203 lines
7.7 KiB
C
203 lines
7.7 KiB
C
|
/* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */
|
||
|
|
/*
|
||
|
|
* linux/can.h
|
||
|
|
*
|
||
|
|
* Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
|
||
|
|
*
|
||
|
|
* Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
|
||
|
|
* Urs Thuermann <urs.thuermann@volkswagen.de>
|
||
|
|
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
|
||
|
|
* All rights reserved.
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without
|
||
|
|
* modification, are permitted provided that the following conditions
|
||
|
|
* are met:
|
||
|
|
* 1. Redistributions of source code must retain the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer.
|
||
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer in the
|
||
|
|
* documentation and/or other materials provided with the distribution.
|
||
|
|
* 3. Neither the name of Volkswagen nor the names of its contributors
|
||
|
|
* may be used to endorse or promote products derived from this software
|
||
|
|
* without specific prior written permission.
|
||
|
|
*
|
||
|
|
* Alternatively, provided that this notice is retained in full, this
|
||
|
|
* software may be distributed under the terms of the GNU General
|
||
|
|
* Public License ("GPL") version 2, in which case the provisions of the
|
||
|
|
* GPL apply INSTEAD OF those given above.
|
||
|
|
*
|
||
|
|
* The provided data structures and external interfaces from this code
|
||
|
|
* are not restricted to be used by modules with a GPL compatible license.
|
||
|
|
*
|
||
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||
|
|
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||
|
|
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||
|
|
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||
|
|
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||
|
|
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||
|
|
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
|
||
|
|
* DAMAGE.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _UAPI_CAN_H
|
||
|
|
#define _UAPI_CAN_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 message 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 */
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Controller Area Network Identifier structure
|
||
|
|
*
|
||
|
|
* bit 0-28 : CAN identifier (11/29 bit)
|
||
|
|
* bit 29 : error message frame flag (0 = data frame, 1 = error message)
|
||
|
|
* bit 30 : remote transmission request flag (1 = rtr frame)
|
||
|
|
* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
|
||
|
|
*/
|
||
|
|
typedef __u32 canid_t;
|
||
|
|
|
||
|
|
#define CAN_SFF_ID_BITS 11
|
||
|
|
#define CAN_EFF_ID_BITS 29
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Controller Area Network Error Message Frame Mask structure
|
||
|
|
*
|
||
|
|
* bit 0-28 : error class mask (see include/linux/can/error.h)
|
||
|
|
* bit 29-31 : set to zero
|
||
|
|
*/
|
||
|
|
typedef __u32 can_err_mask_t;
|
||
|
|
|
||
|
|
/* CAN payload length and DLC definitions according to ISO 11898-1 */
|
||
|
|
#define CAN_MAX_DLC 8
|
||
|
|
#define CAN_MAX_DLEN 8
|
||
|
|
|
||
|
|
/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
|
||
|
|
#define CANFD_MAX_DLC 15
|
||
|
|
#define CANFD_MAX_DLEN 64
|
||
|
|
|
||
|
|
/**
|
||
|
|
* struct can_frame - basic CAN frame structure
|
||
|
|
* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
|
||
|
|
* @can_dlc: frame payload length in byte (0 .. 8) aka data length code
|
||
|
|
* N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1
|
||
|
|
* mapping of the 'data length code' to the real payload length
|
||
|
|
* @__pad: padding
|
||
|
|
* @__res0: reserved / padding
|
||
|
|
* @__res1: reserved / padding
|
||
|
|
* @data: CAN frame payload (up to 8 byte)
|
||
|
|
*/
|
||
|
|
struct can_frame {
|
||
|
|
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
|
||
|
|
__u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
|
||
|
|
__u8 __pad; /* padding */
|
||
|
|
__u8 __res0; /* reserved / padding */
|
||
|
|
__u8 __res1; /* reserved / padding */
|
||
|
|
__u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)));
|
||
|
|
};
|
||
|
|
|
||
|
|
/*
|
||
|
|
* defined bits for canfd_frame.flags
|
||
|
|
*
|
||
|
|
* The use of struct canfd_frame implies the Extended Data Length (EDL) bit to
|
||
|
|
* be set in the CAN frame bitstream on the wire. The EDL bit switch turns
|
||
|
|
* the CAN controllers bitstream processor into the CAN FD mode which creates
|
||
|
|
* two new options within the CAN FD frame specification:
|
||
|
|
*
|
||
|
|
* Bit Rate Switch - to indicate a second bitrate is/was used for the payload
|
||
|
|
* Error State Indicator - represents the error state of the transmitting node
|
||
|
|
*
|
||
|
|
* As the CANFD_ESI bit is internally generated by the transmitting CAN
|
||
|
|
* controller only the CANFD_BRS bit is relevant for real CAN controllers when
|
||
|
|
* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
|
||
|
|
* sense for virtual CAN interfaces to test applications with echoed frames.
|
||
|
|
*/
|
||
|
|
#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
|
||
|
|
#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* struct canfd_frame - CAN flexible data rate frame structure
|
||
|
|
* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
|
||
|
|
* @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
|
||
|
|
* @flags: additional flags for CAN FD
|
||
|
|
* @__res0: reserved / padding
|
||
|
|
* @__res1: reserved / padding
|
||
|
|
* @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
|
||
|
|
*/
|
||
|
|
struct canfd_frame {
|
||
|
|
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
|
||
|
|
__u8 len; /* frame payload length in byte */
|
||
|
|
__u8 flags; /* additional flags for CAN FD */
|
||
|
|
__u8 __res0; /* reserved / padding */
|
||
|
|
__u8 __res1; /* reserved / padding */
|
||
|
|
__u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
|
||
|
|
};
|
||
|
|
|
||
|
|
#define CAN_MTU (sizeof(struct can_frame))
|
||
|
|
#define CANFD_MTU (sizeof(struct canfd_frame))
|
||
|
|
|
||
|
|
/* 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_NPROTO 7
|
||
|
|
|
||
|
|
#define SOL_CAN_BASE 100
|
||
|
|
|
||
|
|
/**
|
||
|
|
* struct sockaddr_can - the sockaddr structure for CAN sockets
|
||
|
|
* @can_family: address family number AF_CAN.
|
||
|
|
* @can_ifindex: CAN network interface index.
|
||
|
|
* @can_addr: protocol specific address information
|
||
|
|
*/
|
||
|
|
struct sockaddr_can {
|
||
|
|
__kernel_sa_family_t can_family;
|
||
|
|
int can_ifindex;
|
||
|
|
union {
|
||
|
|
/* transport protocol class address information (e.g. ISOTP) */
|
||
|
|
struct { canid_t rx_id, tx_id; } tp;
|
||
|
|
|
||
|
|
/* reserved for future CAN protocols address information */
|
||
|
|
} can_addr;
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
* struct can_filter - CAN ID based filter in can_register().
|
||
|
|
* @can_id: relevant bits of CAN ID which are not masked out.
|
||
|
|
* @can_mask: CAN mask (see description)
|
||
|
|
*
|
||
|
|
* Description:
|
||
|
|
* A filter matches, when
|
||
|
|
*
|
||
|
|
* <received_can_id> & mask == can_id & mask
|
||
|
|
*
|
||
|
|
* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
|
||
|
|
* filter for error message frames (CAN_ERR_FLAG bit set in mask).
|
||
|
|
*/
|
||
|
|
struct can_filter {
|
||
|
|
canid_t can_id;
|
||
|
|
canid_t can_mask;
|
||
|
|
};
|
||
|
|
|
||
|
|
#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
|
||
|
|
#define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */
|
||
|
|
|
||
|
|
#endif /* !_UAPI_CAN_H */
|