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