161 lines
5.3 KiB
C
161 lines
5.3 KiB
C
/****************************************************************************
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* include/netpacket/can.h
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* Definitions for use with AF_PACKET sockets
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NETPACKET_CAN_H
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#define __INCLUDE_NETPACKET_CAN_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Special address description flags for the CAN_ID */
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#define CAN_EFF_FLAG 0x80000000 /* EFF/SFF is set in the MSB */
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#define CAN_RTR_FLAG 0x40000000 /* Remote transmission request */
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#define CAN_ERR_FLAG 0x20000000 /* Error message frame */
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/* Valid bits in CAN ID for frame formats */
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#define CAN_SFF_MASK 0x000007ff /* Standard frame format (SFF) */
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#define CAN_EFF_MASK 0x1fffffff /* Extended frame format (EFF) */
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#define CAN_ERR_MASK 0x1fffffff /* Omit EFF, RTR, ERR flags */
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#define CAN_MTU (sizeof(struct can_frame))
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#define CANFD_MTU (sizeof(struct canfd_frame))
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/* PF_CAN protocols */
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#define CAN_RAW 1 /* RAW sockets */
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#define CAN_BCM 2 /* Broadcast Manager */
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#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
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#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
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#define CAN_MCNET 5 /* Bosch MCNet */
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#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
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#define CAN_J1939 7 /* SAE J1939 */
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#define CAN_NPROTO 8
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#define SOL_CAN_BASE 100
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#define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW)
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/* CAN_RAW socket options */
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#define CAN_RAW_FILTER (__SO_PROTOCOL + 0)
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/* set 0 .. n can_filter(s) */
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#define CAN_RAW_ERR_FILTER (__SO_PROTOCOL + 1)
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/* set filter for error frames */
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#define CAN_RAW_LOOPBACK (__SO_PROTOCOL + 2)
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/* local loopback (default:on) */
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#define CAN_RAW_RECV_OWN_MSGS (__SO_PROTOCOL + 3)
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/* receive my own msgs (default:off) */
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#define CAN_RAW_FD_FRAMES (__SO_PROTOCOL + 4)
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/* allow CAN FD frames (default:off) */
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#define CAN_RAW_JOIN_FILTERS (__SO_PROTOCOL + 5)
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/* all filters must match to trigger */
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#define CAN_RAW_TX_DEADLINE (__SO_PROTOCOL + 6)
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/* Abort frame when deadline passed */
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/* CAN filter support (Hardware level filtering) ****************************/
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/* Some CAN hardware supports a notion of prioritizing messages that match
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* filters. Only two priority levels are currently supported and are encoded
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* as defined below:
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*/
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#define CAN_MSGPRIO_LOW 0
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#define CAN_MSGPRIO_HIGH 1
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/* Filter type. Not all CAN hardware will support all filter types. */
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#define CAN_FILTER_MASK 0 /* Address match under a mask */
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#define CAN_FILTER_DUAL 1 /* Dual address match */
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#define CAN_FILTER_RANGE 2 /* Match a range of addresses */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* Controller Area Network Identifier structure
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*
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* Bit 0-28: CAN identifier (11/29 bit)
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* Bit 29: Error message frame flag (0 = data frame, 1 = error message)
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* Bit 30: Remote transmission request flag (1 = rtr frame)
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* Bit 31: Frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
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*/
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typedef uint32_t canid_t;
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/* The sockaddr structure for CAN sockets
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*
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* can_family: Address family number AF_CAN.
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* can_ifindex: CAN network interface index.
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* can_addr: Protocol specific address information
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*/
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struct sockaddr_can
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{
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sa_family_t can_family;
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int16_t can_ifindex;
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union
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{
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/* Transport protocol class address information */
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struct
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{
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canid_t rx_id;
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canid_t tx_id;
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} tp;
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/* J1939 address information */
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struct
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{
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/* 8 byte name when using dynamic addressing */
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uint64_t name;
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/* pgn:
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* 8 bit: PS in PDU2 case, else 0
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* 8 bit: PF
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* 1 bit: DP
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* 1 bit: reserved
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*/
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uint32_t pgn;
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/* 1 byte address */
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uint8_t addr;
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} j1939;
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} can_addr;
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};
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#endif /* __INCLUDE_NETPACKET_CAN_H */
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