constants.py

"""
Defines shared CAN constants.
"""

# Generic socket constants
SO_TIMESTAMPNS = 35
SO_TIMESTAMPING = 37
SOF_TIMESTAMPING_RX_SOFTWARE = 1 << 3
SOF_TIMESTAMPING_SOFTWARE = 1 << 4
SOF_TIMESTAMPING_RAW_HARDWARE = 1 << 6

CAN_ERR_FLAG = 0x20000000
CAN_RTR_FLAG = 0x40000000
CAN_EFF_FLAG = 0x80000000

# BCM opcodes
CAN_BCM_TX_SETUP = 1
CAN_BCM_TX_DELETE = 2
CAN_BCM_TX_READ = 3

# BCM flags
SETTIMER = 0x0001
STARTTIMER = 0x0002
TX_COUNTEVT = 0x0004
TX_ANNOUNCE = 0x0008
TX_CP_CAN_ID = 0x0010
RX_FILTER_ID = 0x0020
RX_CHECK_DLC = 0x0040
RX_NO_AUTOTIMER = 0x0080
RX_ANNOUNCE_RESUME = 0x0100
TX_RESET_MULTI_IDX = 0x0200
RX_RTR_FRAME = 0x0400
CAN_FD_FRAME = 0x0800

CAN_RAW = 1
CAN_BCM = 2

SOL_CAN_BASE = 100
SOL_CAN_RAW = SOL_CAN_BASE + CAN_RAW

CAN_RAW_FILTER = 1
CAN_RAW_ERR_FILTER = 2
CAN_RAW_LOOPBACK = 3
CAN_RAW_RECV_OWN_MSGS = 4
CAN_RAW_FD_FRAMES = 5

MSK_ARBID = 0x1FFFFFFF
MSK_FLAGS = 0xE0000000

PF_CAN = 29
SOCK_RAW = 3
SOCK_DGRAM = 2
AF_CAN = PF_CAN

SIOCGIFNAME = 0x8910
SIOCGIFINDEX = 0x8933
SIOCGSTAMP = 0x8906
EXTFLG = 0x0004

CANFD_BRS = 0x01  # bit rate switch (second bitrate for payload data)
CANFD_ESI = 0x02  # error state indicator of the transmitting node
CANFD_FDF = 0x04  # mark CAN FD for dual use of struct canfd_frame

# CAN payload length and DLC definitions according to ISO 11898-1
CAN_MAX_DLC = 8
CAN_MAX_RAW_DLC = 15
CAN_MAX_DLEN = 8

# CAN FD payload length and DLC definitions according to ISO 11898-7
CANFD_MAX_DLC = 15
CANFD_MAX_DLEN = 64

CANFD_MTU = 72

STD_ACCEPTANCE_MASK_ALL_BITS = 2**11 - 1
MAX_11_BIT_ID = STD_ACCEPTANCE_MASK_ALL_BITS

EXT_ACCEPTANCE_MASK_ALL_BITS = 2**29 - 1
MAX_29_BIT_ID = EXT_ACCEPTANCE_MASK_ALL_BITS