Commit | Line | Data |
---|---|---|
3926a3a0 | 1 | /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ |
0d66548a OH |
2 | /* |
3 | * linux/can.h | |
4 | * | |
5 | * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) | |
6 | * | |
7 | * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> | |
8 | * Urs Thuermann <urs.thuermann@volkswagen.de> | |
9 | * Copyright (c) 2002-2007 Volkswagen Group Electronic Research | |
10 | * All rights reserved. | |
11 | * | |
16f6b87a UKK |
12 | * Redistribution and use in source and binary forms, with or without |
13 | * modification, are permitted provided that the following conditions | |
14 | * are met: | |
15 | * 1. Redistributions of source code must retain the above copyright | |
16 | * notice, this list of conditions and the following disclaimer. | |
17 | * 2. Redistributions in binary form must reproduce the above copyright | |
18 | * notice, this list of conditions and the following disclaimer in the | |
19 | * documentation and/or other materials provided with the distribution. | |
20 | * 3. Neither the name of Volkswagen nor the names of its contributors | |
21 | * may be used to endorse or promote products derived from this software | |
22 | * without specific prior written permission. | |
23 | * | |
24 | * Alternatively, provided that this notice is retained in full, this | |
25 | * software may be distributed under the terms of the GNU General | |
26 | * Public License ("GPL") version 2, in which case the provisions of the | |
27 | * GPL apply INSTEAD OF those given above. | |
28 | * | |
29 | * The provided data structures and external interfaces from this code | |
30 | * are not restricted to be used by modules with a GPL compatible license. | |
31 | * | |
32 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
33 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
34 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | |
35 | * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | |
36 | * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | |
37 | * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | |
38 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | |
39 | * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | |
40 | * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | |
41 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | |
42 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | |
43 | * DAMAGE. | |
0d66548a OH |
44 | */ |
45 | ||
42193e3e OH |
46 | #ifndef _UAPI_CAN_H |
47 | #define _UAPI_CAN_H | |
0d66548a OH |
48 | |
49 | #include <linux/types.h> | |
50 | #include <linux/socket.h> | |
1a3e3034 | 51 | #include <linux/stddef.h> /* for offsetof */ |
0d66548a OH |
52 | |
53 | /* controller area network (CAN) kernel definitions */ | |
54 | ||
55 | /* special address description flags for the CAN_ID */ | |
56 | #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ | |
57 | #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ | |
d6e640f9 | 58 | #define CAN_ERR_FLAG 0x20000000U /* error message frame */ |
0d66548a OH |
59 | |
60 | /* valid bits in CAN ID for frame formats */ | |
61 | #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ | |
62 | #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ | |
63 | #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ | |
1a3e3034 | 64 | #define CANXL_PRIO_MASK CAN_SFF_MASK /* 11 bit priority mask */ |
0d66548a OH |
65 | |
66 | /* | |
67 | * Controller Area Network Identifier structure | |
68 | * | |
69 | * bit 0-28 : CAN identifier (11/29 bit) | |
d6e640f9 | 70 | * bit 29 : error message frame flag (0 = data frame, 1 = error message) |
0d66548a OH |
71 | * bit 30 : remote transmission request flag (1 = rtr frame) |
72 | * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) | |
73 | */ | |
74 | typedef __u32 canid_t; | |
75 | ||
f057bbb6 RL |
76 | #define CAN_SFF_ID_BITS 11 |
77 | #define CAN_EFF_ID_BITS 29 | |
1a3e3034 | 78 | #define CANXL_PRIO_BITS CAN_SFF_ID_BITS |
f057bbb6 | 79 | |
0d66548a | 80 | /* |
d6e640f9 | 81 | * Controller Area Network Error Message Frame Mask structure |
0d66548a | 82 | * |
3570a008 | 83 | * bit 0-28 : error class mask (see include/uapi/linux/can/error.h) |
0d66548a OH |
84 | * bit 29-31 : set to zero |
85 | */ | |
86 | typedef __u32 can_err_mask_t; | |
87 | ||
7c941636 OH |
88 | /* CAN payload length and DLC definitions according to ISO 11898-1 */ |
89 | #define CAN_MAX_DLC 8 | |
ea780056 | 90 | #define CAN_MAX_RAW_DLC 15 |
7c941636 OH |
91 | #define CAN_MAX_DLEN 8 |
92 | ||
93 | /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ | |
94 | #define CANFD_MAX_DLC 15 | |
95 | #define CANFD_MAX_DLEN 64 | |
96 | ||
1a3e3034 OH |
97 | /* |
98 | * CAN XL payload length and DLC definitions according to ISO 11898-1 | |
99 | * CAN XL DLC ranges from 0 .. 2047 => data length from 1 .. 2048 byte | |
100 | */ | |
101 | #define CANXL_MIN_DLC 0 | |
102 | #define CANXL_MAX_DLC 2047 | |
103 | #define CANXL_MAX_DLC_MASK 0x07FF | |
104 | #define CANXL_MIN_DLEN 1 | |
105 | #define CANXL_MAX_DLEN 2048 | |
106 | ||
0d66548a | 107 | /** |
ea780056 OH |
108 | * struct can_frame - Classical CAN frame structure (aka CAN 2.0B) |
109 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition | |
110 | * @len: CAN frame payload length in byte (0 .. 8) | |
111 | * @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) | |
112 | * @__pad: padding | |
113 | * @__res0: reserved / padding | |
114 | * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length | |
115 | * len8_dlc contains values from 9 .. 15 when the payload length is | |
116 | * 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. | |
117 | * CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. | |
118 | * @data: CAN frame payload (up to 8 byte) | |
0d66548a OH |
119 | */ |
120 | struct can_frame { | |
121 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ | |
ea780056 OH |
122 | union { |
123 | /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) | |
124 | * was previously named can_dlc so we need to carry that | |
125 | * name for legacy support | |
126 | */ | |
127 | __u8 len; | |
128 | __u8 can_dlc; /* deprecated */ | |
f5076c6b | 129 | } __attribute__((packed)); /* disable padding added in some ABIs */ |
ea780056 OH |
130 | __u8 __pad; /* padding */ |
131 | __u8 __res0; /* reserved / padding */ | |
132 | __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ | |
133 | __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); | |
0d66548a OH |
134 | }; |
135 | ||
7c941636 OH |
136 | /* |
137 | * defined bits for canfd_frame.flags | |
138 | * | |
7e97d274 MKB |
139 | * The use of struct canfd_frame implies the FD Frame (FDF) bit to |
140 | * be set in the CAN frame bitstream on the wire. The FDF bit switch turns | |
035534ed OH |
141 | * the CAN controllers bitstream processor into the CAN FD mode which creates |
142 | * two new options within the CAN FD frame specification: | |
7c941636 | 143 | * |
035534ed OH |
144 | * Bit Rate Switch - to indicate a second bitrate is/was used for the payload |
145 | * Error State Indicator - represents the error state of the transmitting node | |
146 | * | |
147 | * As the CANFD_ESI bit is internally generated by the transmitting CAN | |
148 | * controller only the CANFD_BRS bit is relevant for real CAN controllers when | |
149 | * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make | |
150 | * sense for virtual CAN interfaces to test applications with echoed frames. | |
02546884 OH |
151 | * |
152 | * The struct can_frame and struct canfd_frame intentionally share the same | |
153 | * layout to be able to write CAN frame content into a CAN FD frame structure. | |
154 | * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets | |
155 | * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of | |
156 | * using struct canfd_frame for mixed CAN / CAN FD content (dual use). | |
06183462 OH |
157 | * Since the introduction of CAN XL the CANFD_FDF flag is set in all CAN FD |
158 | * frame structures provided by the CAN subsystem of the Linux kernel. | |
7c941636 | 159 | */ |
035534ed OH |
160 | #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ |
161 | #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ | |
02546884 | 162 | #define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */ |
7c941636 OH |
163 | |
164 | /** | |
165 | * struct canfd_frame - CAN flexible data rate frame structure | |
166 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition | |
167 | * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) | |
168 | * @flags: additional flags for CAN FD | |
169 | * @__res0: reserved / padding | |
170 | * @__res1: reserved / padding | |
171 | * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) | |
172 | */ | |
173 | struct canfd_frame { | |
174 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ | |
175 | __u8 len; /* frame payload length in byte */ | |
176 | __u8 flags; /* additional flags for CAN FD */ | |
177 | __u8 __res0; /* reserved / padding */ | |
178 | __u8 __res1; /* reserved / padding */ | |
179 | __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); | |
180 | }; | |
181 | ||
1a3e3034 OH |
182 | /* |
183 | * defined bits for canxl_frame.flags | |
184 | * | |
185 | * The canxl_frame.flags element contains two bits CANXL_XLF and CANXL_SEC | |
186 | * and shares the relative position of the struct can[fd]_frame.len element. | |
187 | * The CANXL_XLF bit ALWAYS needs to be set to indicate a valid CAN XL frame. | |
188 | * As a side effect setting this bit intentionally breaks the length checks | |
189 | * for Classical CAN and CAN FD frames. | |
190 | * | |
191 | * Undefined bits in canxl_frame.flags are reserved and shall be set to zero. | |
192 | */ | |
193 | #define CANXL_XLF 0x80 /* mandatory CAN XL frame flag (must always be set!) */ | |
194 | #define CANXL_SEC 0x01 /* Simple Extended Content (security/segmentation) */ | |
195 | ||
196 | /** | |
197 | * struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure | |
198 | * @prio: 11 bit arbitration priority with zero'ed CAN_*_FLAG flags | |
199 | * @flags: additional flags for CAN XL | |
200 | * @sdt: SDU (service data unit) type | |
201 | * @len: frame payload length in byte (CANXL_MIN_DLEN .. CANXL_MAX_DLEN) | |
202 | * @af: acceptance field | |
203 | * @data: CAN XL frame payload (CANXL_MIN_DLEN .. CANXL_MAX_DLEN byte) | |
204 | * | |
205 | * @prio shares the same position as @can_id from struct can[fd]_frame. | |
206 | */ | |
207 | struct canxl_frame { | |
208 | canid_t prio; /* 11 bit priority for arbitration (canid_t) */ | |
209 | __u8 flags; /* additional flags for CAN XL */ | |
210 | __u8 sdt; /* SDU (service data unit) type */ | |
211 | __u16 len; /* frame payload length in byte */ | |
212 | __u32 af; /* acceptance field */ | |
213 | __u8 data[CANXL_MAX_DLEN]; | |
214 | }; | |
215 | ||
7c941636 OH |
216 | #define CAN_MTU (sizeof(struct can_frame)) |
217 | #define CANFD_MTU (sizeof(struct canfd_frame)) | |
1a3e3034 OH |
218 | #define CANXL_MTU (sizeof(struct canxl_frame)) |
219 | #define CANXL_HDR_SIZE (offsetof(struct canxl_frame, data)) | |
220 | #define CANXL_MIN_MTU (CANXL_HDR_SIZE + 64) | |
221 | #define CANXL_MAX_MTU CANXL_MTU | |
7c941636 | 222 | |
0d66548a OH |
223 | /* particular protocols of the protocol family PF_CAN */ |
224 | #define CAN_RAW 1 /* RAW sockets */ | |
225 | #define CAN_BCM 2 /* Broadcast Manager */ | |
226 | #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ | |
227 | #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ | |
228 | #define CAN_MCNET 5 /* Bosch MCNet */ | |
229 | #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ | |
2a0c9aaa KVD |
230 | #define CAN_J1939 7 /* SAE J1939 */ |
231 | #define CAN_NPROTO 8 | |
0d66548a OH |
232 | |
233 | #define SOL_CAN_BASE 100 | |
234 | ||
235 | /** | |
236 | * struct sockaddr_can - the sockaddr structure for CAN sockets | |
237 | * @can_family: address family number AF_CAN. | |
238 | * @can_ifindex: CAN network interface index. | |
239 | * @can_addr: protocol specific address information | |
240 | */ | |
241 | struct sockaddr_can { | |
bcb949b8 | 242 | __kernel_sa_family_t can_family; |
0d66548a OH |
243 | int can_ifindex; |
244 | union { | |
245 | /* transport protocol class address information (e.g. ISOTP) */ | |
246 | struct { canid_t rx_id, tx_id; } tp; | |
247 | ||
f5223e9e KVD |
248 | /* J1939 address information */ |
249 | struct { | |
250 | /* 8 byte name when using dynamic addressing */ | |
251 | __u64 name; | |
252 | ||
253 | /* pgn: | |
254 | * 8 bit: PS in PDU2 case, else 0 | |
255 | * 8 bit: PF | |
256 | * 1 bit: DP | |
257 | * 1 bit: reserved | |
258 | */ | |
259 | __u32 pgn; | |
260 | ||
261 | /* 1 byte address */ | |
262 | __u8 addr; | |
263 | } j1939; | |
264 | ||
0d66548a OH |
265 | /* reserved for future CAN protocols address information */ |
266 | } can_addr; | |
267 | }; | |
268 | ||
269 | /** | |
270 | * struct can_filter - CAN ID based filter in can_register(). | |
271 | * @can_id: relevant bits of CAN ID which are not masked out. | |
272 | * @can_mask: CAN mask (see description) | |
273 | * | |
274 | * Description: | |
275 | * A filter matches, when | |
276 | * | |
277 | * <received_can_id> & mask == can_id & mask | |
278 | * | |
279 | * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can | |
d6e640f9 | 280 | * filter for error message frames (CAN_ERR_FLAG bit set in mask). |
0d66548a OH |
281 | */ |
282 | struct can_filter { | |
283 | canid_t can_id; | |
284 | canid_t can_mask; | |
285 | }; | |
286 | ||
287 | #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ | |
332b05ca | 288 | #define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ |
0d66548a | 289 | |
42193e3e | 290 | #endif /* !_UAPI_CAN_H */ |