| /* SPDX-License-Identifier: ((GPL-2.0-only 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/uapi/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_J1939 7 /* SAE J1939 */ | |
| #define CAN_NPROTO 8 | |
| #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; | |
| /* J1939 address information */ | |
| struct { | |
| /* 8 byte name when using dynamic addressing */ | |
| __u64 name; | |
| /* pgn: | |
| * 8 bit: PS in PDU2 case, else 0 | |
| * 8 bit: PF | |
| * 1 bit: DP | |
| * 1 bit: reserved | |
| */ | |
| __u32 pgn; | |
| /* 1 byte address */ | |
| __u8 addr; | |
| } j1939; | |
| /* 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 */ |