xref: /aosp_15_r20/external/iproute2/include/uapi/linux/can.h (revision de1e4e894b0c224df933550f0afdecc354b238c4)
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