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can: add ISO 15765-2:2016 transport protocol

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.

Oliver Hartkopp committed 6 years ago

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include/uapi/linux/can/isotp.h+166−0
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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 */