/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can.h * * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) * * Authors: Oliver Hartkopp <[email protected]> * Urs Thuermann <[email protected]> * Copyright (c) 2002-2007 Volkswagen Group Electronic Research * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. Neither the name of Volkswagen nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * Alternatively, provided that this notice is retained in full, this * software may be distributed under the terms of the GNU General * Public License ("GPL") version 2, in which case the provisions of the * GPL apply INSTEAD OF those given above. * * The provided data structures and external interfaces from this code * are not restricted to be used by modules with a GPL compatible license. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * DAMAGE. */ #ifndef _UAPI_CAN_H #define _UAPI_CAN_H #include <linux/types.h> #include <linux/socket.h> #include <linux/stddef.h> /* for offsetof */ /* controller area network (CAN) kernel definitions */ /* special address description flags for the CAN_ID */ #define CAN_EFF_FLAG … #define CAN_RTR_FLAG … #define CAN_ERR_FLAG … /* valid bits in CAN ID for frame formats */ #define CAN_SFF_MASK … #define CAN_EFF_MASK … #define CAN_ERR_MASK … #define CANXL_PRIO_MASK … /* * Controller Area Network Identifier structure * * bit 0-28 : CAN identifier (11/29 bit) * bit 29 : error message frame flag (0 = data frame, 1 = error message) * bit 30 : remote transmission request flag (1 = rtr frame) * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) */ canid_t; #define CAN_SFF_ID_BITS … #define CAN_EFF_ID_BITS … #define CANXL_PRIO_BITS … /* * Controller Area Network Error Message Frame Mask structure * * bit 0-28 : error class mask (see include/uapi/linux/can/error.h) * bit 29-31 : set to zero */ can_err_mask_t; /* CAN payload length and DLC definitions according to ISO 11898-1 */ #define CAN_MAX_DLC … #define CAN_MAX_RAW_DLC … #define CAN_MAX_DLEN … /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ #define CANFD_MAX_DLC … #define CANFD_MAX_DLEN … /* * CAN XL payload length and DLC definitions according to ISO 11898-1 * CAN XL DLC ranges from 0 .. 2047 => data length from 1 .. 2048 byte */ #define CANXL_MIN_DLC … #define CANXL_MAX_DLC … #define CANXL_MAX_DLC_MASK … #define CANXL_MIN_DLEN … #define CANXL_MAX_DLEN … /** * struct can_frame - Classical CAN frame structure (aka CAN 2.0B) * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition * @len: CAN frame payload length in byte (0 .. 8) * @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) * @__pad: padding * @__res0: reserved / padding * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length * len8_dlc contains values from 9 .. 15 when the payload length is * 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. * CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. * @data: CAN frame payload (up to 8 byte) */ struct can_frame { … }; /* * defined bits for canfd_frame.flags * * The use of struct canfd_frame implies the FD Frame (FDF) bit to * be set in the CAN frame bitstream on the wire. The FDF bit switch turns * the CAN controllers bitstream processor into the CAN FD mode which creates * two new options within the CAN FD frame specification: * * Bit Rate Switch - to indicate a second bitrate is/was used for the payload * Error State Indicator - represents the error state of the transmitting node * * As the CANFD_ESI bit is internally generated by the transmitting CAN * controller only the CANFD_BRS bit is relevant for real CAN controllers when * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make * sense for virtual CAN interfaces to test applications with echoed frames. * * The struct can_frame and struct canfd_frame intentionally share the same * layout to be able to write CAN frame content into a CAN FD frame structure. * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of * using struct canfd_frame for mixed CAN / CAN FD content (dual use). * Since the introduction of CAN XL the CANFD_FDF flag is set in all CAN FD * frame structures provided by the CAN subsystem of the Linux kernel. */ #define CANFD_BRS … #define CANFD_ESI … #define CANFD_FDF … /** * struct canfd_frame - CAN flexible data rate frame structure * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) * @flags: additional flags for CAN FD * @__res0: reserved / padding * @__res1: reserved / padding * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) */ struct canfd_frame { … }; /* * defined bits for canxl_frame.flags * * The canxl_frame.flags element contains two bits CANXL_XLF and CANXL_SEC * and shares the relative position of the struct can[fd]_frame.len element. * The CANXL_XLF bit ALWAYS needs to be set to indicate a valid CAN XL frame. * As a side effect setting this bit intentionally breaks the length checks * for Classical CAN and CAN FD frames. * * Undefined bits in canxl_frame.flags are reserved and shall be set to zero. */ #define CANXL_XLF … #define CANXL_SEC … /* the 8-bit VCID is optionally placed in the canxl_frame.prio element */ #define CANXL_VCID_OFFSET … #define CANXL_VCID_VAL_MASK … #define CANXL_VCID_MASK … /** * struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure * @prio: 11 bit arbitration priority with zero'ed CAN_*_FLAG flags / VCID * @flags: additional flags for CAN XL * @sdt: SDU (service data unit) type * @len: frame payload length in byte (CANXL_MIN_DLEN .. CANXL_MAX_DLEN) * @af: acceptance field * @data: CAN XL frame payload (CANXL_MIN_DLEN .. CANXL_MAX_DLEN byte) * * @prio shares the same position as @can_id from struct can[fd]_frame. */ struct canxl_frame { … }; #define CAN_MTU … #define CANFD_MTU … #define CANXL_MTU … #define CANXL_HDR_SIZE … #define CANXL_MIN_MTU … #define CANXL_MAX_MTU … /* particular protocols of the protocol family PF_CAN */ #define CAN_RAW … #define CAN_BCM … #define CAN_TP16 … #define CAN_TP20 … #define CAN_MCNET … #define CAN_ISOTP … #define CAN_J1939 … #define CAN_NPROTO … #define SOL_CAN_BASE … /** * struct sockaddr_can - the sockaddr structure for CAN sockets * @can_family: address family number AF_CAN. * @can_ifindex: CAN network interface index. * @can_addr: protocol specific address information */ struct sockaddr_can { … }; /** * struct can_filter - CAN ID based filter in can_register(). * @can_id: relevant bits of CAN ID which are not masked out. * @can_mask: CAN mask (see description) * * Description: * A filter matches, when * * <received_can_id> & mask == can_id & mask * * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can * filter for error message frames (CAN_ERR_FLAG bit set in mask). */ struct can_filter { … }; #define CAN_INV_FILTER … #endif /* !_UAPI_CAN_H */
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