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0d66548a OH |
1 | /* |
2 | * linux/can.h | |
3 | * | |
4 | * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) | |
5 | * | |
6 | * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> | |
7 | * Urs Thuermann <urs.thuermann@volkswagen.de> | |
8 | * Copyright (c) 2002-2007 Volkswagen Group Electronic Research | |
9 | * All rights reserved. | |
10 | * | |
16f6b87a UKK |
11 | * Redistribution and use in source and binary forms, with or without |
12 | * modification, are permitted provided that the following conditions | |
13 | * are met: | |
14 | * 1. Redistributions of source code must retain the above copyright | |
15 | * notice, this list of conditions and the following disclaimer. | |
16 | * 2. Redistributions in binary form must reproduce the above copyright | |
17 | * notice, this list of conditions and the following disclaimer in the | |
18 | * documentation and/or other materials provided with the distribution. | |
19 | * 3. Neither the name of Volkswagen nor the names of its contributors | |
20 | * may be used to endorse or promote products derived from this software | |
21 | * without specific prior written permission. | |
22 | * | |
23 | * Alternatively, provided that this notice is retained in full, this | |
24 | * software may be distributed under the terms of the GNU General | |
25 | * Public License ("GPL") version 2, in which case the provisions of the | |
26 | * GPL apply INSTEAD OF those given above. | |
27 | * | |
28 | * The provided data structures and external interfaces from this code | |
29 | * are not restricted to be used by modules with a GPL compatible license. | |
30 | * | |
31 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
32 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
33 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | |
34 | * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | |
35 | * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | |
36 | * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | |
37 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | |
38 | * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | |
39 | * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | |
40 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | |
41 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | |
42 | * DAMAGE. | |
0d66548a OH |
43 | */ |
44 | ||
42193e3e OH |
45 | #ifndef _UAPI_CAN_H |
46 | #define _UAPI_CAN_H | |
0d66548a OH |
47 | |
48 | #include <linux/types.h> | |
49 | #include <linux/socket.h> | |
50 | ||
51 | /* controller area network (CAN) kernel definitions */ | |
52 | ||
53 | /* special address description flags for the CAN_ID */ | |
54 | #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ | |
55 | #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ | |
d6e640f9 | 56 | #define CAN_ERR_FLAG 0x20000000U /* error message frame */ |
0d66548a OH |
57 | |
58 | /* valid bits in CAN ID for frame formats */ | |
59 | #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ | |
60 | #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ | |
61 | #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ | |
62 | ||
63 | /* | |
64 | * Controller Area Network Identifier structure | |
65 | * | |
66 | * bit 0-28 : CAN identifier (11/29 bit) | |
d6e640f9 | 67 | * bit 29 : error message frame flag (0 = data frame, 1 = error message) |
0d66548a OH |
68 | * bit 30 : remote transmission request flag (1 = rtr frame) |
69 | * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) | |
70 | */ | |
71 | typedef __u32 canid_t; | |
72 | ||
f057bbb6 RL |
73 | #define CAN_SFF_ID_BITS 11 |
74 | #define CAN_EFF_ID_BITS 29 | |
75 | ||
0d66548a | 76 | /* |
d6e640f9 | 77 | * Controller Area Network Error Message Frame Mask structure |
0d66548a OH |
78 | * |
79 | * bit 0-28 : error class mask (see include/linux/can/error.h) | |
80 | * bit 29-31 : set to zero | |
81 | */ | |
82 | typedef __u32 can_err_mask_t; | |
83 | ||
7c941636 OH |
84 | /* CAN payload length and DLC definitions according to ISO 11898-1 */ |
85 | #define CAN_MAX_DLC 8 | |
86 | #define CAN_MAX_DLEN 8 | |
87 | ||
88 | /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ | |
89 | #define CANFD_MAX_DLC 15 | |
90 | #define CANFD_MAX_DLEN 64 | |
91 | ||
0d66548a OH |
92 | /** |
93 | * struct can_frame - basic CAN frame structure | |
7c941636 OH |
94 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition |
95 | * @can_dlc: frame payload length in byte (0 .. 8) aka data length code | |
96 | * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 | |
97 | * mapping of the 'data length code' to the real payload length | |
98 | * @data: CAN frame payload (up to 8 byte) | |
0d66548a OH |
99 | */ |
100 | struct can_frame { | |
101 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ | |
7c941636 OH |
102 | __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ |
103 | __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); | |
0d66548a OH |
104 | }; |
105 | ||
7c941636 OH |
106 | /* |
107 | * defined bits for canfd_frame.flags | |
108 | * | |
035534ed OH |
109 | * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to |
110 | * be set in the CAN frame bitstream on the wire. The EDL bit switch turns | |
111 | * the CAN controllers bitstream processor into the CAN FD mode which creates | |
112 | * two new options within the CAN FD frame specification: | |
7c941636 | 113 | * |
035534ed OH |
114 | * Bit Rate Switch - to indicate a second bitrate is/was used for the payload |
115 | * Error State Indicator - represents the error state of the transmitting node | |
116 | * | |
117 | * As the CANFD_ESI bit is internally generated by the transmitting CAN | |
118 | * controller only the CANFD_BRS bit is relevant for real CAN controllers when | |
119 | * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make | |
120 | * sense for virtual CAN interfaces to test applications with echoed frames. | |
7c941636 | 121 | */ |
035534ed OH |
122 | #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ |
123 | #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ | |
7c941636 OH |
124 | |
125 | /** | |
126 | * struct canfd_frame - CAN flexible data rate frame structure | |
127 | * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition | |
128 | * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) | |
129 | * @flags: additional flags for CAN FD | |
130 | * @__res0: reserved / padding | |
131 | * @__res1: reserved / padding | |
132 | * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) | |
133 | */ | |
134 | struct canfd_frame { | |
135 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ | |
136 | __u8 len; /* frame payload length in byte */ | |
137 | __u8 flags; /* additional flags for CAN FD */ | |
138 | __u8 __res0; /* reserved / padding */ | |
139 | __u8 __res1; /* reserved / padding */ | |
140 | __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); | |
141 | }; | |
142 | ||
143 | #define CAN_MTU (sizeof(struct can_frame)) | |
144 | #define CANFD_MTU (sizeof(struct canfd_frame)) | |
145 | ||
0d66548a OH |
146 | /* particular protocols of the protocol family PF_CAN */ |
147 | #define CAN_RAW 1 /* RAW sockets */ | |
148 | #define CAN_BCM 2 /* Broadcast Manager */ | |
149 | #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ | |
150 | #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ | |
151 | #define CAN_MCNET 5 /* Bosch MCNet */ | |
152 | #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ | |
153 | #define CAN_NPROTO 7 | |
154 | ||
155 | #define SOL_CAN_BASE 100 | |
156 | ||
157 | /** | |
158 | * struct sockaddr_can - the sockaddr structure for CAN sockets | |
159 | * @can_family: address family number AF_CAN. | |
160 | * @can_ifindex: CAN network interface index. | |
161 | * @can_addr: protocol specific address information | |
162 | */ | |
163 | struct sockaddr_can { | |
bcb949b8 | 164 | __kernel_sa_family_t can_family; |
0d66548a OH |
165 | int can_ifindex; |
166 | union { | |
167 | /* transport protocol class address information (e.g. ISOTP) */ | |
168 | struct { canid_t rx_id, tx_id; } tp; | |
169 | ||
170 | /* reserved for future CAN protocols address information */ | |
171 | } can_addr; | |
172 | }; | |
173 | ||
174 | /** | |
175 | * struct can_filter - CAN ID based filter in can_register(). | |
176 | * @can_id: relevant bits of CAN ID which are not masked out. | |
177 | * @can_mask: CAN mask (see description) | |
178 | * | |
179 | * Description: | |
180 | * A filter matches, when | |
181 | * | |
182 | * <received_can_id> & mask == can_id & mask | |
183 | * | |
184 | * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can | |
d6e640f9 | 185 | * filter for error message frames (CAN_ERR_FLAG bit set in mask). |
0d66548a OH |
186 | */ |
187 | struct can_filter { | |
188 | canid_t can_id; | |
189 | canid_t can_mask; | |
190 | }; | |
191 | ||
192 | #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ | |
193 | ||
42193e3e | 194 | #endif /* !_UAPI_CAN_H */ |