diff options
Diffstat (limited to 'include/uapi/linux/can.h')
| -rw-r--r-- | include/uapi/linux/can.h | 132 |
1 files changed, 113 insertions, 19 deletions
diff --git a/include/uapi/linux/can.h b/include/uapi/linux/can.h index c48d93a28d1a..42abf0679fb4 100644 --- a/include/uapi/linux/can.h +++ b/include/uapi/linux/can.h @@ -1,3 +1,4 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can.h * @@ -47,6 +48,7 @@ #include <linux/types.h> #include <linux/socket.h> +#include <linux/stddef.h> /* for offsetof */ /* controller area network (CAN) kernel definitions */ @@ -59,6 +61,7 @@ #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 */ +#define CANXL_PRIO_MASK CAN_SFF_MASK /* 11 bit priority mask */ /* * Controller Area Network Identifier structure @@ -72,48 +75,69 @@ typedef __u32 canid_t; #define CAN_SFF_ID_BITS 11 #define CAN_EFF_ID_BITS 29 +#define CANXL_PRIO_BITS CAN_SFF_ID_BITS /* * Controller Area Network Error Message Frame Mask structure * - * bit 0-28 : error class mask (see include/linux/can/error.h) + * 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_RAW_DLC 15 #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 +/* + * 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 0 +#define CANXL_MAX_DLC 2047 +#define CANXL_MAX_DLC_MASK 0x07FF +#define CANXL_MIN_DLEN 1 +#define CANXL_MAX_DLEN 2048 + /** - * 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 - 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 { 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))); + union { + /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) + * was previously named can_dlc so we need to carry that + * name for legacy support + */ + __u8 len; + __u8 can_dlc; /* deprecated */ + } __attribute__((packed)); /* disable padding added in some ABIs */ + __u8 __pad; /* padding */ + __u8 __res0; /* reserved / padding */ + __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ + __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 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: * @@ -124,9 +148,18 @@ struct can_frame { * 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 0x01 /* bit rate switch (second bitrate for payload data) */ #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ +#define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */ /** * struct canfd_frame - CAN flexible data rate frame structure @@ -146,8 +179,52 @@ struct canfd_frame { __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); }; +/* + * defined bits for canxl_frame.flags + * + * The canxl_frame.flags element contains three bits CANXL_[XLF|SEC|RRS] + * 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 0x80 /* mandatory CAN XL frame flag (must always be set!) */ +#define CANXL_SEC 0x01 /* Simple Extended Content (security/segmentation) */ +#define CANXL_RRS 0x02 /* Remote Request Substitution */ + +/* the 8-bit VCID is optionally placed in the canxl_frame.prio element */ +#define CANXL_VCID_OFFSET 16 /* bit offset of VCID in prio element */ +#define CANXL_VCID_VAL_MASK 0xFFUL /* VCID is an 8-bit value */ +#define CANXL_VCID_MASK (CANXL_VCID_VAL_MASK << CANXL_VCID_OFFSET) + +/** + * 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 { + canid_t prio; /* 11 bit priority for arbitration / 8 bit VCID */ + __u8 flags; /* additional flags for CAN XL */ + __u8 sdt; /* SDU (service data unit) type */ + __u16 len; /* frame payload length in byte */ + __u32 af; /* acceptance field */ + __u8 data[CANXL_MAX_DLEN]; +}; + #define CAN_MTU (sizeof(struct can_frame)) #define CANFD_MTU (sizeof(struct canfd_frame)) +#define CANXL_MTU (sizeof(struct canxl_frame)) +#define CANXL_HDR_SIZE (offsetof(struct canxl_frame, data)) +#define CANXL_MIN_MTU (CANXL_HDR_SIZE + 64) +#define CANXL_MAX_MTU CANXL_MTU /* particular protocols of the protocol family PF_CAN */ #define CAN_RAW 1 /* RAW sockets */ @@ -156,7 +233,8 @@ struct canfd_frame { #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 CAN_J1939 7 /* SAE J1939 */ +#define CAN_NPROTO 8 #define SOL_CAN_BASE 100 @@ -173,6 +251,23 @@ struct sockaddr_can { /* transport protocol class address information (e.g. ISOTP) */ struct { canid_t rx_id, tx_id; } tp; + /* J1939 address information */ + struct { + /* 8 byte name when using dynamic addressing */ + __u64 name; + + /* pgn: + * 8 bit: PS in PDU2 case, else 0 + * 8 bit: PF + * 1 bit: DP + * 1 bit: reserved + */ + __u32 pgn; + + /* 1 byte address */ + __u8 addr; + } j1939; + /* reserved for future CAN protocols address information */ } can_addr; }; @@ -196,6 +291,5 @@ struct can_filter { }; #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 */ |