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Oliver Hartkopp0d665482007-11-16 15:52:17 -08001/*
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 *
Uwe Kleine-König16f6b872014-01-12 20:02:20 +010011 * 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.
Oliver Hartkopp0d665482007-11-16 15:52:17 -080043 */
44
Oliver Hartkopp42193e32014-05-15 20:31:56 +020045#ifndef _UAPI_CAN_H
46#define _UAPI_CAN_H
Oliver Hartkopp0d665482007-11-16 15:52:17 -080047
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 */
Oliver Hartkoppd6e640f2012-05-08 22:20:33 +020056#define CAN_ERR_FLAG 0x20000000U /* error message frame */
Oliver Hartkopp0d665482007-11-16 15:52:17 -080057
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)
Oliver Hartkoppd6e640f2012-05-08 22:20:33 +020067 * bit 29 : error message frame flag (0 = data frame, 1 = error message)
Oliver Hartkopp0d665482007-11-16 15:52:17 -080068 * bit 30 : remote transmission request flag (1 = rtr frame)
69 * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
70 */
71typedef __u32 canid_t;
72
Rostislav Lisovyf057bbb2012-07-04 05:32:03 +020073#define CAN_SFF_ID_BITS 11
74#define CAN_EFF_ID_BITS 29
75
Oliver Hartkopp0d665482007-11-16 15:52:17 -080076/*
Oliver Hartkoppd6e640f2012-05-08 22:20:33 +020077 * Controller Area Network Error Message Frame Mask structure
Oliver Hartkopp0d665482007-11-16 15:52:17 -080078 *
79 * bit 0-28 : error class mask (see include/linux/can/error.h)
80 * bit 29-31 : set to zero
81 */
82typedef __u32 can_err_mask_t;
83
Oliver Hartkopp7c941632012-06-13 20:04:33 +020084/* 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
Oliver Hartkopp0d665482007-11-16 15:52:17 -080092/**
93 * struct can_frame - basic CAN frame structure
Oliver Hartkopp7c941632012-06-13 20:04:33 +020094 * @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
Shawn Landdena2f11832015-05-05 09:07:16 -070098 * @__pad: padding
99 * @__res0: reserved / padding
100 * @__res1: reserved / padding
Oliver Hartkopp7c941632012-06-13 20:04:33 +0200101 * @data: CAN frame payload (up to 8 byte)
Oliver Hartkopp0d665482007-11-16 15:52:17 -0800102 */
103struct can_frame {
104 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
Oliver Hartkopp7c941632012-06-13 20:04:33 +0200105 __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
Shawn Landdena2f11832015-05-05 09:07:16 -0700106 __u8 __pad; /* padding */
107 __u8 __res0; /* reserved / padding */
108 __u8 __res1; /* reserved / padding */
Oliver Hartkopp7c941632012-06-13 20:04:33 +0200109 __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)));
Oliver Hartkopp0d665482007-11-16 15:52:17 -0800110};
111
Oliver Hartkopp7c941632012-06-13 20:04:33 +0200112/*
113 * defined bits for canfd_frame.flags
114 *
Oliver Hartkopp035534e2012-08-06 18:02:29 +0200115 * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to
116 * be set in the CAN frame bitstream on the wire. The EDL bit switch turns
117 * the CAN controllers bitstream processor into the CAN FD mode which creates
118 * two new options within the CAN FD frame specification:
Oliver Hartkopp7c941632012-06-13 20:04:33 +0200119 *
Oliver Hartkopp035534e2012-08-06 18:02:29 +0200120 * Bit Rate Switch - to indicate a second bitrate is/was used for the payload
121 * Error State Indicator - represents the error state of the transmitting node
122 *
123 * As the CANFD_ESI bit is internally generated by the transmitting CAN
124 * controller only the CANFD_BRS bit is relevant for real CAN controllers when
125 * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
126 * sense for virtual CAN interfaces to test applications with echoed frames.
Oliver Hartkopp7c941632012-06-13 20:04:33 +0200127 */
Oliver Hartkopp035534e2012-08-06 18:02:29 +0200128#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
129#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
Oliver Hartkopp7c941632012-06-13 20:04:33 +0200130
131/**
132 * struct canfd_frame - CAN flexible data rate frame structure
133 * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
134 * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
135 * @flags: additional flags for CAN FD
136 * @__res0: reserved / padding
137 * @__res1: reserved / padding
138 * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
139 */
140struct canfd_frame {
141 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
142 __u8 len; /* frame payload length in byte */
143 __u8 flags; /* additional flags for CAN FD */
144 __u8 __res0; /* reserved / padding */
145 __u8 __res1; /* reserved / padding */
146 __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
147};
148
149#define CAN_MTU (sizeof(struct can_frame))
150#define CANFD_MTU (sizeof(struct canfd_frame))
151
Oliver Hartkopp0d665482007-11-16 15:52:17 -0800152/* particular protocols of the protocol family PF_CAN */
153#define CAN_RAW 1 /* RAW sockets */
154#define CAN_BCM 2 /* Broadcast Manager */
155#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
156#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
157#define CAN_MCNET 5 /* Bosch MCNet */
158#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
159#define CAN_NPROTO 7
160
161#define SOL_CAN_BASE 100
162
163/**
164 * struct sockaddr_can - the sockaddr structure for CAN sockets
165 * @can_family: address family number AF_CAN.
166 * @can_ifindex: CAN network interface index.
167 * @can_addr: protocol specific address information
168 */
169struct sockaddr_can {
Ben Hutchingsbcb949b2011-08-24 18:43:55 +0000170 __kernel_sa_family_t can_family;
Oliver Hartkopp0d665482007-11-16 15:52:17 -0800171 int can_ifindex;
172 union {
173 /* transport protocol class address information (e.g. ISOTP) */
174 struct { canid_t rx_id, tx_id; } tp;
175
176 /* reserved for future CAN protocols address information */
177 } can_addr;
178};
179
180/**
181 * struct can_filter - CAN ID based filter in can_register().
182 * @can_id: relevant bits of CAN ID which are not masked out.
183 * @can_mask: CAN mask (see description)
184 *
185 * Description:
186 * A filter matches, when
187 *
188 * <received_can_id> & mask == can_id & mask
189 *
190 * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
Oliver Hartkoppd6e640f2012-05-08 22:20:33 +0200191 * filter for error message frames (CAN_ERR_FLAG bit set in mask).
Oliver Hartkopp0d665482007-11-16 15:52:17 -0800192 */
193struct can_filter {
194 canid_t can_id;
195 canid_t can_mask;
196};
197
198#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
199
Oliver Hartkopp42193e32014-05-15 20:31:56 +0200200#endif /* !_UAPI_CAN_H */