diff options
Diffstat (limited to 'include/uapi/linux/can')
| -rw-r--r-- | include/uapi/linux/can/bcm.h | 2 | ||||
| -rw-r--r-- | include/uapi/linux/can/error.h | 20 | ||||
| -rw-r--r-- | include/uapi/linux/can/gw.h | 4 | ||||
| -rw-r--r-- | include/uapi/linux/can/isotp.h | 182 | ||||
| -rw-r--r-- | include/uapi/linux/can/j1939.h | 9 | ||||
| -rw-r--r-- | include/uapi/linux/can/netlink.h | 45 | ||||
| -rw-r--r-- | include/uapi/linux/can/raw.h | 4 |
7 files changed, 260 insertions, 6 deletions
diff --git a/include/uapi/linux/can/bcm.h b/include/uapi/linux/can/bcm.h index dd2b925b09ac..f1e45f533a72 100644 --- a/include/uapi/linux/can/bcm.h +++ b/include/uapi/linux/can/bcm.h @@ -71,7 +71,7 @@ struct bcm_msg_head { struct bcm_timeval ival1, ival2; canid_t can_id; __u32 nframes; - struct can_frame frames[0]; + struct can_frame frames[]; }; enum { diff --git a/include/uapi/linux/can/error.h b/include/uapi/linux/can/error.h index 34633283de64..acc1ac393d2a 100644 --- a/include/uapi/linux/can/error.h +++ b/include/uapi/linux/can/error.h @@ -57,6 +57,8 @@ #define CAN_ERR_BUSOFF 0x00000040U /* bus off */ #define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */ #define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */ +#define CAN_ERR_CNT 0x00000200U /* TX error counter / data[6] */ + /* RX error counter / data[7] */ /* arbitration lost in bit ... / data[0] */ #define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */ @@ -120,6 +122,22 @@ #define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */ #define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */ -/* controller specific additional information / data[5..7] */ +/* data[5] is reserved (do not use) */ + +/* TX error counter / data[6] */ +/* RX error counter / data[7] */ + +/* CAN state thresholds + * + * Error counter Error state + * ----------------------------------- + * 0 - 95 Error-active + * 96 - 127 Error-warning + * 128 - 255 Error-passive + * 256 and greater Bus-off + */ +#define CAN_ERROR_WARNING_THRESHOLD 96 +#define CAN_ERROR_PASSIVE_THRESHOLD 128 +#define CAN_BUS_OFF_THRESHOLD 256 #endif /* _UAPI_CAN_ERROR_H */ diff --git a/include/uapi/linux/can/gw.h b/include/uapi/linux/can/gw.h index c2190bbe21d8..e4f0957554f3 100644 --- a/include/uapi/linux/can/gw.h +++ b/include/uapi/linux/can/gw.h @@ -98,8 +98,8 @@ enum { /* CAN frame elements that are affected by curr. 3 CAN frame modifications */ #define CGW_MOD_ID 0x01 -#define CGW_MOD_DLC 0x02 /* contains the data length in bytes */ -#define CGW_MOD_LEN CGW_MOD_DLC /* CAN FD length representation */ +#define CGW_MOD_DLC 0x02 /* Classical CAN data length code */ +#define CGW_MOD_LEN CGW_MOD_DLC /* CAN FD (plain) data length */ #define CGW_MOD_DATA 0x04 #define CGW_MOD_FLAGS 0x08 /* CAN FD flags */ diff --git a/include/uapi/linux/can/isotp.h b/include/uapi/linux/can/isotp.h new file mode 100644 index 000000000000..439c982f7e81 --- /dev/null +++ b/include/uapi/linux/can/isotp.h @@ -0,0 +1,182 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ +/* + * linux/can/isotp.h + * + * Definitions for isotp CAN sockets (ISO 15765-2:2016) + * + * Copyright (c) 2020 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_ISOTP_H +#define _UAPI_CAN_ISOTP_H + +#include <linux/types.h> +#include <linux/can.h> + +#define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOTP) + +/* for socket options affecting the socket (not the global system) */ + +#define CAN_ISOTP_OPTS 1 /* pass struct can_isotp_options */ + +#define CAN_ISOTP_RECV_FC 2 /* pass struct can_isotp_fc_options */ + +/* sockopts to force stmin timer values for protocol regression tests */ + +#define CAN_ISOTP_TX_STMIN 3 /* pass __u32 value in nano secs */ + /* use this time instead of value */ + /* provided in FC from the receiver */ + +#define CAN_ISOTP_RX_STMIN 4 /* pass __u32 value in nano secs */ + /* ignore received CF frames which */ + /* timestamps differ less than val */ + +#define CAN_ISOTP_LL_OPTS 5 /* pass struct can_isotp_ll_options */ + +struct can_isotp_options { + + __u32 flags; /* set flags for isotp behaviour. */ + /* __u32 value : flags see below */ + + __u32 frame_txtime; /* frame transmission time (N_As/N_Ar) */ + /* __u32 value : time in nano secs */ + + __u8 ext_address; /* set address for extended addressing */ + /* __u8 value : extended address */ + + __u8 txpad_content; /* set content of padding byte (tx) */ + /* __u8 value : content on tx path */ + + __u8 rxpad_content; /* set content of padding byte (rx) */ + /* __u8 value : content on rx path */ + + __u8 rx_ext_address; /* set address for extended addressing */ + /* __u8 value : extended address (rx) */ +}; + +struct can_isotp_fc_options { + + __u8 bs; /* blocksize provided in FC frame */ + /* __u8 value : blocksize. 0 = off */ + + __u8 stmin; /* separation time provided in FC frame */ + /* __u8 value : */ + /* 0x00 - 0x7F : 0 - 127 ms */ + /* 0x80 - 0xF0 : reserved */ + /* 0xF1 - 0xF9 : 100 us - 900 us */ + /* 0xFA - 0xFF : reserved */ + + __u8 wftmax; /* max. number of wait frame transmiss. */ + /* __u8 value : 0 = omit FC N_PDU WT */ +}; + +struct can_isotp_ll_options { + + __u8 mtu; /* generated & accepted CAN frame type */ + /* __u8 value : */ + /* CAN_MTU (16) -> standard CAN 2.0 */ + /* CANFD_MTU (72) -> CAN FD frame */ + + __u8 tx_dl; /* tx link layer data length in bytes */ + /* (configured maximum payload length) */ + /* __u8 value : 8,12,16,20,24,32,48,64 */ + /* => rx path supports all LL_DL values */ + + __u8 tx_flags; /* set into struct canfd_frame.flags */ + /* at frame creation: e.g. CANFD_BRS */ + /* Obsolete when the BRS flag is fixed */ + /* by the CAN netdriver configuration */ +}; + +/* flags for isotp behaviour */ + +#define CAN_ISOTP_LISTEN_MODE 0x0001 /* listen only (do not send FC) */ +#define CAN_ISOTP_EXTEND_ADDR 0x0002 /* enable extended addressing */ +#define CAN_ISOTP_TX_PADDING 0x0004 /* enable CAN frame padding tx path */ +#define CAN_ISOTP_RX_PADDING 0x0008 /* enable CAN frame padding rx path */ +#define CAN_ISOTP_CHK_PAD_LEN 0x0010 /* check received CAN frame padding */ +#define CAN_ISOTP_CHK_PAD_DATA 0x0020 /* check received CAN frame padding */ +#define CAN_ISOTP_HALF_DUPLEX 0x0040 /* half duplex error state handling */ +#define CAN_ISOTP_FORCE_TXSTMIN 0x0080 /* ignore stmin from received FC */ +#define CAN_ISOTP_FORCE_RXSTMIN 0x0100 /* ignore CFs depending on rx stmin */ +#define CAN_ISOTP_RX_EXT_ADDR 0x0200 /* different rx extended addressing */ +#define CAN_ISOTP_WAIT_TX_DONE 0x0400 /* wait for tx completion */ +#define CAN_ISOTP_SF_BROADCAST 0x0800 /* 1-to-N functional addressing */ +#define CAN_ISOTP_CF_BROADCAST 0x1000 /* 1-to-N transmission w/o FC */ + +/* protocol machine default values */ + +#define CAN_ISOTP_DEFAULT_FLAGS 0 +#define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00 +#define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC /* prevent bit-stuffing */ +#define CAN_ISOTP_DEFAULT_FRAME_TXTIME 50000 /* 50 micro seconds */ +#define CAN_ISOTP_DEFAULT_RECV_BS 0 +#define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00 +#define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0 + +/* + * Remark on CAN_ISOTP_DEFAULT_RECV_* values: + * + * We can strongly assume, that the Linux Kernel implementation of + * CAN_ISOTP is capable to run with BS=0, STmin=0 and WFTmax=0. + * But as we like to be able to behave as a commonly available ECU, + * these default settings can be changed via sockopts. + * For that reason the STmin value is intentionally _not_ checked for + * consistency and copied directly into the flow control (FC) frame. + */ + +/* link layer default values => make use of Classical CAN frames */ + +#define CAN_ISOTP_DEFAULT_LL_MTU CAN_MTU +#define CAN_ISOTP_DEFAULT_LL_TX_DL CAN_MAX_DLEN +#define CAN_ISOTP_DEFAULT_LL_TX_FLAGS 0 + +/* + * The CAN_ISOTP_DEFAULT_FRAME_TXTIME has become a non-zero value as + * it only makes sense for isotp implementation tests to run without + * a N_As value. As user space applications usually do not set the + * frame_txtime element of struct can_isotp_options the new in-kernel + * default is very likely overwritten with zero when the sockopt() + * CAN_ISOTP_OPTS is invoked. + * To make sure that a N_As value of zero is only set intentional the + * value '0' is now interpreted as 'do not change the current value'. + * When a frame_txtime of zero is required for testing purposes this + * CAN_ISOTP_FRAME_TXTIME_ZERO u32 value has to be set in frame_txtime. + */ +#define CAN_ISOTP_FRAME_TXTIME_ZERO 0xFFFFFFFF + +#endif /* !_UAPI_CAN_ISOTP_H */ diff --git a/include/uapi/linux/can/j1939.h b/include/uapi/linux/can/j1939.h index df6e821075c1..38936460f668 100644 --- a/include/uapi/linux/can/j1939.h +++ b/include/uapi/linux/can/j1939.h @@ -78,11 +78,20 @@ enum { enum { J1939_NLA_PAD, J1939_NLA_BYTES_ACKED, + J1939_NLA_TOTAL_SIZE, + J1939_NLA_PGN, + J1939_NLA_SRC_NAME, + J1939_NLA_DEST_NAME, + J1939_NLA_SRC_ADDR, + J1939_NLA_DEST_ADDR, }; enum { J1939_EE_INFO_NONE, J1939_EE_INFO_TX_ABORT, + J1939_EE_INFO_RX_RTS, + J1939_EE_INFO_RX_DPO, + J1939_EE_INFO_RX_ABORT, }; struct j1939_filter { diff --git a/include/uapi/linux/can/netlink.h b/include/uapi/linux/can/netlink.h index 6f598b73839e..02ec32d69474 100644 --- a/include/uapi/linux/can/netlink.h +++ b/include/uapi/linux/can/netlink.h @@ -100,6 +100,9 @@ struct can_ctrlmode { #define CAN_CTRLMODE_FD 0x20 /* CAN FD mode */ #define CAN_CTRLMODE_PRESUME_ACK 0x40 /* Ignore missing CAN ACKs */ #define CAN_CTRLMODE_FD_NON_ISO 0x80 /* CAN FD in non-ISO mode */ +#define CAN_CTRLMODE_CC_LEN8_DLC 0x100 /* Classic CAN DLC option */ +#define CAN_CTRLMODE_TDC_AUTO 0x200 /* CAN transiver automatically calculates TDCV */ +#define CAN_CTRLMODE_TDC_MANUAL 0x400 /* TDCV is manually set up by user */ /* * CAN device statistics @@ -133,10 +136,48 @@ enum { IFLA_CAN_BITRATE_CONST, IFLA_CAN_DATA_BITRATE_CONST, IFLA_CAN_BITRATE_MAX, - __IFLA_CAN_MAX + IFLA_CAN_TDC, + IFLA_CAN_CTRLMODE_EXT, + + /* add new constants above here */ + __IFLA_CAN_MAX, + IFLA_CAN_MAX = __IFLA_CAN_MAX - 1 }; -#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1) +/* + * CAN FD Transmitter Delay Compensation (TDC) + * + * Please refer to struct can_tdc_const and can_tdc in + * include/linux/can/bittiming.h for further details. + */ +enum { + IFLA_CAN_TDC_UNSPEC, + IFLA_CAN_TDC_TDCV_MIN, /* u32 */ + IFLA_CAN_TDC_TDCV_MAX, /* u32 */ + IFLA_CAN_TDC_TDCO_MIN, /* u32 */ + IFLA_CAN_TDC_TDCO_MAX, /* u32 */ + IFLA_CAN_TDC_TDCF_MIN, /* u32 */ + IFLA_CAN_TDC_TDCF_MAX, /* u32 */ + IFLA_CAN_TDC_TDCV, /* u32 */ + IFLA_CAN_TDC_TDCO, /* u32 */ + IFLA_CAN_TDC_TDCF, /* u32 */ + + /* add new constants above here */ + __IFLA_CAN_TDC, + IFLA_CAN_TDC_MAX = __IFLA_CAN_TDC - 1 +}; + +/* + * IFLA_CAN_CTRLMODE_EXT nest: controller mode extended parameters + */ +enum { + IFLA_CAN_CTRLMODE_UNSPEC, + IFLA_CAN_CTRLMODE_SUPPORTED, /* u32 */ + + /* add new constants above here */ + __IFLA_CAN_CTRLMODE, + IFLA_CAN_CTRLMODE_MAX = __IFLA_CAN_CTRLMODE - 1 +}; /* u16 termination range: 1..65535 Ohms */ #define CAN_TERMINATION_DISABLED 0 diff --git a/include/uapi/linux/can/raw.h b/include/uapi/linux/can/raw.h index 6a11d308eb5c..ff12f525c37c 100644 --- a/include/uapi/linux/can/raw.h +++ b/include/uapi/linux/can/raw.h @@ -49,6 +49,9 @@ #include <linux/can.h> #define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW) +enum { + SCM_CAN_RAW_ERRQUEUE = 1, +}; /* for socket options affecting the socket (not the global system) */ @@ -59,6 +62,7 @@ enum { CAN_RAW_RECV_OWN_MSGS, /* receive my own msgs (default:off) */ CAN_RAW_FD_FRAMES, /* allow CAN FD frames (default:off) */ CAN_RAW_JOIN_FILTERS, /* all filters must match to trigger */ + CAN_RAW_XL_FRAMES, /* allow CAN XL frames (default:off) */ }; #endif /* !_UAPI_CAN_RAW_H */ |