1*de1e4e89SAndroid Build Coastguard Worker /* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */ 2*de1e4e89SAndroid Build Coastguard Worker /* 3*de1e4e89SAndroid Build Coastguard Worker * linux/can.h 4*de1e4e89SAndroid Build Coastguard Worker * 5*de1e4e89SAndroid Build Coastguard Worker * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) 6*de1e4e89SAndroid Build Coastguard Worker * 7*de1e4e89SAndroid Build Coastguard Worker * Authors: Oliver Hartkopp <[email protected]> 8*de1e4e89SAndroid Build Coastguard Worker * Urs Thuermann <[email protected]> 9*de1e4e89SAndroid Build Coastguard Worker * Copyright (c) 2002-2007 Volkswagen Group Electronic Research 10*de1e4e89SAndroid Build Coastguard Worker * All rights reserved. 11*de1e4e89SAndroid Build Coastguard Worker * 12*de1e4e89SAndroid Build Coastguard Worker * Redistribution and use in source and binary forms, with or without 13*de1e4e89SAndroid Build Coastguard Worker * modification, are permitted provided that the following conditions 14*de1e4e89SAndroid Build Coastguard Worker * are met: 15*de1e4e89SAndroid Build Coastguard Worker * 1. Redistributions of source code must retain the above copyright 16*de1e4e89SAndroid Build Coastguard Worker * notice, this list of conditions and the following disclaimer. 17*de1e4e89SAndroid Build Coastguard Worker * 2. Redistributions in binary form must reproduce the above copyright 18*de1e4e89SAndroid Build Coastguard Worker * notice, this list of conditions and the following disclaimer in the 19*de1e4e89SAndroid Build Coastguard Worker * documentation and/or other materials provided with the distribution. 20*de1e4e89SAndroid Build Coastguard Worker * 3. Neither the name of Volkswagen nor the names of its contributors 21*de1e4e89SAndroid Build Coastguard Worker * may be used to endorse or promote products derived from this software 22*de1e4e89SAndroid Build Coastguard Worker * without specific prior written permission. 23*de1e4e89SAndroid Build Coastguard Worker * 24*de1e4e89SAndroid Build Coastguard Worker * Alternatively, provided that this notice is retained in full, this 25*de1e4e89SAndroid Build Coastguard Worker * software may be distributed under the terms of the GNU General 26*de1e4e89SAndroid Build Coastguard Worker * Public License ("GPL") version 2, in which case the provisions of the 27*de1e4e89SAndroid Build Coastguard Worker * GPL apply INSTEAD OF those given above. 28*de1e4e89SAndroid Build Coastguard Worker * 29*de1e4e89SAndroid Build Coastguard Worker * The provided data structures and external interfaces from this code 30*de1e4e89SAndroid Build Coastguard Worker * are not restricted to be used by modules with a GPL compatible license. 31*de1e4e89SAndroid Build Coastguard Worker * 32*de1e4e89SAndroid Build Coastguard Worker * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 33*de1e4e89SAndroid Build Coastguard Worker * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 34*de1e4e89SAndroid Build Coastguard Worker * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 35*de1e4e89SAndroid Build Coastguard Worker * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 36*de1e4e89SAndroid Build Coastguard Worker * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 37*de1e4e89SAndroid Build Coastguard Worker * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 38*de1e4e89SAndroid Build Coastguard Worker * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 39*de1e4e89SAndroid Build Coastguard Worker * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 40*de1e4e89SAndroid Build Coastguard Worker * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 41*de1e4e89SAndroid Build Coastguard Worker * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 42*de1e4e89SAndroid Build Coastguard Worker * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH 43*de1e4e89SAndroid Build Coastguard Worker * DAMAGE. 44*de1e4e89SAndroid Build Coastguard Worker */ 45*de1e4e89SAndroid Build Coastguard Worker 46*de1e4e89SAndroid Build Coastguard Worker #ifndef _CAN_H 47*de1e4e89SAndroid Build Coastguard Worker #define _CAN_H 48*de1e4e89SAndroid Build Coastguard Worker 49*de1e4e89SAndroid Build Coastguard Worker #include <linux/types.h> 50*de1e4e89SAndroid Build Coastguard Worker #include <linux/socket.h> 51*de1e4e89SAndroid Build Coastguard Worker 52*de1e4e89SAndroid Build Coastguard Worker /* controller area network (CAN) kernel definitions */ 53*de1e4e89SAndroid Build Coastguard Worker 54*de1e4e89SAndroid Build Coastguard Worker /* special address description flags for the CAN_ID */ 55*de1e4e89SAndroid Build Coastguard Worker #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ 56*de1e4e89SAndroid Build Coastguard Worker #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ 57*de1e4e89SAndroid Build Coastguard Worker #define CAN_ERR_FLAG 0x20000000U /* error message frame */ 58*de1e4e89SAndroid Build Coastguard Worker 59*de1e4e89SAndroid Build Coastguard Worker /* valid bits in CAN ID for frame formats */ 60*de1e4e89SAndroid Build Coastguard Worker #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ 61*de1e4e89SAndroid Build Coastguard Worker #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ 62*de1e4e89SAndroid Build Coastguard Worker #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ 63*de1e4e89SAndroid Build Coastguard Worker 64*de1e4e89SAndroid Build Coastguard Worker /* 65*de1e4e89SAndroid Build Coastguard Worker * Controller Area Network Identifier structure 66*de1e4e89SAndroid Build Coastguard Worker * 67*de1e4e89SAndroid Build Coastguard Worker * bit 0-28 : CAN identifier (11/29 bit) 68*de1e4e89SAndroid Build Coastguard Worker * bit 29 : error message frame flag (0 = data frame, 1 = error message) 69*de1e4e89SAndroid Build Coastguard Worker * bit 30 : remote transmission request flag (1 = rtr frame) 70*de1e4e89SAndroid Build Coastguard Worker * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) 71*de1e4e89SAndroid Build Coastguard Worker */ 72*de1e4e89SAndroid Build Coastguard Worker typedef __u32 canid_t; 73*de1e4e89SAndroid Build Coastguard Worker 74*de1e4e89SAndroid Build Coastguard Worker #define CAN_SFF_ID_BITS 11 75*de1e4e89SAndroid Build Coastguard Worker #define CAN_EFF_ID_BITS 29 76*de1e4e89SAndroid Build Coastguard Worker 77*de1e4e89SAndroid Build Coastguard Worker /* 78*de1e4e89SAndroid Build Coastguard Worker * Controller Area Network Error Message Frame Mask structure 79*de1e4e89SAndroid Build Coastguard Worker * 80*de1e4e89SAndroid Build Coastguard Worker * bit 0-28 : error class mask (see include/linux/can/error.h) 81*de1e4e89SAndroid Build Coastguard Worker * bit 29-31 : set to zero 82*de1e4e89SAndroid Build Coastguard Worker */ 83*de1e4e89SAndroid Build Coastguard Worker typedef __u32 can_err_mask_t; 84*de1e4e89SAndroid Build Coastguard Worker 85*de1e4e89SAndroid Build Coastguard Worker /* CAN payload length and DLC definitions according to ISO 11898-1 */ 86*de1e4e89SAndroid Build Coastguard Worker #define CAN_MAX_DLC 8 87*de1e4e89SAndroid Build Coastguard Worker #define CAN_MAX_DLEN 8 88*de1e4e89SAndroid Build Coastguard Worker 89*de1e4e89SAndroid Build Coastguard Worker /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ 90*de1e4e89SAndroid Build Coastguard Worker #define CANFD_MAX_DLC 15 91*de1e4e89SAndroid Build Coastguard Worker #define CANFD_MAX_DLEN 64 92*de1e4e89SAndroid Build Coastguard Worker 93*de1e4e89SAndroid Build Coastguard Worker /** 94*de1e4e89SAndroid Build Coastguard Worker * struct can_frame - basic CAN frame structure 95*de1e4e89SAndroid Build Coastguard Worker * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition 96*de1e4e89SAndroid Build Coastguard Worker * @can_dlc: frame payload length in byte (0 .. 8) aka data length code 97*de1e4e89SAndroid Build Coastguard Worker * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 98*de1e4e89SAndroid Build Coastguard Worker * mapping of the 'data length code' to the real payload length 99*de1e4e89SAndroid Build Coastguard Worker * @__pad: padding 100*de1e4e89SAndroid Build Coastguard Worker * @__res0: reserved / padding 101*de1e4e89SAndroid Build Coastguard Worker * @__res1: reserved / padding 102*de1e4e89SAndroid Build Coastguard Worker * @data: CAN frame payload (up to 8 byte) 103*de1e4e89SAndroid Build Coastguard Worker */ 104*de1e4e89SAndroid Build Coastguard Worker struct can_frame { 105*de1e4e89SAndroid Build Coastguard Worker canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ 106*de1e4e89SAndroid Build Coastguard Worker __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ 107*de1e4e89SAndroid Build Coastguard Worker __u8 __pad; /* padding */ 108*de1e4e89SAndroid Build Coastguard Worker __u8 __res0; /* reserved / padding */ 109*de1e4e89SAndroid Build Coastguard Worker __u8 __res1; /* reserved / padding */ 110*de1e4e89SAndroid Build Coastguard Worker __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); 111*de1e4e89SAndroid Build Coastguard Worker }; 112*de1e4e89SAndroid Build Coastguard Worker 113*de1e4e89SAndroid Build Coastguard Worker /* 114*de1e4e89SAndroid Build Coastguard Worker * defined bits for canfd_frame.flags 115*de1e4e89SAndroid Build Coastguard Worker * 116*de1e4e89SAndroid Build Coastguard Worker * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to 117*de1e4e89SAndroid Build Coastguard Worker * be set in the CAN frame bitstream on the wire. The EDL bit switch turns 118*de1e4e89SAndroid Build Coastguard Worker * the CAN controllers bitstream processor into the CAN FD mode which creates 119*de1e4e89SAndroid Build Coastguard Worker * two new options within the CAN FD frame specification: 120*de1e4e89SAndroid Build Coastguard Worker * 121*de1e4e89SAndroid Build Coastguard Worker * Bit Rate Switch - to indicate a second bitrate is/was used for the payload 122*de1e4e89SAndroid Build Coastguard Worker * Error State Indicator - represents the error state of the transmitting node 123*de1e4e89SAndroid Build Coastguard Worker * 124*de1e4e89SAndroid Build Coastguard Worker * As the CANFD_ESI bit is internally generated by the transmitting CAN 125*de1e4e89SAndroid Build Coastguard Worker * controller only the CANFD_BRS bit is relevant for real CAN controllers when 126*de1e4e89SAndroid Build Coastguard Worker * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make 127*de1e4e89SAndroid Build Coastguard Worker * sense for virtual CAN interfaces to test applications with echoed frames. 128*de1e4e89SAndroid Build Coastguard Worker */ 129*de1e4e89SAndroid Build Coastguard Worker #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ 130*de1e4e89SAndroid Build Coastguard Worker #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ 131*de1e4e89SAndroid Build Coastguard Worker 132*de1e4e89SAndroid Build Coastguard Worker /** 133*de1e4e89SAndroid Build Coastguard Worker * struct canfd_frame - CAN flexible data rate frame structure 134*de1e4e89SAndroid Build Coastguard Worker * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition 135*de1e4e89SAndroid Build Coastguard Worker * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) 136*de1e4e89SAndroid Build Coastguard Worker * @flags: additional flags for CAN FD 137*de1e4e89SAndroid Build Coastguard Worker * @__res0: reserved / padding 138*de1e4e89SAndroid Build Coastguard Worker * @__res1: reserved / padding 139*de1e4e89SAndroid Build Coastguard Worker * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) 140*de1e4e89SAndroid Build Coastguard Worker */ 141*de1e4e89SAndroid Build Coastguard Worker struct canfd_frame { 142*de1e4e89SAndroid Build Coastguard Worker canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ 143*de1e4e89SAndroid Build Coastguard Worker __u8 len; /* frame payload length in byte */ 144*de1e4e89SAndroid Build Coastguard Worker __u8 flags; /* additional flags for CAN FD */ 145*de1e4e89SAndroid Build Coastguard Worker __u8 __res0; /* reserved / padding */ 146*de1e4e89SAndroid Build Coastguard Worker __u8 __res1; /* reserved / padding */ 147*de1e4e89SAndroid Build Coastguard Worker __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); 148*de1e4e89SAndroid Build Coastguard Worker }; 149*de1e4e89SAndroid Build Coastguard Worker 150*de1e4e89SAndroid Build Coastguard Worker #define CAN_MTU (sizeof(struct can_frame)) 151*de1e4e89SAndroid Build Coastguard Worker #define CANFD_MTU (sizeof(struct canfd_frame)) 152*de1e4e89SAndroid Build Coastguard Worker 153*de1e4e89SAndroid Build Coastguard Worker /* particular protocols of the protocol family PF_CAN */ 154*de1e4e89SAndroid Build Coastguard Worker #define CAN_RAW 1 /* RAW sockets */ 155*de1e4e89SAndroid Build Coastguard Worker #define CAN_BCM 2 /* Broadcast Manager */ 156*de1e4e89SAndroid Build Coastguard Worker #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ 157*de1e4e89SAndroid Build Coastguard Worker #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ 158*de1e4e89SAndroid Build Coastguard Worker #define CAN_MCNET 5 /* Bosch MCNet */ 159*de1e4e89SAndroid Build Coastguard Worker #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ 160*de1e4e89SAndroid Build Coastguard Worker #define CAN_NPROTO 7 161*de1e4e89SAndroid Build Coastguard Worker 162*de1e4e89SAndroid Build Coastguard Worker #define SOL_CAN_BASE 100 163*de1e4e89SAndroid Build Coastguard Worker 164*de1e4e89SAndroid Build Coastguard Worker /** 165*de1e4e89SAndroid Build Coastguard Worker * struct sockaddr_can - the sockaddr structure for CAN sockets 166*de1e4e89SAndroid Build Coastguard Worker * @can_family: address family number AF_CAN. 167*de1e4e89SAndroid Build Coastguard Worker * @can_ifindex: CAN network interface index. 168*de1e4e89SAndroid Build Coastguard Worker * @can_addr: protocol specific address information 169*de1e4e89SAndroid Build Coastguard Worker */ 170*de1e4e89SAndroid Build Coastguard Worker struct sockaddr_can { 171*de1e4e89SAndroid Build Coastguard Worker __kernel_sa_family_t can_family; 172*de1e4e89SAndroid Build Coastguard Worker int can_ifindex; 173*de1e4e89SAndroid Build Coastguard Worker union { 174*de1e4e89SAndroid Build Coastguard Worker /* transport protocol class address information (e.g. ISOTP) */ 175*de1e4e89SAndroid Build Coastguard Worker struct { canid_t rx_id, tx_id; } tp; 176*de1e4e89SAndroid Build Coastguard Worker 177*de1e4e89SAndroid Build Coastguard Worker /* reserved for future CAN protocols address information */ 178*de1e4e89SAndroid Build Coastguard Worker } can_addr; 179*de1e4e89SAndroid Build Coastguard Worker }; 180*de1e4e89SAndroid Build Coastguard Worker 181*de1e4e89SAndroid Build Coastguard Worker /** 182*de1e4e89SAndroid Build Coastguard Worker * struct can_filter - CAN ID based filter in can_register(). 183*de1e4e89SAndroid Build Coastguard Worker * @can_id: relevant bits of CAN ID which are not masked out. 184*de1e4e89SAndroid Build Coastguard Worker * @can_mask: CAN mask (see description) 185*de1e4e89SAndroid Build Coastguard Worker * 186*de1e4e89SAndroid Build Coastguard Worker * Description: 187*de1e4e89SAndroid Build Coastguard Worker * A filter matches, when 188*de1e4e89SAndroid Build Coastguard Worker * 189*de1e4e89SAndroid Build Coastguard Worker * <received_can_id> & mask == can_id & mask 190*de1e4e89SAndroid Build Coastguard Worker * 191*de1e4e89SAndroid Build Coastguard Worker * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can 192*de1e4e89SAndroid Build Coastguard Worker * filter for error message frames (CAN_ERR_FLAG bit set in mask). 193*de1e4e89SAndroid Build Coastguard Worker */ 194*de1e4e89SAndroid Build Coastguard Worker struct can_filter { 195*de1e4e89SAndroid Build Coastguard Worker canid_t can_id; 196*de1e4e89SAndroid Build Coastguard Worker canid_t can_mask; 197*de1e4e89SAndroid Build Coastguard Worker }; 198*de1e4e89SAndroid Build Coastguard Worker 199*de1e4e89SAndroid Build Coastguard Worker #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ 200*de1e4e89SAndroid Build Coastguard Worker #define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ 201*de1e4e89SAndroid Build Coastguard Worker 202*de1e4e89SAndroid Build Coastguard Worker #endif /* !_UAPI_CAN_H */ 203