2 * socketcan/can/isotp.h
4 * Definitions for isotp CAN sockets
6 * Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
7 * Copyright (c) 2008 Volkswagen Group Electronic Research
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27 * The provided data structures and external interfaces from this code
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43 * Send feedback to <linux-can@vger.kernel.org>
49 #include <linux/can.h>
51 #define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOTP)
53 /* for socket options affecting the socket (not the global system) */
55 #define CAN_ISOTP_OPTS 1 /* pass struct can_isotp_options */
57 #define CAN_ISOTP_RECV_FC 2 /* pass struct can_isotp_fc_options */
59 /* sockopts to force stmin timer values for protocol regression tests */
61 #define CAN_ISOTP_TX_STMIN 3 /* pass __u32 value in nano secs */
62 /* use this time instead of value */
63 /* provided in FC from the receiver */
65 #define CAN_ISOTP_RX_STMIN 4 /* pass __u32 value in nano secs */
66 /* ignore received CF frames which */
67 /* timestamps differ less than val */
69 struct can_isotp_options {
71 __u32 flags; /* set flags for isotp behaviour. */
72 /* __u32 value : flags see below */
74 __u32 frame_txtime; /* frame transmission time (N_As/N_Ar) */
75 /* __u32 value : time in nano secs */
77 __u8 ext_address; /* set address for extended addressing */
78 /* __u8 value : extended address */
80 __u8 txpad_content; /* set content of padding byte (tx) */
81 /* __u8 value : content on tx path */
83 __u8 rxpad_content; /* set content of padding byte (rx) */
84 /* __u8 value : content on rx path */
87 struct can_isotp_fc_options {
89 __u8 bs; /* blocksize provided in FC frame */
90 /* __u8 value : blocksize. 0 = off */
92 __u8 stmin; /* separation time provided in FC frame */
94 /* 0x00 - 0x7F : 0 - 127 ms */
95 /* 0x80 - 0xF0 : reserved */
96 /* 0xF1 - 0xF9 : 100 us - 900 us */
97 /* 0xFA - 0xFF : reserved */
99 __u8 wftmax; /* max. number of wait frame transmiss. */
100 /* __u8 value : 0 = omit FC N_PDU WT */
104 /* flags for isotp behaviour */
106 #define CAN_ISOTP_LISTEN_MODE 0x001 /* listen only (do not send FC) */
107 #define CAN_ISOTP_EXTEND_ADDR 0x002 /* enable extended addressing */
108 #define CAN_ISOTP_TX_PADDING 0x004 /* enable CAN frame padding tx path */
109 #define CAN_ISOTP_RX_PADDING 0x008 /* enable CAN frame padding rx path */
110 #define CAN_ISOTP_CHK_PAD_LEN 0x010 /* check received CAN frame padding */
111 #define CAN_ISOTP_CHK_PAD_DATA 0x020 /* check received CAN frame padding */
112 #define CAN_ISOTP_HALF_DUPLEX 0x040 /* half duplex error state handling */
113 #define CAN_ISOTP_FORCE_TXSTMIN 0x080 /* ignore stmin from received FC */
114 #define CAN_ISOTP_FORCE_RXSTMIN 0x100 /* ignore CFs depending on rx stmin */
119 #define CAN_ISOTP_DEFAULT_FLAGS 0
120 #define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00
121 #define CAN_ISOTP_DEFAULT_RXPAD_CONTENT 0x00
122 #define CAN_ISOTP_DEFAULT_TXPAD_CONTENT 0x00
123 #define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0
124 #define CAN_ISOTP_DEFAULT_RECV_BS 0
125 #define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00
126 #define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0
129 * Remark on CAN_ISOTP_DEFAULT_RECV_* values:
131 * We can strongly assume, that the Linux Kernel implementation of
132 * CAN_ISOTP is capable to run with BS=0, STmin=0 and WFTmax=0.
133 * But as we like to be able to behave as a commonly available ECU,
134 * these default settings can be changed via sockopts.
135 * For that reason the STmin value is intentionally _not_ checked for
136 * consistency and copied directly into the flow control (FC) frame.