1 | /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ |
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 | * |
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. |
44 | */ |
45 | |
46 | #ifndef _CAN_H |
47 | #define _CAN_H |
48 | |
49 | #include <linux/types.h> |
50 | #include <linux/socket.h> |
51 | |
52 | /* controller area network (CAN) kernel definitions */ |
53 | |
54 | /* special address description flags for the CAN_ID */ |
55 | #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ |
56 | #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ |
57 | #define CAN_ERR_FLAG 0x20000000U /* error message frame */ |
58 | |
59 | /* valid bits in CAN ID for frame formats */ |
60 | #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ |
61 | #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ |
62 | #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ |
63 | |
64 | /* |
65 | * Controller Area Network Identifier structure |
66 | * |
67 | * bit 0-28 : CAN identifier (11/29 bit) |
68 | * bit 29 : error message frame flag (0 = data frame, 1 = error message) |
69 | * bit 30 : remote transmission request flag (1 = rtr frame) |
70 | * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) |
71 | */ |
72 | typedef __u32 canid_t; |
73 | |
74 | #define CAN_SFF_ID_BITS 11 |
75 | #define CAN_EFF_ID_BITS 29 |
76 | |
77 | /* |
78 | * Controller Area Network Error Message Frame Mask structure |
79 | * |
80 | * bit 0-28 : error class mask (see include/uapi/linux/can/error.h) |
81 | * bit 29-31 : set to zero |
82 | */ |
83 | typedef __u32 can_err_mask_t; |
84 | |
85 | /* CAN payload length and DLC definitions according to ISO 11898-1 */ |
86 | #define CAN_MAX_DLC 8 |
87 | #define CAN_MAX_RAW_DLC 15 |
88 | #define CAN_MAX_DLEN 8 |
89 | |
90 | /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ |
91 | #define CANFD_MAX_DLC 15 |
92 | #define CANFD_MAX_DLEN 64 |
93 | |
94 | /** |
95 | * struct can_frame - Classical CAN frame structure (aka CAN 2.0B) |
96 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
97 | * @len: CAN frame payload length in byte (0 .. 8) |
98 | * @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) |
99 | * @__pad: padding |
100 | * @__res0: reserved / padding |
101 | * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length |
102 | * len8_dlc contains values from 9 .. 15 when the payload length is |
103 | * 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. |
104 | * CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. |
105 | * @data: CAN frame payload (up to 8 byte) |
106 | */ |
107 | struct can_frame { |
108 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
109 | union { |
110 | /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) |
111 | * was previously named can_dlc so we need to carry that |
112 | * name for legacy support |
113 | */ |
114 | __u8 len; |
115 | __u8 can_dlc; /* deprecated */ |
116 | } __attribute__((packed)); /* disable padding added in some ABIs */ |
117 | __u8 __pad; /* padding */ |
118 | __u8 __res0; /* reserved / padding */ |
119 | __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ |
120 | __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); |
121 | }; |
122 | |
123 | /* |
124 | * defined bits for canfd_frame.flags |
125 | * |
126 | * The use of struct canfd_frame implies the FD Frame (FDF) bit to |
127 | * be set in the CAN frame bitstream on the wire. The FDF bit switch turns |
128 | * the CAN controllers bitstream processor into the CAN FD mode which creates |
129 | * two new options within the CAN FD frame specification: |
130 | * |
131 | * Bit Rate Switch - to indicate a second bitrate is/was used for the payload |
132 | * Error State Indicator - represents the error state of the transmitting node |
133 | * |
134 | * As the CANFD_ESI bit is internally generated by the transmitting CAN |
135 | * controller only the CANFD_BRS bit is relevant for real CAN controllers when |
136 | * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make |
137 | * sense for virtual CAN interfaces to test applications with echoed frames. |
138 | * |
139 | * The struct can_frame and struct canfd_frame intentionally share the same |
140 | * layout to be able to write CAN frame content into a CAN FD frame structure. |
141 | * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets |
142 | * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of |
143 | * using struct canfd_frame for mixed CAN / CAN FD content (dual use). |
144 | * N.B. the Kernel APIs do NOT provide mixed CAN / CAN FD content inside of |
145 | * struct canfd_frame therefore the CANFD_FDF flag is disregarded by Linux. |
146 | */ |
147 | #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ |
148 | #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ |
149 | #define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */ |
150 | |
151 | /** |
152 | * struct canfd_frame - CAN flexible data rate frame structure |
153 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
154 | * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) |
155 | * @flags: additional flags for CAN FD |
156 | * @__res0: reserved / padding |
157 | * @__res1: reserved / padding |
158 | * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) |
159 | */ |
160 | struct canfd_frame { |
161 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
162 | __u8 len; /* frame payload length in byte */ |
163 | __u8 flags; /* additional flags for CAN FD */ |
164 | __u8 __res0; /* reserved / padding */ |
165 | __u8 __res1; /* reserved / padding */ |
166 | __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); |
167 | }; |
168 | |
169 | #define CAN_MTU (sizeof(struct can_frame)) |
170 | #define CANFD_MTU (sizeof(struct canfd_frame)) |
171 | |
172 | /* particular protocols of the protocol family PF_CAN */ |
173 | #define CAN_RAW 1 /* RAW sockets */ |
174 | #define CAN_BCM 2 /* Broadcast Manager */ |
175 | #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ |
176 | #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ |
177 | #define CAN_MCNET 5 /* Bosch MCNet */ |
178 | #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ |
179 | #define CAN_J1939 7 /* SAE J1939 */ |
180 | #define CAN_NPROTO 8 |
181 | |
182 | #define SOL_CAN_BASE 100 |
183 | |
184 | /** |
185 | * struct sockaddr_can - the sockaddr structure for CAN sockets |
186 | * @can_family: address family number AF_CAN. |
187 | * @can_ifindex: CAN network interface index. |
188 | * @can_addr: protocol specific address information |
189 | */ |
190 | struct sockaddr_can { |
191 | __kernel_sa_family_t can_family; |
192 | int can_ifindex; |
193 | union { |
194 | /* transport protocol class address information (e.g. ISOTP) */ |
195 | struct { canid_t rx_id, tx_id; } tp; |
196 | |
197 | /* J1939 address information */ |
198 | struct { |
199 | /* 8 byte name when using dynamic addressing */ |
200 | __u64 name; |
201 | |
202 | /* pgn: |
203 | * 8 bit: PS in PDU2 case, else 0 |
204 | * 8 bit: PF |
205 | * 1 bit: DP |
206 | * 1 bit: reserved |
207 | */ |
208 | __u32 pgn; |
209 | |
210 | /* 1 byte address */ |
211 | __u8 addr; |
212 | } j1939; |
213 | |
214 | /* reserved for future CAN protocols address information */ |
215 | } can_addr; |
216 | }; |
217 | |
218 | /** |
219 | * struct can_filter - CAN ID based filter in can_register(). |
220 | * @can_id: relevant bits of CAN ID which are not masked out. |
221 | * @can_mask: CAN mask (see description) |
222 | * |
223 | * Description: |
224 | * A filter matches, when |
225 | * |
226 | * <received_can_id> & mask == can_id & mask |
227 | * |
228 | * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can |
229 | * filter for error message frames (CAN_ERR_FLAG bit set in mask). |
230 | */ |
231 | struct can_filter { |
232 | canid_t can_id; |
233 | canid_t can_mask; |
234 | }; |
235 | |
236 | #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ |
237 | #define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ |
238 | |
239 | #endif /* !_UAPI_CAN_H */ |
240 | |