/* SPDX-License-Identifier: ((GPL-2.0 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 <oliver.hartkopp@volkswagen.de> *          Urs Thuermann   <urs.thuermann@volkswagen.de> * 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> /* controller area network (CAN) kernel definitions */ /* special address description flags for the CAN_ID */#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */#define CAN_ERR_FLAG 0x20000000U /* error message frame */ /* valid bits in CAN ID for frame formats */#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ /* * 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) */typedef __u32 canid_t; #define CAN_SFF_ID_BITS		11#define CAN_EFF_ID_BITS		29 /* * 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 */typedef __u32 can_err_mask_t; /* CAN payload length and DLC definitions according to ISO 11898-1 */#define CAN_MAX_DLC 8#define CAN_MAX_DLEN 8 /* CAN FD payload length and DLC definitions according to ISO 11898-7 */#define CANFD_MAX_DLC 15#define CANFD_MAX_DLEN 64 /** * struct can_frame - basic CAN frame structure * @can_id:  CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition * @can_dlc: frame payload length in byte (0 .. 8) aka data length code *           N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 *           mapping of the 'data length code' to the real payload length * @__pad:   padding * @__res0:  reserved / padding * @__res1:  reserved / padding * @data:    CAN frame payload (up to 8 byte) */struct can_frame {	canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */	__u8    can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */	__u8    __pad;   /* padding */	__u8    __res0;  /* reserved / padding */	__u8    __res1;  /* reserved / padding */	__u8    data[CAN_MAX_DLEN] __attribute__((aligned(8)));}; /* * defined bits for canfd_frame.flags * * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to * be set in the CAN frame bitstream on the wire. The EDL 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. */#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ /** * 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 {	canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */	__u8    len;     /* frame payload length in byte */	__u8    flags;   /* additional flags for CAN FD */	__u8    __res0;  /* reserved / padding */	__u8    __res1;  /* reserved / padding */	__u8    data[CANFD_MAX_DLEN] __attribute__((aligned(8)));}; #define CAN_MTU		(sizeof(struct can_frame))#define CANFD_MTU	(sizeof(struct canfd_frame)) /* particular protocols of the protocol family PF_CAN */#define CAN_RAW		1 /* RAW sockets */#define CAN_BCM		2 /* Broadcast Manager */#define CAN_TP16	3 /* VAG Transport Protocol v1.6 */#define CAN_TP20	4 /* VAG Transport Protocol v2.0 */#define CAN_MCNET	5 /* Bosch MCNet */#define CAN_ISOTP	6 /* ISO 15765-2 Transport Protocol */#define CAN_NPROTO	7 #define SOL_CAN_BASE 100 /** * 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 {	__kernel_sa_family_t can_family;	int         can_ifindex;	union {		/* transport protocol class address information (e.g. ISOTP) */		struct { canid_t rx_id, tx_id; } tp; 		/* reserved for future CAN protocols address information */	} can_addr;}; /** * 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 {	canid_t can_id;	canid_t can_mask;}; #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */#define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ #endif /* !_UAPI_CAN_H */