can.h

linux下的CAN BUS驱动代码。适合在arm平台使用。

//****************************************************************************
// This is a local copy from the current file
// svn.berlios.de/svnroot/repos/socketcan/trunk/kernel/2.6/include/linux/can.h
// Author: Oliver Hartkopp ([e-mail])
//****************************************************************************

/*
 * linux/can.h
 *
 * Definitions for CAN networklayer (socket addr / CAN frame / CAN filter)
 *
 * $Id: can.h 165 2007-03-05 10:14:18Z hartkopp $
 *
 * Authors: Oliver Hartkopp <[e-mail]>
 *          Urs Thuermann   <[e-mail]>
 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
 * All rights reserved.
 *
 * Send feedback to <[e-mail]>
 *
 */

#ifndef CAN_H
#define CAN_H

#include <linux/version.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 */

typedef __u32 canid_t;

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_BAP		7 /* VAG Bedien- und Anzeigeprotokoll */
#define CAN_NPROTO	8

#define SOL_CAN_BASE 100

struct sockaddr_can {
	sa_family_t   can_family;
	int           can_ifindex;
	union {
		struct { canid_t rx_id, tx_id;   } tp16;
		struct { canid_t rx_id, tx_id;   } tp20;
		struct { canid_t rx_id, tx_id;   } mcnet;
		struct { canid_t rx_id, tx_id;   } isotp;
		struct { int     sg_id, sg_type; } bap;
	} can_addr;
};

typedef canid_t can_err_mask_t;

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 */