (e.g. ISOTP) */
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struct { canid_t rx_id, tx_id; } tp;
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/* reserved for future CAN protocols address information */
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} can_addr;
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};
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/*
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* Options for use with [gs]etsockopt for raw sockets
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* First word of comment is data type; bool is stored in int.
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*/
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#define SOL_CAN_RAW CAN_RAW
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#define CAN_RAW_FILTER 1 /* struct can_filter: set filter */
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#define CAN_RAW_LOOPBACK 4 /* bool: loopback to local sockets (default:on) */
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#define CAN_RAW_RECV_OWN_MSGS 5 /* bool: receive my own msgs (default:off) */
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/*
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* CAN ID based filter
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* checks received can_id & can_filter.can_mask against
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* can_filter.can_id & can_filter.can_mask
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* valid flags for can_id:
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* CAN_INV_FILTER: invert filter
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* valid flags for can_mask:
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* CAN_ERR_FLAG: filter for error message frames
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*/
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struct can_filter {
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canid_t can_id;
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canid_t can_mask;
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};
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#define CAN_INV_FILTER 0x20000000U
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#ifdef _NETBSD_SOURCE
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#ifdef _KERNEL
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#define satoscan(sa) ((struct sockaddr_can *)(sa))
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#define scantosa(scan) ((struct sockaddr *)(scan))
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#endif /* _KERNEL */
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#endif /* _NETBSD_SOURCE */
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#endif /* _NETCAN_CAN_H */
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