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/* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */

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* linux/can.h

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* Definitions for CAN network layer (socket addr / CAN frame / CAN filter)

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* Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>

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* Urs Thuermann <urs.thuermann@volkswagen.de>

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* Redistribution and use in source and binary forms, with or without

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* modification, are permitted provided that the following conditions

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* are met:

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* 1. Redistributions of source code must retain the above copyright

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* notice, this list of conditions and the following disclaimer.

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* 2. Redistributions in binary form must reproduce the above copyright

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* notice, this list of conditions and the following disclaimer in the

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* documentation and/or other materials provided with the distribution.

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* 3. Neither the name of Volkswagen nor the names of its contributors

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* may be used to endorse or promote products derived from this software

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* without specific prior written permission.

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* Alternatively, provided that this notice is retained in full, this

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* software may be distributed under the terms of the GNU General

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* Public License ("GPL") version 2, in which case the provisions of the

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* GPL apply INSTEAD OF those given above.

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* The provided data structures and external interfaces from this code

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* are not restricted to be used by modules with a GPL compatible license.

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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR

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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT

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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT

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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY

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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH

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* DAMAGE.

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#ifndef _CAN_H

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#define _CAN_H

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#include <linux/types.h>

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#include <linux/socket.h>

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/* controller area network (CAN) kernel definitions */

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/* special address description flags for the CAN_ID */

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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */

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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */

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#define CAN_ERR_FLAG 0x20000000U /* error message frame */

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/* valid bits in CAN ID for frame formats */

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#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */

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#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */

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#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */

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* Controller Area Network Identifier structure

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* bit 0-28 : CAN identifier (11/29 bit)

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* bit 29 : error message frame flag (0 = data frame, 1 = error message)

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* bit 30 : remote transmission request flag (1 = rtr frame)

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* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)

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typedef __u32 canid_t;

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#define CAN_SFF_ID_BITS 11

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#define CAN_EFF_ID_BITS 29

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* Controller Area Network Error Message Frame Mask structure

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* bit 0-28 : error class mask (see include/linux/can/error.h)

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* bit 29-31 : set to zero

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typedef __u32 can_err_mask_t;

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/* CAN payload length and DLC definitions according to ISO 11898-1 */

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#define CAN_MAX_DLC 8

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#define CAN_MAX_DLEN 8

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/* CAN FD payload length and DLC definitions according to ISO 11898-7 */

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#define CANFD_MAX_DLC 15

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#define CANFD_MAX_DLEN 64

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/**

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* struct can_frame - basic CAN frame structure

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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition

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* @can_dlc: frame payload length in byte (0 .. 8) aka data length code

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* N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1

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* mapping of the 'data length code' to the real payload length

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* @__pad: padding

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* @__res0: reserved / padding

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* @__res1: reserved / padding

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* @data: CAN frame payload (up to 8 byte)

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struct can_frame {

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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */

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__u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */

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__u8 __pad; /* padding */

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__u8 __res0; /* reserved / padding */

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__u8 __res1; /* reserved / padding */

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__u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)));

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};

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* defined bits for canfd_frame.flags

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* The use of struct canfd_frame implies the Extended Data Length (EDL) bit to

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* be set in the CAN frame bitstream on the wire. The EDL bit switch turns

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* the CAN controllers bitstream processor into the CAN FD mode which creates

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* two new options within the CAN FD frame specification:

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* Bit Rate Switch - to indicate a second bitrate is/was used for the payload

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* Error State Indicator - represents the error state of the transmitting node

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* As the CANFD_ESI bit is internally generated by the transmitting CAN

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* controller only the CANFD_BRS bit is relevant for real CAN controllers when

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* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make

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* sense for virtual CAN interfaces to test applications with echoed frames.

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#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */

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#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */

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/**

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* struct canfd_frame - CAN flexible data rate frame structure

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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition

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* @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)

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* @flags: additional flags for CAN FD

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* @__res0: reserved / padding

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* @__res1: reserved / padding

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* @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)

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struct canfd_frame {

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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */

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__u8 len; /* frame payload length in byte */

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__u8 flags; /* additional flags for CAN FD */

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__u8 __res0; /* reserved / padding */

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__u8 __res1; /* reserved / padding */

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__u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));

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};

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#define CAN_MTU (sizeof(struct can_frame))

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#define CANFD_MTU (sizeof(struct canfd_frame))

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/* particular protocols of the protocol family PF_CAN */

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#define CAN_RAW 1 /* RAW sockets */

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#define CAN_BCM 2 /* Broadcast Manager */

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#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */

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#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */

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#define CAN_MCNET 5 /* Bosch MCNet */

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#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */

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#define CAN_NPROTO 7

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#define SOL_CAN_BASE 100

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/**

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* struct sockaddr_can - the sockaddr structure for CAN sockets

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* @can_family: address family number AF_CAN.

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* @can_ifindex: CAN network interface index.

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* @can_addr: protocol specific address information

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struct sockaddr_can {

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__kernel_sa_family_t can_family;

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int can_ifindex;

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union {

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/* transport protocol class address information (e.g. ISOTP) */

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struct { canid_t rx_id, tx_id; } tp;

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/* reserved for future CAN protocols address information */

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} can_addr;

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};

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/**

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* struct can_filter - CAN ID based filter in can_register().

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* @can_id: relevant bits of CAN ID which are not masked out.

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* @can_mask: CAN mask (see description)

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* Description:

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* A filter matches, when

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* <received_can_id> & mask == can_id & mask

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* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can

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* filter for error message frames (CAN_ERR_FLAG bit set in mask).

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struct can_filter {

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canid_t can_id;

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canid_t can_mask;

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};

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#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */

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#define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */

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#endif /* !_UAPI_CAN_H */

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