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230 lines
8.5 KiB
230 lines
8.5 KiB
/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ |
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/* |
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* linux/can.h |
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* |
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* Definitions for CAN network layer (socket addr / CAN frame / CAN filter) |
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* |
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* Authors: Oliver Hartkopp <[email protected]> |
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* Urs Thuermann <[email protected]> |
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* Copyright (c) 2002-2007 Volkswagen Group Electronic Research |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in the |
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* documentation and/or other materials provided with the distribution. |
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* 3. Neither the name of Volkswagen nor the names of its contributors |
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* may be used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* Alternatively, provided that this notice is retained in full, this |
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* software may be distributed under the terms of the GNU General |
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* Public License ("GPL") version 2, in which case the provisions of the |
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* GPL apply INSTEAD OF those given above. |
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* |
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* The provided data structures and external interfaces from this code |
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* are not restricted to be used by modules with a GPL compatible license. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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* DAMAGE. |
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*/ |
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#ifndef _UAPI_CAN_H |
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#define _UAPI_CAN_H |
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#include <linux/types.h> |
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#include <linux/socket.h> |
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/* controller area network (CAN) kernel definitions */ |
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/* special address description flags for the CAN_ID */ |
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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ |
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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ |
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#define CAN_ERR_FLAG 0x20000000U /* error message frame */ |
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/* valid bits in CAN ID for frame formats */ |
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#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ |
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#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ |
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#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ |
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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 __u32 canid_t; |
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#define CAN_SFF_ID_BITS 11 |
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#define CAN_EFF_ID_BITS 29 |
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/* |
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* Controller Area Network Error Message Frame Mask structure |
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* |
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* bit 0-28 : error class mask (see include/uapi/linux/can/error.h) |
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* bit 29-31 : set to zero |
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*/ |
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typedef __u32 can_err_mask_t; |
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/* CAN payload length and DLC definitions according to ISO 11898-1 */ |
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#define CAN_MAX_DLC 8 |
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#define CAN_MAX_RAW_DLC 15 |
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#define CAN_MAX_DLEN 8 |
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/* CAN FD payload length and DLC definitions according to ISO 11898-7 */ |
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#define CANFD_MAX_DLC 15 |
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#define CANFD_MAX_DLEN 64 |
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/** |
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* struct can_frame - Classical CAN frame structure (aka CAN 2.0B) |
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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
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* @len: CAN frame payload length in byte (0 .. 8) |
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* @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) |
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* @__pad: padding |
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* @__res0: reserved / padding |
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* @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length |
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* len8_dlc contains values from 9 .. 15 when the payload length is |
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* 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. |
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* CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. |
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* @data: CAN frame payload (up to 8 byte) |
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*/ |
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struct can_frame { |
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
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union { |
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/* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) |
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* was previously named can_dlc so we need to carry that |
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* name for legacy support |
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*/ |
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__u8 len; |
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__u8 can_dlc; /* deprecated */ |
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} __attribute__((packed)); /* disable padding added in some ABIs */ |
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__u8 __pad; /* padding */ |
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__u8 __res0; /* reserved / padding */ |
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__u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ |
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__u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); |
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}; |
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/* |
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* defined bits for canfd_frame.flags |
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* |
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* The use of struct canfd_frame implies the Extended Data Length (EDL) bit to |
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* be set in the CAN frame bitstream on the wire. The EDL bit switch turns |
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* the CAN controllers bitstream processor into the CAN FD mode which creates |
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* two new options within the CAN FD frame specification: |
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* |
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* Bit Rate Switch - to indicate a second bitrate is/was used for the payload |
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* Error State Indicator - represents the error state of the transmitting node |
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* |
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* As the CANFD_ESI bit is internally generated by the transmitting CAN |
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* controller only the CANFD_BRS bit is relevant for real CAN controllers when |
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* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make |
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* sense for virtual CAN interfaces to test applications with echoed frames. |
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*/ |
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#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ |
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#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ |
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/** |
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* struct canfd_frame - CAN flexible data rate frame structure |
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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
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* @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) |
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* @flags: additional flags for CAN FD |
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* @__res0: reserved / padding |
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* @__res1: reserved / padding |
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* @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) |
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*/ |
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struct canfd_frame { |
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
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__u8 len; /* frame payload length in byte */ |
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__u8 flags; /* additional flags for CAN FD */ |
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__u8 __res0; /* reserved / padding */ |
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__u8 __res1; /* reserved / padding */ |
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__u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); |
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}; |
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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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/* particular protocols of the protocol family PF_CAN */ |
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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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/** |
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* struct sockaddr_can - the sockaddr structure for CAN sockets |
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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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__kernel_sa_family_t can_family; |
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int can_ifindex; |
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union { |
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/* transport protocol class address information (e.g. ISOTP) */ |
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struct { canid_t rx_id, tx_id; } tp; |
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/* J1939 address information */ |
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struct { |
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/* 8 byte name when using dynamic addressing */ |
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__u64 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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__u32 pgn; |
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/* 1 byte address */ |
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__u8 addr; |
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} j1939; |
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/* reserved for future CAN protocols address information */ |
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} can_addr; |
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}; |
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/** |
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* struct can_filter - CAN ID based filter in can_register(). |
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* @can_id: relevant bits of CAN ID which are not masked out. |
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* @can_mask: CAN mask (see description) |
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* |
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* Description: |
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* A filter matches, when |
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* |
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* <received_can_id> & mask == can_id & mask |
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* |
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* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can |
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* filter for error message frames (CAN_ERR_FLAG bit set in mask). |
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*/ |
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struct can_filter { |
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canid_t can_id; |
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canid_t can_mask; |
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}; |
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#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ |
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#define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ |
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#endif /* !_UAPI_CAN_H */
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