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