diff options
Diffstat (limited to 'include/linux')
| -rw-r--r-- | include/linux/can.h | 111 | ||||
| -rw-r--r-- | include/linux/can/core.h | 64 | ||||
| -rw-r--r-- | include/linux/can/error.h | 93 |
3 files changed, 268 insertions, 0 deletions
diff --git a/include/linux/can.h b/include/linux/can.h new file mode 100644 index 00000000000..d18333302cb --- /dev/null +++ b/include/linux/can.h @@ -0,0 +1,111 @@ +/* + * linux/can.h + * + * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) + * + * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> + * Urs Thuermann <urs.thuermann@volkswagen.de> + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + * Send feedback to <socketcan-users@lists.berlios.de> + * + */ + +#ifndef CAN_H +#define CAN_H + +#include <linux/types.h> +#include <linux/socket.h> + +/* controller area network (CAN) kernel definitions */ + +/* special address description flags for the CAN_ID */ +#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ +#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ +#define CAN_ERR_FLAG 0x20000000U /* error frame */ + +/* valid bits in CAN ID for frame formats */ +#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ +#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ +#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ + +/* + * Controller Area Network Identifier structure + * + * bit 0-28 : CAN identifier (11/29 bit) + * bit 29 : error frame flag (0 = data frame, 1 = error frame) + * bit 30 : remote transmission request flag (1 = rtr frame) + * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) + */ +typedef __u32 canid_t; + +/* + * Controller Area Network Error Frame Mask structure + * + * bit 0-28 : error class mask (see include/linux/can/error.h) + * bit 29-31 : set to zero + */ +typedef __u32 can_err_mask_t; + +/** + * struct can_frame - basic CAN frame structure + * @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above. + * @can_dlc: the data length field of the CAN frame + * @data: the CAN frame payload. + */ +struct can_frame { + canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ + __u8 can_dlc; /* data length code: 0 .. 8 */ + __u8 data[8] __attribute__((aligned(8))); +}; + +/* particular protocols of the protocol family PF_CAN */ +#define CAN_RAW 1 /* RAW sockets */ +#define CAN_BCM 2 /* Broadcast Manager */ +#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ +#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ +#define CAN_MCNET 5 /* Bosch MCNet */ +#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ +#define CAN_NPROTO 7 + +#define SOL_CAN_BASE 100 + +/** + * struct sockaddr_can - the sockaddr structure for CAN sockets + * @can_family: address family number AF_CAN. + * @can_ifindex: CAN network interface index. + * @can_addr: protocol specific address information + */ +struct sockaddr_can { + sa_family_t can_family; + int can_ifindex; + union { + /* transport protocol class address information (e.g. ISOTP) */ + struct { canid_t rx_id, tx_id; } tp; + + /* reserved for future CAN protocols address information */ + } can_addr; +}; + +/** + * struct can_filter - CAN ID based filter in can_register(). + * @can_id: relevant bits of CAN ID which are not masked out. + * @can_mask: CAN mask (see description) + * + * Description: + * A filter matches, when + * + * <received_can_id> & mask == can_id & mask + * + * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can + * filter for error frames (CAN_ERR_FLAG bit set in mask). + */ +struct can_filter { + canid_t can_id; + canid_t can_mask; +}; + +#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ + +#endif /* CAN_H */ diff --git a/include/linux/can/core.h b/include/linux/can/core.h new file mode 100644 index 00000000000..e9ca210ffa5 --- /dev/null +++ b/include/linux/can/core.h @@ -0,0 +1,64 @@ +/* + * linux/can/core.h + * + * Protoypes and definitions for CAN protocol modules using the PF_CAN core + * + * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> + * Urs Thuermann <urs.thuermann@volkswagen.de> + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + * Send feedback to <socketcan-users@lists.berlios.de> + * + */ + +#ifndef CAN_CORE_H +#define CAN_CORE_H + +#include <linux/can.h> +#include <linux/skbuff.h> +#include <linux/netdevice.h> + +#define CAN_VERSION "20071116" + +/* increment this number each time you change some user-space interface */ +#define CAN_ABI_VERSION "8" + +#define CAN_VERSION_STRING "rev " CAN_VERSION " abi " CAN_ABI_VERSION + +#define DNAME(dev) ((dev) ? (dev)->name : "any") + +/** + * struct can_proto - CAN protocol structure + * @type: type argument in socket() syscall, e.g. SOCK_DGRAM. + * @protocol: protocol number in socket() syscall. + * @capability: capability needed to open the socket, or -1 for no restriction. + * @ops: pointer to struct proto_ops for sock->ops. + * @prot: pointer to struct proto structure. + */ +struct can_proto { + int type; + int protocol; + int capability; + struct proto_ops *ops; + struct proto *prot; +}; + +/* function prototypes for the CAN networklayer core (af_can.c) */ + +extern int can_proto_register(struct can_proto *cp); +extern void can_proto_unregister(struct can_proto *cp); + +extern int can_rx_register(struct net_device *dev, canid_t can_id, + canid_t mask, + void (*func)(struct sk_buff *, void *), + void *data, char *ident); + +extern void can_rx_unregister(struct net_device *dev, canid_t can_id, + canid_t mask, + void (*func)(struct sk_buff *, void *), + void *data); + +extern int can_send(struct sk_buff *skb, int loop); + +#endif /* CAN_CORE_H */ diff --git a/include/linux/can/error.h b/include/linux/can/error.h new file mode 100644 index 00000000000..d4127fd9e68 --- /dev/null +++ b/include/linux/can/error.h @@ -0,0 +1,93 @@ +/* + * linux/can/error.h + * + * Definitions of the CAN error frame to be filtered and passed to the user. + * + * Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + * Send feedback to <socketcan-users@lists.berlios.de> + * + */ + +#ifndef CAN_ERROR_H +#define CAN_ERROR_H + +#define CAN_ERR_DLC 8 /* dlc for error frames */ + +/* error class (mask) in can_id */ +#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */ +#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */ +#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */ +#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */ +#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */ +#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */ +#define CAN_ERR_BUSOFF 0x00000040U /* bus off */ +#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */ +#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */ + +/* arbitration lost in bit ... / data[0] */ +#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */ + /* else bit number in bitstream */ + +/* error status of CAN-controller / data[1] */ +#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */ +#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */ +#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */ +#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */ +#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */ +#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */ + /* (at least one error counter exceeds */ + /* the protocol-defined level of 127) */ + +/* error in CAN protocol (type) / data[2] */ +#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_BIT 0x01 /* single bit error */ +#define CAN_ERR_PROT_FORM 0x02 /* frame format error */ +#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */ +#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */ +#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */ +#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */ +#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */ +#define CAN_ERR_PROT_TX 0x80 /* error occured on transmission */ + +/* error in CAN protocol (location) / data[3] */ +#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */ +#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */ +#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/ +#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */ +#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */ +#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */ +#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */ +#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */ +#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */ +#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */ +#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */ +#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */ +#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */ +#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */ +#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */ +#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */ +#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */ +#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */ +#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */ + +/* error status of CAN-transceiver / data[4] */ +/* CANH CANL */ +#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */ +#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */ +#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */ + +/* controller specific additional information / data[5..7] */ + +#endif /* CAN_ERROR_H */ |