| /* 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> |
| #include <linux/stddef.h> /* for offsetof */ |
| |
| /* 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 */ |
| #define CANXL_PRIO_MASK CAN_SFF_MASK /* 11 bit priority mask */ |
| |
| /* |
| * 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 |
| #define CANXL_PRIO_BITS CAN_SFF_ID_BITS |
| |
| /* |
| * 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_RAW_DLC 15 |
| #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 |
| |
| /* |
| * CAN XL payload length and DLC definitions according to ISO 11898-1 |
| * CAN XL DLC ranges from 0 .. 2047 => data length from 1 .. 2048 byte |
| */ |
| #define CANXL_MIN_DLC 0 |
| #define CANXL_MAX_DLC 2047 |
| #define CANXL_MAX_DLC_MASK 0x07FF |
| #define CANXL_MIN_DLEN 1 |
| #define CANXL_MAX_DLEN 2048 |
| |
| /** |
| * struct can_frame - Classical CAN frame structure (aka CAN 2.0B) |
| * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
| * @len: CAN frame payload length in byte (0 .. 8) |
| * @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) |
| * @__pad: padding |
| * @__res0: reserved / padding |
| * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length |
| * len8_dlc contains values from 9 .. 15 when the payload length is |
| * 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. |
| * CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. |
| * @data: CAN frame payload (up to 8 byte) |
| */ |
| struct can_frame { |
| canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
| union { |
| /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) |
| * was previously named can_dlc so we need to carry that |
| * name for legacy support |
| */ |
| __u8 len; |
| __u8 can_dlc; /* deprecated */ |
| } __attribute__((packed)); /* disable padding added in some ABIs */ |
| __u8 __pad; /* padding */ |
| __u8 __res0; /* reserved / padding */ |
| __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ |
| __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); |
| }; |
| |
| /* |
| * defined bits for canfd_frame.flags |
| * |
| * The use of struct canfd_frame implies the FD Frame (FDF) bit to |
| * be set in the CAN frame bitstream on the wire. The FDF 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. |
| * |
| * The struct can_frame and struct canfd_frame intentionally share the same |
| * layout to be able to write CAN frame content into a CAN FD frame structure. |
| * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets |
| * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of |
| * using struct canfd_frame for mixed CAN / CAN FD content (dual use). |
| * Since the introduction of CAN XL the CANFD_FDF flag is set in all CAN FD |
| * frame structures provided by the CAN subsystem of the Linux kernel. |
| */ |
| #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 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))); |
| }; |
| |
| /* |
| * defined bits for canxl_frame.flags |
| * |
| * The canxl_frame.flags element contains two bits CANXL_XLF and CANXL_SEC |
| * and shares the relative position of the struct can[fd]_frame.len element. |
| * The CANXL_XLF bit ALWAYS needs to be set to indicate a valid CAN XL frame. |
| * As a side effect setting this bit intentionally breaks the length checks |
| * for Classical CAN and CAN FD frames. |
| * |
| * Undefined bits in canxl_frame.flags are reserved and shall be set to zero. |
| */ |
| #define CANXL_XLF 0x80 /* mandatory CAN XL frame flag (must always be set!) */ |
| #define CANXL_SEC 0x01 /* Simple Extended Content (security/segmentation) */ |
| |
| /** |
| * struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure |
| * @prio: 11 bit arbitration priority with zero'ed CAN_*_FLAG flags |
| * @flags: additional flags for CAN XL |
| * @sdt: SDU (service data unit) type |
| * @len: frame payload length in byte (CANXL_MIN_DLEN .. CANXL_MAX_DLEN) |
| * @af: acceptance field |
| * @data: CAN XL frame payload (CANXL_MIN_DLEN .. CANXL_MAX_DLEN byte) |
| * |
| * @prio shares the same position as @can_id from struct can[fd]_frame. |
| */ |
| struct canxl_frame { |
| canid_t prio; /* 11 bit priority for arbitration (canid_t) */ |
| __u8 flags; /* additional flags for CAN XL */ |
| __u8 sdt; /* SDU (service data unit) type */ |
| __u16 len; /* frame payload length in byte */ |
| __u32 af; /* acceptance field */ |
| __u8 data[CANXL_MAX_DLEN]; |
| }; |
| |
| #define CAN_MTU (sizeof(struct can_frame)) |
| #define CANFD_MTU (sizeof(struct canfd_frame)) |
| #define CANXL_MTU (sizeof(struct canxl_frame)) |
| #define CANXL_HDR_SIZE (offsetof(struct canxl_frame, data)) |
| #define CANXL_MIN_MTU (CANXL_HDR_SIZE + 64) |
| #define CANXL_MAX_MTU CANXL_MTU |
| |
| /* 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 */ |