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 * 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. 43 */ 44 45 #ifndef _UAPI_CAN_H 46 #define _UAPI_CAN_H 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 */ 56 #define CAN_ERR_FLAG 0x20000000U /* error message frame */ 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) 67 * bit 29 : error message frame flag (0 = data frame, 1 = error message) 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 73 #define CAN_SFF_ID_BITS 11 74 #define CAN_EFF_ID_BITS 29 75 76 /* 77 * Controller Area Network Error Message Frame Mask structure 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 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 92 /** 93 * struct can_frame - basic CAN frame structure 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) 99 */ 100 struct can_frame { 101 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ 102 __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ 103 __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); 104 }; 105 106 /* 107 * defined bits for canfd_frame.flags 108 * 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: 113 * 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. 121 */ 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 */ 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)) 145 146 /* 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 { 164 __kernel_sa_family_t can_family; 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 185 * filter for error message frames (CAN_ERR_FLAG bit set in mask). 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 */ 193 194 #endif /* !_UAPI_CAN_H */ 195