CAN Transport Protocols offer support for segmented Point-to-Point communication between CAN nodes via two defined CAN Identifiers. As CAN frames can only transport a small amount of data bytes (max. 8 bytes for 'classic' CAN and max. 64 bytes for CAN FD) this segmentation is needed to transport longer PDUs as needed e.g. for vehicle diagnosis (UDS, ISO 14229) or IP-over-CAN traffic. This protocol driver implements data transfers according to ISO 15765-2:2016 for 'classic' CAN and CAN FD frame types.
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| 1 | /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ | ||
| 2 | /* | ||
| 3 | * linux/can/isotp.h | ||
| 4 | * | ||
| 5 | * Definitions for isotp CAN sockets (ISO 15765-2:2016) | ||
| 6 | * | ||
| 7 | * Copyright (c) 2020 Volkswagen Group Electronic Research | ||
| 8 | * All rights reserved. | ||
| 9 | * | ||
| 10 | * Redistribution and use in source and binary forms, with or without | ||
| 11 | * modification, are permitted provided that the following conditions | ||
| 12 | * are met: | ||
| 13 | * 1. Redistributions of source code must retain the above copyright | ||
| 14 | * notice, this list of conditions and the following disclaimer. | ||
| 15 | * 2. Redistributions in binary form must reproduce the above copyright | ||
| 16 | * notice, this list of conditions and the following disclaimer in the | ||
| 17 | * documentation and/or other materials provided with the distribution. | ||
| 18 | * 3. Neither the name of Volkswagen nor the names of its contributors | ||
| 19 | * may be used to endorse or promote products derived from this software | ||
| 20 | * without specific prior written permission. | ||
| 21 | * | ||
| 22 | * Alternatively, provided that this notice is retained in full, this | ||
| 23 | * software may be distributed under the terms of the GNU General | ||
| 24 | * Public License ("GPL") version 2, in which case the provisions of the | ||
| 25 | * GPL apply INSTEAD OF those given above. | ||
| 26 | * | ||
| 27 | * The provided data structures and external interfaces from this code | ||
| 28 | * are not restricted to be used by modules with a GPL compatible license. | ||
| 29 | * | ||
| 30 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 31 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 32 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 33 | * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 34 | * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 35 | * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 36 | * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 37 | * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 38 | * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 39 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 40 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 41 | * DAMAGE. | ||
| 42 | */ | ||
| 43 | |||
| 44 | #ifndef _UAPI_CAN_ISOTP_H | ||
| 45 | #define _UAPI_CAN_ISOTP_H | ||
| 46 | |||
| 47 | #include <linux/types.h> | ||
| 48 | #include <linux/can.h> | ||
| 49 | |||
| 50 | #define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOTP) | ||
| 51 | |||
| 52 | /* for socket options affecting the socket (not the global system) */ | ||
| 53 | |||
| 54 | #define CAN_ISOTP_OPTS 1 /* pass struct can_isotp_options */ | ||
| 55 | |||
| 56 | #define CAN_ISOTP_RECV_FC 2 /* pass struct can_isotp_fc_options */ | ||
| 57 | |||
| 58 | /* sockopts to force stmin timer values for protocol regression tests */ | ||
| 59 | |||
| 60 | #define CAN_ISOTP_TX_STMIN 3 /* pass __u32 value in nano secs */ | ||
| 61 | /* use this time instead of value */ | ||
| 62 | /* provided in FC from the receiver */ | ||
| 63 | |||
| 64 | #define CAN_ISOTP_RX_STMIN 4 /* pass __u32 value in nano secs */ | ||
| 65 | /* ignore received CF frames which */ | ||
| 66 | /* timestamps differ less than val */ | ||
| 67 | |||
| 68 | #define CAN_ISOTP_LL_OPTS 5 /* pass struct can_isotp_ll_options */ | ||
| 69 | |||
| 70 | struct can_isotp_options { | ||
| 71 | |||
| 72 | __u32 flags; /* set flags for isotp behaviour. */ | ||
| 73 | /* __u32 value : flags see below */ | ||
| 74 | |||
| 75 | __u32 frame_txtime; /* frame transmission time (N_As/N_Ar) */ | ||
| 76 | /* __u32 value : time in nano secs */ | ||
| 77 | |||
| 78 | __u8 ext_address; /* set address for extended addressing */ | ||
| 79 | /* __u8 value : extended address */ | ||
| 80 | |||
| 81 | __u8 txpad_content; /* set content of padding byte (tx) */ | ||
| 82 | /* __u8 value : content on tx path */ | ||
| 83 | |||
| 84 | __u8 rxpad_content; /* set content of padding byte (rx) */ | ||
| 85 | /* __u8 value : content on rx path */ | ||
| 86 | |||
| 87 | __u8 rx_ext_address; /* set address for extended addressing */ | ||
| 88 | /* __u8 value : extended address (rx) */ | ||
| 89 | }; | ||
| 90 | |||
| 91 | struct can_isotp_fc_options { | ||
| 92 | |||
| 93 | __u8 bs; /* blocksize provided in FC frame */ | ||
| 94 | /* __u8 value : blocksize. 0 = off */ | ||
| 95 | |||
| 96 | __u8 stmin; /* separation time provided in FC frame */ | ||
| 97 | /* __u8 value : */ | ||
| 98 | /* 0x00 - 0x7F : 0 - 127 ms */ | ||
| 99 | /* 0x80 - 0xF0 : reserved */ | ||
| 100 | /* 0xF1 - 0xF9 : 100 us - 900 us */ | ||
| 101 | /* 0xFA - 0xFF : reserved */ | ||
| 102 | |||
| 103 | __u8 wftmax; /* max. number of wait frame transmiss. */ | ||
| 104 | /* __u8 value : 0 = omit FC N_PDU WT */ | ||
| 105 | }; | ||
| 106 | |||
| 107 | struct can_isotp_ll_options { | ||
| 108 | |||
| 109 | __u8 mtu; /* generated & accepted CAN frame type */ | ||
| 110 | /* __u8 value : */ | ||
| 111 | /* CAN_MTU (16) -> standard CAN 2.0 */ | ||
| 112 | /* CANFD_MTU (72) -> CAN FD frame */ | ||
| 113 | |||
| 114 | __u8 tx_dl; /* tx link layer data length in bytes */ | ||
| 115 | /* (configured maximum payload length) */ | ||
| 116 | /* __u8 value : 8,12,16,20,24,32,48,64 */ | ||
| 117 | /* => rx path supports all LL_DL values */ | ||
| 118 | |||
| 119 | __u8 tx_flags; /* set into struct canfd_frame.flags */ | ||
| 120 | /* at frame creation: e.g. CANFD_BRS */ | ||
| 121 | /* Obsolete when the BRS flag is fixed */ | ||
| 122 | /* by the CAN netdriver configuration */ | ||
| 123 | }; | ||
| 124 | |||
| 125 | /* flags for isotp behaviour */ | ||
| 126 | |||
| 127 | #define CAN_ISOTP_LISTEN_MODE 0x001 /* listen only (do not send FC) */ | ||
| 128 | #define CAN_ISOTP_EXTEND_ADDR 0x002 /* enable extended addressing */ | ||
| 129 | #define CAN_ISOTP_TX_PADDING 0x004 /* enable CAN frame padding tx path */ | ||
| 130 | #define CAN_ISOTP_RX_PADDING 0x008 /* enable CAN frame padding rx path */ | ||
| 131 | #define CAN_ISOTP_CHK_PAD_LEN 0x010 /* check received CAN frame padding */ | ||
| 132 | #define CAN_ISOTP_CHK_PAD_DATA 0x020 /* check received CAN frame padding */ | ||
| 133 | #define CAN_ISOTP_HALF_DUPLEX 0x040 /* half duplex error state handling */ | ||
| 134 | #define CAN_ISOTP_FORCE_TXSTMIN 0x080 /* ignore stmin from received FC */ | ||
| 135 | #define CAN_ISOTP_FORCE_RXSTMIN 0x100 /* ignore CFs depending on rx stmin */ | ||
| 136 | #define CAN_ISOTP_RX_EXT_ADDR 0x200 /* different rx extended addressing */ | ||
| 137 | #define CAN_ISOTP_WAIT_TX_DONE 0x400 /* wait for tx completion */ | ||
| 138 | |||
| 139 | |||
| 140 | /* default values */ | ||
| 141 | |||
| 142 | #define CAN_ISOTP_DEFAULT_FLAGS 0 | ||
| 143 | #define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00 | ||
| 144 | #define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC /* prevent bit-stuffing */ | ||
| 145 | #define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0 | ||
| 146 | #define CAN_ISOTP_DEFAULT_RECV_BS 0 | ||
| 147 | #define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00 | ||
| 148 | #define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0 | ||
| 149 | |||
| 150 | #define CAN_ISOTP_DEFAULT_LL_MTU CAN_MTU | ||
| 151 | #define CAN_ISOTP_DEFAULT_LL_TX_DL CAN_MAX_DLEN | ||
| 152 | #define CAN_ISOTP_DEFAULT_LL_TX_FLAGS 0 | ||
| 153 | |||
| 154 | /* | ||
| 155 | * Remark on CAN_ISOTP_DEFAULT_RECV_* values: | ||
| 156 | * | ||
| 157 | * We can strongly assume, that the Linux Kernel implementation of | ||
| 158 | * CAN_ISOTP is capable to run with BS=0, STmin=0 and WFTmax=0. | ||
| 159 | * But as we like to be able to behave as a commonly available ECU, | ||
| 160 | * these default settings can be changed via sockopts. | ||
| 161 | * For that reason the STmin value is intentionally _not_ checked for | ||
| 162 | * consistency and copied directly into the flow control (FC) frame. | ||
| 163 | * | ||
| 164 | */ | ||
| 165 | |||
| 166 | #endif /* !_UAPI_CAN_ISOTP_H */ | ||