socketcan.h

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/*
 * Copyright (c) 2019 Intel Corporation
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_NET_SOCKETCAN_H_
#define ZEPHYR_INCLUDE_NET_SOCKETCAN_H_
 
#include <zephyr/types.h>
#include <zephyr/net/net_ip.h>
#include <zephyr/net/net_if.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* Protocols of the protocol family PF_CAN */
#define CAN_RAW 1
 
/* SocketCAN options */
#define SOL_CAN_BASE 100
#define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW)
 
enum {
        CAN_RAW_FILTER = 1,
};
 
/* SocketCAN MTU size compatible with Linux */
#ifdef CONFIG_CAN_FD_MODE
#define SOCKETCAN_MAX_DLEN 64U
#define CANFD_MTU (sizeof(struct socketcan_frame))
#define CAN_MTU (CANFD_MTU - 56U)
#else /* CONFIG_CAN_FD_MODE */
#define SOCKETCAN_MAX_DLEN 8U
#define CAN_MTU (sizeof(struct socketcan_frame))
#endif /* !CONFIG_CAN_FD_MODE */
 
/* CAN-FD specific flags from Linux Kernel (include/uapi/linux/can.h) */
#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
#define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */
 
struct sockaddr_can {
        sa_family_t can_family;
        int         can_ifindex;
};
 
typedef uint32_t socketcan_id_t;
 
struct socketcan_frame {
        socketcan_id_t can_id;
        uint8_t len;
        uint8_t flags;
        uint8_t res0;  /* reserved/padding. */
        uint8_t res1;  /* reserved/padding. */
        uint8_t data[SOCKETCAN_MAX_DLEN];
};
 
struct socketcan_filter {
        socketcan_id_t can_id;
        socketcan_id_t can_mask;
};
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_NET_SOCKETCAN_H_ */