291 lines
11 KiB
C
291 lines
11 KiB
C
/* 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 <oliver.hartkopp@volkswagen.de>
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* Urs Thuermann <urs.thuermann@volkswagen.de>
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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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#include <linux/stddef.h> /* for offsetof */
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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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#define CANXL_PRIO_MASK CAN_SFF_MASK /* 11 bit priority mask */
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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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#define CANXL_PRIO_BITS CAN_SFF_ID_BITS
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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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* CAN XL payload length and DLC definitions according to ISO 11898-1
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* CAN XL DLC ranges from 0 .. 2047 => data length from 1 .. 2048 byte
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*/
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#define CANXL_MIN_DLC 0
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#define CANXL_MAX_DLC 2047
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#define CANXL_MAX_DLC_MASK 0x07FF
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#define CANXL_MIN_DLEN 1
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#define CANXL_MAX_DLEN 2048
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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 FD Frame (FDF) bit to
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* be set in the CAN frame bitstream on the wire. The FDF 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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* The struct can_frame and struct canfd_frame intentionally share the same
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* layout to be able to write CAN frame content into a CAN FD frame structure.
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* When this is done the former differentiation via CAN_MTU / CANFD_MTU gets
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* lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of
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* using struct canfd_frame for mixed CAN / CAN FD content (dual use).
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* Since the introduction of CAN XL the CANFD_FDF flag is set in all CAN FD
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* frame structures provided by the CAN subsystem of the Linux kernel.
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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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#define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */
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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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/*
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* defined bits for canxl_frame.flags
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*
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* The canxl_frame.flags element contains two bits CANXL_XLF and CANXL_SEC
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* and shares the relative position of the struct can[fd]_frame.len element.
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* The CANXL_XLF bit ALWAYS needs to be set to indicate a valid CAN XL frame.
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* As a side effect setting this bit intentionally breaks the length checks
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* for Classical CAN and CAN FD frames.
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*
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* Undefined bits in canxl_frame.flags are reserved and shall be set to zero.
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*/
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#define CANXL_XLF 0x80 /* mandatory CAN XL frame flag (must always be set!) */
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#define CANXL_SEC 0x01 /* Simple Extended Content (security/segmentation) */
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/**
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* struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure
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* @prio: 11 bit arbitration priority with zero'ed CAN_*_FLAG flags
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* @flags: additional flags for CAN XL
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* @sdt: SDU (service data unit) type
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* @len: frame payload length in byte (CANXL_MIN_DLEN .. CANXL_MAX_DLEN)
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* @af: acceptance field
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* @data: CAN XL frame payload (CANXL_MIN_DLEN .. CANXL_MAX_DLEN byte)
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*
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* @prio shares the same position as @can_id from struct can[fd]_frame.
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*/
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struct canxl_frame {
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canid_t prio; /* 11 bit priority for arbitration (canid_t) */
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__u8 flags; /* additional flags for CAN XL */
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__u8 sdt; /* SDU (service data unit) type */
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__u16 len; /* frame payload length in byte */
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__u32 af; /* acceptance field */
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__u8 data[CANXL_MAX_DLEN];
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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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#define CANXL_MTU (sizeof(struct canxl_frame))
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#define CANXL_HDR_SIZE (offsetof(struct canxl_frame, data))
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#define CANXL_MIN_MTU (CANXL_HDR_SIZE + 64)
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#define CANXL_MAX_MTU CANXL_MTU
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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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