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 */