1e2be04c7SGreg Kroah-Hartman /* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */ 2607ca46eSDavid Howells /* 3607ca46eSDavid Howells * linux/can.h 4607ca46eSDavid Howells * 5607ca46eSDavid Howells * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) 6607ca46eSDavid Howells * 7607ca46eSDavid Howells * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> 8607ca46eSDavid Howells * Urs Thuermann <urs.thuermann@volkswagen.de> 9607ca46eSDavid Howells * Copyright (c) 2002-2007 Volkswagen Group Electronic Research 10607ca46eSDavid Howells * All rights reserved. 11607ca46eSDavid Howells * 1216f6b87aSUwe Kleine-König * Redistribution and use in source and binary forms, with or without 1316f6b87aSUwe Kleine-König * modification, are permitted provided that the following conditions 1416f6b87aSUwe Kleine-König * are met: 1516f6b87aSUwe Kleine-König * 1. Redistributions of source code must retain the above copyright 1616f6b87aSUwe Kleine-König * notice, this list of conditions and the following disclaimer. 1716f6b87aSUwe Kleine-König * 2. Redistributions in binary form must reproduce the above copyright 1816f6b87aSUwe Kleine-König * notice, this list of conditions and the following disclaimer in the 1916f6b87aSUwe Kleine-König * documentation and/or other materials provided with the distribution. 2016f6b87aSUwe Kleine-König * 3. Neither the name of Volkswagen nor the names of its contributors 2116f6b87aSUwe Kleine-König * may be used to endorse or promote products derived from this software 2216f6b87aSUwe Kleine-König * without specific prior written permission. 2316f6b87aSUwe Kleine-König * 2416f6b87aSUwe Kleine-König * Alternatively, provided that this notice is retained in full, this 2516f6b87aSUwe Kleine-König * software may be distributed under the terms of the GNU General 2616f6b87aSUwe Kleine-König * Public License ("GPL") version 2, in which case the provisions of the 2716f6b87aSUwe Kleine-König * GPL apply INSTEAD OF those given above. 2816f6b87aSUwe Kleine-König * 2916f6b87aSUwe Kleine-König * The provided data structures and external interfaces from this code 3016f6b87aSUwe Kleine-König * are not restricted to be used by modules with a GPL compatible license. 3116f6b87aSUwe Kleine-König * 3216f6b87aSUwe Kleine-König * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 3316f6b87aSUwe Kleine-König * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 3416f6b87aSUwe Kleine-König * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 3516f6b87aSUwe Kleine-König * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 3616f6b87aSUwe Kleine-König * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 3716f6b87aSUwe Kleine-König * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 3816f6b87aSUwe Kleine-König * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 3916f6b87aSUwe Kleine-König * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 4016f6b87aSUwe Kleine-König * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 4116f6b87aSUwe Kleine-König * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 4216f6b87aSUwe Kleine-König * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH 4316f6b87aSUwe Kleine-König * DAMAGE. 44607ca46eSDavid Howells */ 45607ca46eSDavid Howells 4642193e3eSOliver Hartkopp #ifndef _UAPI_CAN_H 4742193e3eSOliver Hartkopp #define _UAPI_CAN_H 48607ca46eSDavid Howells 49607ca46eSDavid Howells #include <linux/types.h> 50607ca46eSDavid Howells #include <linux/socket.h> 51607ca46eSDavid Howells 52607ca46eSDavid Howells /* controller area network (CAN) kernel definitions */ 53607ca46eSDavid Howells 54607ca46eSDavid Howells /* special address description flags for the CAN_ID */ 55607ca46eSDavid Howells #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ 56607ca46eSDavid Howells #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ 57607ca46eSDavid Howells #define CAN_ERR_FLAG 0x20000000U /* error message frame */ 58607ca46eSDavid Howells 59607ca46eSDavid Howells /* valid bits in CAN ID for frame formats */ 60607ca46eSDavid Howells #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ 61607ca46eSDavid Howells #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ 62607ca46eSDavid Howells #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ 63607ca46eSDavid Howells 64607ca46eSDavid Howells /* 65607ca46eSDavid Howells * Controller Area Network Identifier structure 66607ca46eSDavid Howells * 67607ca46eSDavid Howells * bit 0-28 : CAN identifier (11/29 bit) 68607ca46eSDavid Howells * bit 29 : error message frame flag (0 = data frame, 1 = error message) 69607ca46eSDavid Howells * bit 30 : remote transmission request flag (1 = rtr frame) 70607ca46eSDavid Howells * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) 71607ca46eSDavid Howells */ 72607ca46eSDavid Howells typedef __u32 canid_t; 73607ca46eSDavid Howells 74607ca46eSDavid Howells #define CAN_SFF_ID_BITS 11 75607ca46eSDavid Howells #define CAN_EFF_ID_BITS 29 76607ca46eSDavid Howells 77607ca46eSDavid Howells /* 78607ca46eSDavid Howells * Controller Area Network Error Message Frame Mask structure 79607ca46eSDavid Howells * 803570a008SDan Murphy * bit 0-28 : error class mask (see include/uapi/linux/can/error.h) 81607ca46eSDavid Howells * bit 29-31 : set to zero 82607ca46eSDavid Howells */ 83607ca46eSDavid Howells typedef __u32 can_err_mask_t; 84607ca46eSDavid Howells 85607ca46eSDavid Howells /* CAN payload length and DLC definitions according to ISO 11898-1 */ 86607ca46eSDavid Howells #define CAN_MAX_DLC 8 87607ca46eSDavid Howells #define CAN_MAX_DLEN 8 88607ca46eSDavid Howells 89607ca46eSDavid Howells /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ 90607ca46eSDavid Howells #define CANFD_MAX_DLC 15 91607ca46eSDavid Howells #define CANFD_MAX_DLEN 64 92607ca46eSDavid Howells 93607ca46eSDavid Howells /** 94607ca46eSDavid Howells * struct can_frame - basic CAN frame structure 95607ca46eSDavid Howells * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition 96607ca46eSDavid Howells * @can_dlc: frame payload length in byte (0 .. 8) aka data length code 97607ca46eSDavid Howells * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 98607ca46eSDavid Howells * mapping of the 'data length code' to the real payload length 99a2f11835SShawn Landden * @__pad: padding 100a2f11835SShawn Landden * @__res0: reserved / padding 101a2f11835SShawn Landden * @__res1: reserved / padding 102607ca46eSDavid Howells * @data: CAN frame payload (up to 8 byte) 103607ca46eSDavid Howells */ 104607ca46eSDavid Howells struct can_frame { 105607ca46eSDavid Howells canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ 106607ca46eSDavid Howells __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ 107a2f11835SShawn Landden __u8 __pad; /* padding */ 108a2f11835SShawn Landden __u8 __res0; /* reserved / padding */ 109a2f11835SShawn Landden __u8 __res1; /* reserved / padding */ 110607ca46eSDavid Howells __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); 111607ca46eSDavid Howells }; 112607ca46eSDavid Howells 113607ca46eSDavid Howells /* 114607ca46eSDavid Howells * defined bits for canfd_frame.flags 115607ca46eSDavid Howells * 116607ca46eSDavid Howells * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to 117607ca46eSDavid Howells * be set in the CAN frame bitstream on the wire. The EDL bit switch turns 118607ca46eSDavid Howells * the CAN controllers bitstream processor into the CAN FD mode which creates 119607ca46eSDavid Howells * two new options within the CAN FD frame specification: 120607ca46eSDavid Howells * 121607ca46eSDavid Howells * Bit Rate Switch - to indicate a second bitrate is/was used for the payload 122607ca46eSDavid Howells * Error State Indicator - represents the error state of the transmitting node 123607ca46eSDavid Howells * 124607ca46eSDavid Howells * As the CANFD_ESI bit is internally generated by the transmitting CAN 125607ca46eSDavid Howells * controller only the CANFD_BRS bit is relevant for real CAN controllers when 126607ca46eSDavid Howells * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make 127607ca46eSDavid Howells * sense for virtual CAN interfaces to test applications with echoed frames. 128607ca46eSDavid Howells */ 129607ca46eSDavid Howells #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ 130607ca46eSDavid Howells #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ 131607ca46eSDavid Howells 132607ca46eSDavid Howells /** 133607ca46eSDavid Howells * struct canfd_frame - CAN flexible data rate frame structure 134607ca46eSDavid Howells * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition 135607ca46eSDavid Howells * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) 136607ca46eSDavid Howells * @flags: additional flags for CAN FD 137607ca46eSDavid Howells * @__res0: reserved / padding 138607ca46eSDavid Howells * @__res1: reserved / padding 139607ca46eSDavid Howells * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) 140607ca46eSDavid Howells */ 141607ca46eSDavid Howells struct canfd_frame { 142607ca46eSDavid Howells canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ 143607ca46eSDavid Howells __u8 len; /* frame payload length in byte */ 144607ca46eSDavid Howells __u8 flags; /* additional flags for CAN FD */ 145607ca46eSDavid Howells __u8 __res0; /* reserved / padding */ 146607ca46eSDavid Howells __u8 __res1; /* reserved / padding */ 147607ca46eSDavid Howells __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); 148607ca46eSDavid Howells }; 149607ca46eSDavid Howells 150607ca46eSDavid Howells #define CAN_MTU (sizeof(struct can_frame)) 151607ca46eSDavid Howells #define CANFD_MTU (sizeof(struct canfd_frame)) 152607ca46eSDavid Howells 153607ca46eSDavid Howells /* particular protocols of the protocol family PF_CAN */ 154607ca46eSDavid Howells #define CAN_RAW 1 /* RAW sockets */ 155607ca46eSDavid Howells #define CAN_BCM 2 /* Broadcast Manager */ 156607ca46eSDavid Howells #define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ 157607ca46eSDavid Howells #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ 158607ca46eSDavid Howells #define CAN_MCNET 5 /* Bosch MCNet */ 159607ca46eSDavid Howells #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ 1602a0c9aaaSKurt Van Dijck #define CAN_J1939 7 /* SAE J1939 */ 1612a0c9aaaSKurt Van Dijck #define CAN_NPROTO 8 162607ca46eSDavid Howells 163607ca46eSDavid Howells #define SOL_CAN_BASE 100 164607ca46eSDavid Howells 165607ca46eSDavid Howells /** 166607ca46eSDavid Howells * struct sockaddr_can - the sockaddr structure for CAN sockets 167607ca46eSDavid Howells * @can_family: address family number AF_CAN. 168607ca46eSDavid Howells * @can_ifindex: CAN network interface index. 169607ca46eSDavid Howells * @can_addr: protocol specific address information 170607ca46eSDavid Howells */ 171607ca46eSDavid Howells struct sockaddr_can { 172607ca46eSDavid Howells __kernel_sa_family_t can_family; 173607ca46eSDavid Howells int can_ifindex; 174607ca46eSDavid Howells union { 175607ca46eSDavid Howells /* transport protocol class address information (e.g. ISOTP) */ 176607ca46eSDavid Howells struct { canid_t rx_id, tx_id; } tp; 177607ca46eSDavid Howells 178*f5223e9eSKurt Van Dijck /* J1939 address information */ 179*f5223e9eSKurt Van Dijck struct { 180*f5223e9eSKurt Van Dijck /* 8 byte name when using dynamic addressing */ 181*f5223e9eSKurt Van Dijck __u64 name; 182*f5223e9eSKurt Van Dijck 183*f5223e9eSKurt Van Dijck /* pgn: 184*f5223e9eSKurt Van Dijck * 8 bit: PS in PDU2 case, else 0 185*f5223e9eSKurt Van Dijck * 8 bit: PF 186*f5223e9eSKurt Van Dijck * 1 bit: DP 187*f5223e9eSKurt Van Dijck * 1 bit: reserved 188*f5223e9eSKurt Van Dijck */ 189*f5223e9eSKurt Van Dijck __u32 pgn; 190*f5223e9eSKurt Van Dijck 191*f5223e9eSKurt Van Dijck /* 1 byte address */ 192*f5223e9eSKurt Van Dijck __u8 addr; 193*f5223e9eSKurt Van Dijck } j1939; 194*f5223e9eSKurt Van Dijck 195607ca46eSDavid Howells /* reserved for future CAN protocols address information */ 196607ca46eSDavid Howells } can_addr; 197607ca46eSDavid Howells }; 198607ca46eSDavid Howells 199607ca46eSDavid Howells /** 200607ca46eSDavid Howells * struct can_filter - CAN ID based filter in can_register(). 201607ca46eSDavid Howells * @can_id: relevant bits of CAN ID which are not masked out. 202607ca46eSDavid Howells * @can_mask: CAN mask (see description) 203607ca46eSDavid Howells * 204607ca46eSDavid Howells * Description: 205607ca46eSDavid Howells * A filter matches, when 206607ca46eSDavid Howells * 207607ca46eSDavid Howells * <received_can_id> & mask == can_id & mask 208607ca46eSDavid Howells * 209607ca46eSDavid Howells * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can 210607ca46eSDavid Howells * filter for error message frames (CAN_ERR_FLAG bit set in mask). 211607ca46eSDavid Howells */ 212607ca46eSDavid Howells struct can_filter { 213607ca46eSDavid Howells canid_t can_id; 214607ca46eSDavid Howells canid_t can_mask; 215607ca46eSDavid Howells }; 216607ca46eSDavid Howells 217607ca46eSDavid Howells #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ 218332b05caSMarc Kleine-Budde #define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ 219607ca46eSDavid Howells 22042193e3eSOliver Hartkopp #endif /* !_UAPI_CAN_H */ 221