From: Uwe Kleine-König Date: Mon, 13 Jan 2014 21:57:14 +0000 (+0100) Subject: include: Move all includes from include/socketcan to include/linux X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-utils.git/commitdiff_plain/ed7bc7d3669aec156ab504a9540d7ec68ba59c8e?hp=7c055123178499574247e37050ec20ebe11f92b1 include: Move all includes from include/socketcan to include/linux This makes it possible to import header from the kernel more easily, e.g.: cd $path_to_linux_repo make headers_install rsync -a --exclude .\* usr/include/linux/can* $path_to_can_utils/include/linux [mkl: also move isotp.h although Uwe skipped it as it is not part of the upstream kernel; adapt commit log accordingly] Acked-by: Oliver Hartkopp Signed-off-by: Marc Kleine-Budde --- diff --git a/GNUmakefile.am b/GNUmakefile.am index 9b30d9c..630a69a 100644 --- a/GNUmakefile.am +++ b/GNUmakefile.am @@ -16,14 +16,7 @@ noinst_HEADERS = \ include/linux/can.h \ include/linux/can/isotp.h \ include/linux/can/netlink.h \ - include/linux/can/raw.h \ - include/socketcan/can/bcm.h \ - include/socketcan/can/error.h \ - include/socketcan/can/gw.h \ - include/socketcan/can.h \ - include/socketcan/can/isotp.h \ - include/socketcan/can/netlink.h \ - include/socketcan/can/raw.h + include/linux/can/raw.h noinst_LTLIBRARIES = \ diff --git a/include/linux/can.h b/include/linux/can.h index 958a3f4..8452f0e 100644 --- a/include/linux/can.h +++ b/include/linux/can.h @@ -1 +1,167 @@ -#include +/* + * socketcan/can.h + * + * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) + * + * Authors: Oliver Hartkopp + * Urs Thuermann + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + */ + +#ifndef CAN_H +#define CAN_H + +#include +#include +#include + +/* controller area network (CAN) kernel definitions */ + +/* special address description flags for the CAN_ID */ +#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ +#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ +#define CAN_ERR_FLAG 0x20000000U /* error message frame */ + +/* valid bits in CAN ID for frame formats */ +#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 */ + +/* + * Controller Area Network Identifier structure + * + * bit 0-28 : CAN identifier (11/29 bit) + * bit 29 : error message frame flag (0 = data frame, 1 = error message) + * bit 30 : remote transmission request flag (1 = rtr frame) + * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) + */ +typedef __u32 canid_t; + +#define CAN_SFF_ID_BITS 11 +#define CAN_EFF_ID_BITS 29 + +/* + * Controller Area Network Error Message Frame Mask structure + * + * bit 0-28 : error class mask (see include/socketcan/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_DLEN 8 + +/* CAN FD payload length and DLC definitions according to ISO 11898-7 */ +#define CANFD_MAX_DLC 15 +#define CANFD_MAX_DLEN 64 + +/** + * 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 + * @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 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 CAN controllers bitstream processor into the CAN FD mode which creates + * two new options within the CAN FD frame specification: + * + * Bit Rate Switch - to indicate a second bitrate is/was used for the payload + * Error State Indicator - represents the error state of the transmitting node + * + * As the CANFD_ESI bit is internally generated by the transmitting CAN + * 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. + */ +#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ +#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ + +/** + * struct canfd_frame - CAN flexible data rate frame structure + * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition + * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) + * @flags: additional flags for CAN FD + * @__res0: reserved / padding + * @__res1: reserved / padding + * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) + */ +struct canfd_frame { + canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ + __u8 len; /* frame payload length in byte */ + __u8 flags; /* additional flags for CAN FD */ + __u8 __res0; /* reserved / padding */ + __u8 __res1; /* reserved / padding */ + __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); +}; + +#define CAN_MTU (sizeof(struct can_frame)) +#define CANFD_MTU (sizeof(struct canfd_frame)) + +/* particular protocols of the protocol family PF_CAN */ +#define CAN_RAW 1 /* RAW sockets */ +#define CAN_BCM 2 /* Broadcast Manager */ +#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ +#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 SOL_CAN_BASE 100 + +// typedef unsigned short __kernel_sa_family_t; +// introduced in Linux 3.2 commit 6602a4baf4d1a73cc4685a39ef859e1c5ddf654c + +/** + * struct sockaddr_can - the sockaddr structure for CAN sockets + * @can_family: address family number AF_CAN. + * @can_ifindex: CAN network interface index. + * @can_addr: protocol specific address information + */ +struct sockaddr_can { + sa_family_t can_family; +// __kernel_sa_family_t can_family; + int can_ifindex; + union { + /* transport protocol class address information (e.g. ISOTP) */ + struct { canid_t rx_id, tx_id; } tp; + + /* reserved for future CAN protocols address information */ + } can_addr; +}; + +/** + * struct can_filter - CAN ID based filter in can_register(). + * @can_id: relevant bits of CAN ID which are not masked out. + * @can_mask: CAN mask (see description) + * + * Description: + * A filter matches, when + * + * & mask == can_id & mask + * + * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can + * filter for error message frames (CAN_ERR_FLAG bit set in mask). + */ +struct can_filter { + canid_t can_id; + canid_t can_mask; +}; + +#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ + +#endif /* CAN_H */ diff --git a/include/linux/can/bcm.h b/include/linux/can/bcm.h index 6d61559..f10af82 100644 --- a/include/linux/can/bcm.h +++ b/include/linux/can/bcm.h @@ -1 +1,66 @@ -#include +/* + * socketcan/can/bcm.h + * + * Definitions for CAN Broadcast Manager (BCM) + * + * Author: Oliver Hartkopp + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + */ + +#ifndef CAN_BCM_H +#define CAN_BCM_H + +#include +#include + +/** + * struct bcm_msg_head - head of messages to/from the broadcast manager + * @opcode: opcode, see enum below. + * @flags: special flags, see below. + * @count: number of frames to send before changing interval. + * @ival1: interval for the first @count frames. + * @ival2: interval for the following frames. + * @can_id: CAN ID of frames to be sent or received. + * @nframes: number of frames appended to the message head. + * @frames: array of CAN frames. + */ +struct bcm_msg_head { + __u32 opcode; + __u32 flags; + __u32 count; + struct timeval ival1, ival2; + canid_t can_id; + __u32 nframes; + struct can_frame frames[0]; +}; + +enum { + TX_SETUP = 1, /* create (cyclic) transmission task */ + TX_DELETE, /* remove (cyclic) transmission task */ + TX_READ, /* read properties of (cyclic) transmission task */ + TX_SEND, /* send one CAN frame */ + RX_SETUP, /* create RX content filter subscription */ + RX_DELETE, /* remove RX content filter subscription */ + RX_READ, /* read properties of RX content filter subscription */ + TX_STATUS, /* reply to TX_READ request */ + TX_EXPIRED, /* notification on performed transmissions (count=0) */ + RX_STATUS, /* reply to RX_READ request */ + RX_TIMEOUT, /* cyclic message is absent */ + RX_CHANGED /* updated CAN frame (detected content change) */ +}; + +#define SETTIMER 0x0001 +#define STARTTIMER 0x0002 +#define TX_COUNTEVT 0x0004 +#define TX_ANNOUNCE 0x0008 +#define TX_CP_CAN_ID 0x0010 +#define RX_FILTER_ID 0x0020 +#define RX_CHECK_DLC 0x0040 +#define RX_NO_AUTOTIMER 0x0080 +#define RX_ANNOUNCE_RESUME 0x0100 +#define TX_RESET_MULTI_IDX 0x0200 +#define RX_RTR_FRAME 0x0400 + +#endif /* CAN_BCM_H */ diff --git a/include/linux/can/error.h b/include/linux/can/error.h index a02b1ca..b65c231 100644 --- a/include/linux/can/error.h +++ b/include/linux/can/error.h @@ -1 +1,91 @@ -#include +/* + * socketcan/can/error.h + * + * Definitions of the CAN error messages to be filtered and passed to the user. + * + * Author: Oliver Hartkopp + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + */ + +#ifndef CAN_ERROR_H +#define CAN_ERROR_H + +#define CAN_ERR_DLC 8 /* dlc for error message frames */ + +/* error class (mask) in can_id */ +#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */ +#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */ +#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */ +#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */ +#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */ +#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */ +#define CAN_ERR_BUSOFF 0x00000040U /* bus off */ +#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */ +#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */ + +/* arbitration lost in bit ... / data[0] */ +#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */ + /* else bit number in bitstream */ + +/* error status of CAN-controller / data[1] */ +#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */ +#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */ +#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */ +#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */ +#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */ +#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */ + /* (at least one error counter exceeds */ + /* the protocol-defined level of 127) */ + +/* error in CAN protocol (type) / data[2] */ +#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_BIT 0x01 /* single bit error */ +#define CAN_ERR_PROT_FORM 0x02 /* frame format error */ +#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */ +#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */ +#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */ +#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */ +#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */ +#define CAN_ERR_PROT_TX 0x80 /* error occurred on transmission */ + +/* error in CAN protocol (location) / data[3] */ +#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */ +#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */ +#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/ +#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */ +#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */ +#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */ +#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */ +#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */ +#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */ +#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */ +#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */ +#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */ +#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */ +#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */ +#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */ +#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */ +#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */ +#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */ +#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */ + +/* error status of CAN-transceiver / data[4] */ +/* CANH CANL */ +#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */ +#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */ +#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */ +#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] */ + +#endif /* CAN_ERROR_H */ diff --git a/include/linux/can/gw.h b/include/linux/can/gw.h index f37dbf0..f709809 100644 --- a/include/linux/can/gw.h +++ b/include/linux/can/gw.h @@ -1 +1,171 @@ -#include +/* + * socketcan/can/gw.h + * + * Definitions for CAN frame Gateway/Router/Bridge + * + * Author: Oliver Hartkopp + * Copyright (c) 2011 Volkswagen Group Electronic Research + * All rights reserved. + * + */ + +#ifndef CAN_GW_H +#define CAN_GW_H + +#include +#include + +struct rtcanmsg { + __u8 can_family; + __u8 gwtype; + __u16 flags; +}; + +/* CAN gateway types */ +enum { + CGW_TYPE_UNSPEC, + CGW_TYPE_CAN_CAN, /* CAN->CAN routing */ + __CGW_TYPE_MAX +}; + +#define CGW_TYPE_MAX (__CGW_TYPE_MAX - 1) + +/* CAN rtnetlink attribute definitions */ +enum { + CGW_UNSPEC, + CGW_MOD_AND, /* CAN frame modification binary AND */ + CGW_MOD_OR, /* CAN frame modification binary OR */ + CGW_MOD_XOR, /* CAN frame modification binary XOR */ + CGW_MOD_SET, /* CAN frame modification set alternate values */ + CGW_CS_XOR, /* set data[] XOR checksum into data[index] */ + CGW_CS_CRC8, /* set data[] CRC8 checksum into data[index] */ + CGW_HANDLED, /* number of handled CAN frames */ + CGW_DROPPED, /* number of dropped CAN frames */ + CGW_SRC_IF, /* ifindex of source network interface */ + CGW_DST_IF, /* ifindex of destination network interface */ + CGW_FILTER, /* specify struct can_filter on source CAN device */ + CGW_DELETED, /* number of deleted CAN frames (see max_hops param) */ + CGW_LIM_HOPS, /* limit the number of hops of this specific rule */ + __CGW_MAX +}; + +#define CGW_MAX (__CGW_MAX - 1) + +#define CGW_FLAGS_CAN_ECHO 0x01 +#define CGW_FLAGS_CAN_SRC_TSTAMP 0x02 +#define CGW_FLAGS_CAN_IIF_TX_OK 0x04 + +#define CGW_MOD_FUNCS 4 /* AND OR XOR SET */ + +/* CAN frame elements that are affected by curr. 3 CAN frame modifications */ +#define CGW_MOD_ID 0x01 +#define CGW_MOD_DLC 0x02 +#define CGW_MOD_DATA 0x04 + +#define CGW_FRAME_MODS 3 /* ID DLC DATA */ + +#define MAX_MODFUNCTIONS (CGW_MOD_FUNCS * CGW_FRAME_MODS) + +struct cgw_frame_mod { + struct can_frame cf; + __u8 modtype; +} __attribute__((packed)); + +#define CGW_MODATTR_LEN sizeof(struct cgw_frame_mod) + +struct cgw_csum_xor { + __s8 from_idx; + __s8 to_idx; + __s8 result_idx; + __u8 init_xor_val; +} __attribute__((packed)); + +struct cgw_csum_crc8 { + __s8 from_idx; + __s8 to_idx; + __s8 result_idx; + __u8 init_crc_val; + __u8 final_xor_val; + __u8 crctab[256]; + __u8 profile; + __u8 profile_data[20]; +} __attribute__((packed)); + +/* length of checksum operation parameters. idx = index in CAN frame data[] */ +#define CGW_CS_XOR_LEN sizeof(struct cgw_csum_xor) +#define CGW_CS_CRC8_LEN sizeof(struct cgw_csum_crc8) + +/* CRC8 profiles (compute CRC for additional data elements - see below) */ +enum { + CGW_CRC8PRF_UNSPEC, + CGW_CRC8PRF_1U8, /* compute one additional u8 value */ + CGW_CRC8PRF_16U8, /* u8 value table indexed by data[1] & 0xF */ + CGW_CRC8PRF_SFFID_XOR, /* (can_id & 0xFF) ^ (can_id >> 8 & 0xFF) */ + __CGW_CRC8PRF_MAX +}; + +#define CGW_CRC8PRF_MAX (__CGW_CRC8PRF_MAX - 1) + +/* + * CAN rtnetlink attribute contents in detail + * + * CGW_XXX_IF (length 4 bytes): + * Sets an interface index for source/destination network interfaces. + * For the CAN->CAN gwtype the indices of _two_ CAN interfaces are mandatory. + * + * CGW_FILTER (length 8 bytes): + * Sets a CAN receive filter for the gateway job specified by the + * struct can_filter described in include/linux/can.h + * + * CGW_MOD_(AND|OR|XOR|SET) (length 17 bytes): + * Specifies a modification that's done to a received CAN frame before it is + * send out to the destination interface. + * + * data used as operator + * affected CAN frame elements + * + * CGW_LIM_HOPS (length 1 byte): + * Limit the number of hops of this specific rule. Usually the received CAN + * frame can be processed as much as 'max_hops' times (which is given at module + * load time of the can-gw module). This value is used to reduce the number of + * possible hops for this gateway job to a value smaller then max_hops. + * + * CGW_CS_XOR (length 4 bytes): + * Set a simple XOR checksum starting with an initial value into + * data[result-idx] using data[start-idx] .. data[end-idx] + * + * The XOR checksum is calculated like this: + * + * xor = init_xor_val + * + * for (i = from_idx .. to_idx) + * xor ^= can_frame.data[i] + * + * can_frame.data[ result_idx ] = xor + * + * CGW_CS_CRC8 (length 282 bytes): + * Set a CRC8 value into data[result-idx] using a given 256 byte CRC8 table, + * a given initial value and a defined input data[start-idx] .. data[end-idx]. + * Finally the result value is XOR'ed with the final_xor_val. + * + * The CRC8 checksum is calculated like this: + * + * crc = init_crc_val + * + * for (i = from_idx .. to_idx) + * crc = crctab[ crc ^ can_frame.data[i] ] + * + * can_frame.data[ result_idx ] = crc ^ final_xor_val + * + * The calculated CRC may contain additional source data elements that can be + * defined in the handling of 'checksum profiles' e.g. shown in AUTOSAR specs + * like http://www.autosar.org/download/R4.0/AUTOSAR_SWS_E2ELibrary.pdf + * E.g. the profile_data[] may contain additional u8 values (called DATA_IDs) + * that are used depending on counter values inside the CAN frame data[]. + * So far only three profiles have been implemented for illustration. + * + * Remark: In general the attribute data is a linear buffer. + * Beware of sending unpacked or aligned structs! + */ + +#endif diff --git a/include/linux/can/isotp.h b/include/linux/can/isotp.h index c52850f..18d13d1 100644 --- a/include/linux/can/isotp.h +++ b/include/linux/can/isotp.h @@ -1 +1,140 @@ -#include +/* + * socketcan/can/isotp.h + * + * Definitions for isotp CAN sockets + * + * Author: Oliver Hartkopp + * Copyright (c) 2008 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. + * + * Send feedback to + */ + +#ifndef CAN_ISOTP_H +#define CAN_ISOTP_H + +#include + +#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 */ + +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 */ +}; + +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 */ +}; + + +/* flags for isotp behaviour */ + +#define CAN_ISOTP_LISTEN_MODE 0x001 /* listen only (do not send FC) */ +#define CAN_ISOTP_EXTEND_ADDR 0x002 /* enable extended addressing */ +#define CAN_ISOTP_TX_PADDING 0x004 /* enable CAN frame padding tx path */ +#define CAN_ISOTP_RX_PADDING 0x008 /* enable CAN frame padding rx path */ +#define CAN_ISOTP_CHK_PAD_LEN 0x010 /* check received CAN frame padding */ +#define CAN_ISOTP_CHK_PAD_DATA 0x020 /* check received CAN frame padding */ +#define CAN_ISOTP_HALF_DUPLEX 0x040 /* half duplex error state handling */ +#define CAN_ISOTP_FORCE_TXSTMIN 0x080 /* ignore stmin from received FC */ +#define CAN_ISOTP_FORCE_RXSTMIN 0x100 /* ignore CFs depending on rx stmin */ + + +/* default values */ + +#define CAN_ISOTP_DEFAULT_FLAGS 0 +#define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00 +#define CAN_ISOTP_DEFAULT_RXPAD_CONTENT 0x00 +#define CAN_ISOTP_DEFAULT_TXPAD_CONTENT 0x00 +#define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0 +#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. + * + */ + +#endif diff --git a/include/linux/can/netlink.h b/include/linux/can/netlink.h index 99425f9..9bb47e3 100644 --- a/include/linux/can/netlink.h +++ b/include/linux/can/netlink.h @@ -1 +1,122 @@ -#include +/* + * socketcan/can/netlink.h + * + * Definitions for the CAN netlink interface + * + * Copyright (c) 2009 Wolfgang Grandegger + * + */ + +#ifndef CAN_NETLINK_H +#define CAN_NETLINK_H + +#include + +/* + * CAN bit-timing parameters + * + * For further information, please read chapter "8 BIT TIMING + * REQUIREMENTS" of the "Bosch CAN Specification version 2.0" + * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf. + */ +struct can_bittiming { + __u32 bitrate; /* Bit-rate in bits/second */ + __u32 sample_point; /* Sample point in one-tenth of a percent */ + __u32 tq; /* Time quanta (TQ) in nanoseconds */ + __u32 prop_seg; /* Propagation segment in TQs */ + __u32 phase_seg1; /* Phase buffer segment 1 in TQs */ + __u32 phase_seg2; /* Phase buffer segment 2 in TQs */ + __u32 sjw; /* Synchronisation jump width in TQs */ + __u32 brp; /* Bit-rate prescaler */ +}; + +/* + * CAN harware-dependent bit-timing constant + * + * Used for calculating and checking bit-timing parameters + */ +struct can_bittiming_const { + char name[16]; /* Name of the CAN controller hardware */ + __u32 tseg1_min; /* Time segement 1 = prop_seg + phase_seg1 */ + __u32 tseg1_max; + __u32 tseg2_min; /* Time segement 2 = phase_seg2 */ + __u32 tseg2_max; + __u32 sjw_max; /* Synchronisation jump width */ + __u32 brp_min; /* Bit-rate prescaler */ + __u32 brp_max; + __u32 brp_inc; +}; + +/* + * CAN clock parameters + */ +struct can_clock { + __u32 freq; /* CAN system clock frequency in Hz */ +}; + +/* + * CAN operational and error states + */ +enum can_state { + CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */ + CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */ + CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */ + CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */ + CAN_STATE_STOPPED, /* Device is stopped */ + CAN_STATE_SLEEPING, /* Device is sleeping */ + CAN_STATE_MAX +}; + +/* + * CAN bus error counters + */ +struct can_berr_counter { + __u16 txerr; + __u16 rxerr; +}; + +/* + * CAN controller mode + */ +struct can_ctrlmode { + __u32 mask; + __u32 flags; +}; + +#define CAN_CTRLMODE_LOOPBACK 0x01 /* Loopback mode */ +#define CAN_CTRLMODE_LISTENONLY 0x02 /* Listen-only mode */ +#define CAN_CTRLMODE_3_SAMPLES 0x04 /* Triple sampling mode */ +#define CAN_CTRLMODE_ONE_SHOT 0x08 /* One-Shot mode */ +#define CAN_CTRLMODE_BERR_REPORTING 0x10 /* Bus-error reporting */ + +/* + * CAN device statistics + */ +struct can_device_stats { + __u32 bus_error; /* Bus errors */ + __u32 error_warning; /* Changes to error warning state */ + __u32 error_passive; /* Changes to error passive state */ + __u32 bus_off; /* Changes to bus off state */ + __u32 arbitration_lost; /* Arbitration lost errors */ + __u32 restarts; /* CAN controller re-starts */ +}; + +/* + * CAN netlink interface + */ +enum { + IFLA_CAN_UNSPEC, + IFLA_CAN_BITTIMING, + IFLA_CAN_BITTIMING_CONST, + IFLA_CAN_CLOCK, + IFLA_CAN_STATE, + IFLA_CAN_CTRLMODE, + IFLA_CAN_RESTART_MS, + IFLA_CAN_RESTART, + IFLA_CAN_BERR_COUNTER, + __IFLA_CAN_MAX +}; + +#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1) + +#endif /* CAN_NETLINK_H */ diff --git a/include/linux/can/raw.h b/include/linux/can/raw.h index 22a90e5..c80bff0 100644 --- a/include/linux/can/raw.h +++ b/include/linux/can/raw.h @@ -1 +1,30 @@ -#include +/* + * socketcan/can/raw.h + * + * Definitions for raw CAN sockets + * + * Authors: Oliver Hartkopp + * Urs Thuermann + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + */ + +#ifndef CAN_RAW_H +#define CAN_RAW_H + +#include + +#define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW) + +/* for socket options affecting the socket (not the global system) */ + +enum { + CAN_RAW_FILTER = 1, /* set 0 .. n can_filter(s) */ + CAN_RAW_ERR_FILTER, /* set filter for error frames */ + CAN_RAW_LOOPBACK, /* local loopback (default:on) */ + CAN_RAW_RECV_OWN_MSGS, /* receive my own msgs (default:off) */ + CAN_RAW_FD_FRAMES, /* allow CAN FD frames (default:off) */ +}; + +#endif diff --git a/include/socketcan/can.h b/include/socketcan/can.h deleted file mode 100644 index 8452f0e..0000000 --- a/include/socketcan/can.h +++ /dev/null @@ -1,167 +0,0 @@ -/* - * socketcan/can.h - * - * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) - * - * Authors: Oliver Hartkopp - * Urs Thuermann - * Copyright (c) 2002-2007 Volkswagen Group Electronic Research - * All rights reserved. - * - */ - -#ifndef CAN_H -#define CAN_H - -#include -#include -#include - -/* controller area network (CAN) kernel definitions */ - -/* special address description flags for the CAN_ID */ -#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ -#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ -#define CAN_ERR_FLAG 0x20000000U /* error message frame */ - -/* valid bits in CAN ID for frame formats */ -#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 */ - -/* - * Controller Area Network Identifier structure - * - * bit 0-28 : CAN identifier (11/29 bit) - * bit 29 : error message frame flag (0 = data frame, 1 = error message) - * bit 30 : remote transmission request flag (1 = rtr frame) - * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) - */ -typedef __u32 canid_t; - -#define CAN_SFF_ID_BITS 11 -#define CAN_EFF_ID_BITS 29 - -/* - * Controller Area Network Error Message Frame Mask structure - * - * bit 0-28 : error class mask (see include/socketcan/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_DLEN 8 - -/* CAN FD payload length and DLC definitions according to ISO 11898-7 */ -#define CANFD_MAX_DLC 15 -#define CANFD_MAX_DLEN 64 - -/** - * 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 - * @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 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 CAN controllers bitstream processor into the CAN FD mode which creates - * two new options within the CAN FD frame specification: - * - * Bit Rate Switch - to indicate a second bitrate is/was used for the payload - * Error State Indicator - represents the error state of the transmitting node - * - * As the CANFD_ESI bit is internally generated by the transmitting CAN - * 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. - */ -#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ -#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ - -/** - * struct canfd_frame - CAN flexible data rate frame structure - * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition - * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN) - * @flags: additional flags for CAN FD - * @__res0: reserved / padding - * @__res1: reserved / padding - * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte) - */ -struct canfd_frame { - canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ - __u8 len; /* frame payload length in byte */ - __u8 flags; /* additional flags for CAN FD */ - __u8 __res0; /* reserved / padding */ - __u8 __res1; /* reserved / padding */ - __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); -}; - -#define CAN_MTU (sizeof(struct can_frame)) -#define CANFD_MTU (sizeof(struct canfd_frame)) - -/* particular protocols of the protocol family PF_CAN */ -#define CAN_RAW 1 /* RAW sockets */ -#define CAN_BCM 2 /* Broadcast Manager */ -#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */ -#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 SOL_CAN_BASE 100 - -// typedef unsigned short __kernel_sa_family_t; -// introduced in Linux 3.2 commit 6602a4baf4d1a73cc4685a39ef859e1c5ddf654c - -/** - * struct sockaddr_can - the sockaddr structure for CAN sockets - * @can_family: address family number AF_CAN. - * @can_ifindex: CAN network interface index. - * @can_addr: protocol specific address information - */ -struct sockaddr_can { - sa_family_t can_family; -// __kernel_sa_family_t can_family; - int can_ifindex; - union { - /* transport protocol class address information (e.g. ISOTP) */ - struct { canid_t rx_id, tx_id; } tp; - - /* reserved for future CAN protocols address information */ - } can_addr; -}; - -/** - * struct can_filter - CAN ID based filter in can_register(). - * @can_id: relevant bits of CAN ID which are not masked out. - * @can_mask: CAN mask (see description) - * - * Description: - * A filter matches, when - * - * & mask == can_id & mask - * - * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can - * filter for error message frames (CAN_ERR_FLAG bit set in mask). - */ -struct can_filter { - canid_t can_id; - canid_t can_mask; -}; - -#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ - -#endif /* CAN_H */ diff --git a/include/socketcan/can/bcm.h b/include/socketcan/can/bcm.h deleted file mode 100644 index f10af82..0000000 --- a/include/socketcan/can/bcm.h +++ /dev/null @@ -1,66 +0,0 @@ -/* - * socketcan/can/bcm.h - * - * Definitions for CAN Broadcast Manager (BCM) - * - * Author: Oliver Hartkopp - * Copyright (c) 2002-2007 Volkswagen Group Electronic Research - * All rights reserved. - * - */ - -#ifndef CAN_BCM_H -#define CAN_BCM_H - -#include -#include - -/** - * struct bcm_msg_head - head of messages to/from the broadcast manager - * @opcode: opcode, see enum below. - * @flags: special flags, see below. - * @count: number of frames to send before changing interval. - * @ival1: interval for the first @count frames. - * @ival2: interval for the following frames. - * @can_id: CAN ID of frames to be sent or received. - * @nframes: number of frames appended to the message head. - * @frames: array of CAN frames. - */ -struct bcm_msg_head { - __u32 opcode; - __u32 flags; - __u32 count; - struct timeval ival1, ival2; - canid_t can_id; - __u32 nframes; - struct can_frame frames[0]; -}; - -enum { - TX_SETUP = 1, /* create (cyclic) transmission task */ - TX_DELETE, /* remove (cyclic) transmission task */ - TX_READ, /* read properties of (cyclic) transmission task */ - TX_SEND, /* send one CAN frame */ - RX_SETUP, /* create RX content filter subscription */ - RX_DELETE, /* remove RX content filter subscription */ - RX_READ, /* read properties of RX content filter subscription */ - TX_STATUS, /* reply to TX_READ request */ - TX_EXPIRED, /* notification on performed transmissions (count=0) */ - RX_STATUS, /* reply to RX_READ request */ - RX_TIMEOUT, /* cyclic message is absent */ - RX_CHANGED /* updated CAN frame (detected content change) */ -}; - -#define SETTIMER 0x0001 -#define STARTTIMER 0x0002 -#define TX_COUNTEVT 0x0004 -#define TX_ANNOUNCE 0x0008 -#define TX_CP_CAN_ID 0x0010 -#define RX_FILTER_ID 0x0020 -#define RX_CHECK_DLC 0x0040 -#define RX_NO_AUTOTIMER 0x0080 -#define RX_ANNOUNCE_RESUME 0x0100 -#define TX_RESET_MULTI_IDX 0x0200 -#define RX_RTR_FRAME 0x0400 - -#endif /* CAN_BCM_H */ diff --git a/include/socketcan/can/error.h b/include/socketcan/can/error.h deleted file mode 100644 index b65c231..0000000 --- a/include/socketcan/can/error.h +++ /dev/null @@ -1,91 +0,0 @@ -/* - * socketcan/can/error.h - * - * Definitions of the CAN error messages to be filtered and passed to the user. - * - * Author: Oliver Hartkopp - * Copyright (c) 2002-2007 Volkswagen Group Electronic Research - * All rights reserved. - * - */ - -#ifndef CAN_ERROR_H -#define CAN_ERROR_H - -#define CAN_ERR_DLC 8 /* dlc for error message frames */ - -/* error class (mask) in can_id */ -#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */ -#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */ -#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */ -#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */ -#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */ -#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */ -#define CAN_ERR_BUSOFF 0x00000040U /* bus off */ -#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */ -#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */ - -/* arbitration lost in bit ... / data[0] */ -#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */ - /* else bit number in bitstream */ - -/* error status of CAN-controller / data[1] */ -#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */ -#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */ -#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */ -#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */ -#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */ -#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */ -#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */ - /* (at least one error counter exceeds */ - /* the protocol-defined level of 127) */ - -/* error in CAN protocol (type) / data[2] */ -#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */ -#define CAN_ERR_PROT_BIT 0x01 /* single bit error */ -#define CAN_ERR_PROT_FORM 0x02 /* frame format error */ -#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */ -#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */ -#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */ -#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */ -#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */ -#define CAN_ERR_PROT_TX 0x80 /* error occurred on transmission */ - -/* error in CAN protocol (location) / data[3] */ -#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */ -#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */ -#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */ -#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/ -#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */ -#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */ -#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */ -#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */ -#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */ -#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */ -#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */ -#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */ -#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */ -#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */ -#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */ -#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */ -#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */ -#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */ -#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */ -#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */ - -/* error status of CAN-transceiver / data[4] */ -/* CANH CANL */ -#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */ -#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */ -#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */ -#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */ -#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */ -#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */ -#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */ -#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */ -#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] */ - -#endif /* CAN_ERROR_H */ diff --git a/include/socketcan/can/gw.h b/include/socketcan/can/gw.h deleted file mode 100644 index f709809..0000000 --- a/include/socketcan/can/gw.h +++ /dev/null @@ -1,171 +0,0 @@ -/* - * socketcan/can/gw.h - * - * Definitions for CAN frame Gateway/Router/Bridge - * - * Author: Oliver Hartkopp - * Copyright (c) 2011 Volkswagen Group Electronic Research - * All rights reserved. - * - */ - -#ifndef CAN_GW_H -#define CAN_GW_H - -#include -#include - -struct rtcanmsg { - __u8 can_family; - __u8 gwtype; - __u16 flags; -}; - -/* CAN gateway types */ -enum { - CGW_TYPE_UNSPEC, - CGW_TYPE_CAN_CAN, /* CAN->CAN routing */ - __CGW_TYPE_MAX -}; - -#define CGW_TYPE_MAX (__CGW_TYPE_MAX - 1) - -/* CAN rtnetlink attribute definitions */ -enum { - CGW_UNSPEC, - CGW_MOD_AND, /* CAN frame modification binary AND */ - CGW_MOD_OR, /* CAN frame modification binary OR */ - CGW_MOD_XOR, /* CAN frame modification binary XOR */ - CGW_MOD_SET, /* CAN frame modification set alternate values */ - CGW_CS_XOR, /* set data[] XOR checksum into data[index] */ - CGW_CS_CRC8, /* set data[] CRC8 checksum into data[index] */ - CGW_HANDLED, /* number of handled CAN frames */ - CGW_DROPPED, /* number of dropped CAN frames */ - CGW_SRC_IF, /* ifindex of source network interface */ - CGW_DST_IF, /* ifindex of destination network interface */ - CGW_FILTER, /* specify struct can_filter on source CAN device */ - CGW_DELETED, /* number of deleted CAN frames (see max_hops param) */ - CGW_LIM_HOPS, /* limit the number of hops of this specific rule */ - __CGW_MAX -}; - -#define CGW_MAX (__CGW_MAX - 1) - -#define CGW_FLAGS_CAN_ECHO 0x01 -#define CGW_FLAGS_CAN_SRC_TSTAMP 0x02 -#define CGW_FLAGS_CAN_IIF_TX_OK 0x04 - -#define CGW_MOD_FUNCS 4 /* AND OR XOR SET */ - -/* CAN frame elements that are affected by curr. 3 CAN frame modifications */ -#define CGW_MOD_ID 0x01 -#define CGW_MOD_DLC 0x02 -#define CGW_MOD_DATA 0x04 - -#define CGW_FRAME_MODS 3 /* ID DLC DATA */ - -#define MAX_MODFUNCTIONS (CGW_MOD_FUNCS * CGW_FRAME_MODS) - -struct cgw_frame_mod { - struct can_frame cf; - __u8 modtype; -} __attribute__((packed)); - -#define CGW_MODATTR_LEN sizeof(struct cgw_frame_mod) - -struct cgw_csum_xor { - __s8 from_idx; - __s8 to_idx; - __s8 result_idx; - __u8 init_xor_val; -} __attribute__((packed)); - -struct cgw_csum_crc8 { - __s8 from_idx; - __s8 to_idx; - __s8 result_idx; - __u8 init_crc_val; - __u8 final_xor_val; - __u8 crctab[256]; - __u8 profile; - __u8 profile_data[20]; -} __attribute__((packed)); - -/* length of checksum operation parameters. idx = index in CAN frame data[] */ -#define CGW_CS_XOR_LEN sizeof(struct cgw_csum_xor) -#define CGW_CS_CRC8_LEN sizeof(struct cgw_csum_crc8) - -/* CRC8 profiles (compute CRC for additional data elements - see below) */ -enum { - CGW_CRC8PRF_UNSPEC, - CGW_CRC8PRF_1U8, /* compute one additional u8 value */ - CGW_CRC8PRF_16U8, /* u8 value table indexed by data[1] & 0xF */ - CGW_CRC8PRF_SFFID_XOR, /* (can_id & 0xFF) ^ (can_id >> 8 & 0xFF) */ - __CGW_CRC8PRF_MAX -}; - -#define CGW_CRC8PRF_MAX (__CGW_CRC8PRF_MAX - 1) - -/* - * CAN rtnetlink attribute contents in detail - * - * CGW_XXX_IF (length 4 bytes): - * Sets an interface index for source/destination network interfaces. - * For the CAN->CAN gwtype the indices of _two_ CAN interfaces are mandatory. - * - * CGW_FILTER (length 8 bytes): - * Sets a CAN receive filter for the gateway job specified by the - * struct can_filter described in include/linux/can.h - * - * CGW_MOD_(AND|OR|XOR|SET) (length 17 bytes): - * Specifies a modification that's done to a received CAN frame before it is - * send out to the destination interface. - * - * data used as operator - * affected CAN frame elements - * - * CGW_LIM_HOPS (length 1 byte): - * Limit the number of hops of this specific rule. Usually the received CAN - * frame can be processed as much as 'max_hops' times (which is given at module - * load time of the can-gw module). This value is used to reduce the number of - * possible hops for this gateway job to a value smaller then max_hops. - * - * CGW_CS_XOR (length 4 bytes): - * Set a simple XOR checksum starting with an initial value into - * data[result-idx] using data[start-idx] .. data[end-idx] - * - * The XOR checksum is calculated like this: - * - * xor = init_xor_val - * - * for (i = from_idx .. to_idx) - * xor ^= can_frame.data[i] - * - * can_frame.data[ result_idx ] = xor - * - * CGW_CS_CRC8 (length 282 bytes): - * Set a CRC8 value into data[result-idx] using a given 256 byte CRC8 table, - * a given initial value and a defined input data[start-idx] .. data[end-idx]. - * Finally the result value is XOR'ed with the final_xor_val. - * - * The CRC8 checksum is calculated like this: - * - * crc = init_crc_val - * - * for (i = from_idx .. to_idx) - * crc = crctab[ crc ^ can_frame.data[i] ] - * - * can_frame.data[ result_idx ] = crc ^ final_xor_val - * - * The calculated CRC may contain additional source data elements that can be - * defined in the handling of 'checksum profiles' e.g. shown in AUTOSAR specs - * like http://www.autosar.org/download/R4.0/AUTOSAR_SWS_E2ELibrary.pdf - * E.g. the profile_data[] may contain additional u8 values (called DATA_IDs) - * that are used depending on counter values inside the CAN frame data[]. - * So far only three profiles have been implemented for illustration. - * - * Remark: In general the attribute data is a linear buffer. - * Beware of sending unpacked or aligned structs! - */ - -#endif diff --git a/include/socketcan/can/isotp.h b/include/socketcan/can/isotp.h deleted file mode 100644 index 18d13d1..0000000 --- a/include/socketcan/can/isotp.h +++ /dev/null @@ -1,140 +0,0 @@ -/* - * socketcan/can/isotp.h - * - * Definitions for isotp CAN sockets - * - * Author: Oliver Hartkopp - * Copyright (c) 2008 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. - * - * Send feedback to - */ - -#ifndef CAN_ISOTP_H -#define CAN_ISOTP_H - -#include - -#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 */ - -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 */ -}; - -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 */ -}; - - -/* flags for isotp behaviour */ - -#define CAN_ISOTP_LISTEN_MODE 0x001 /* listen only (do not send FC) */ -#define CAN_ISOTP_EXTEND_ADDR 0x002 /* enable extended addressing */ -#define CAN_ISOTP_TX_PADDING 0x004 /* enable CAN frame padding tx path */ -#define CAN_ISOTP_RX_PADDING 0x008 /* enable CAN frame padding rx path */ -#define CAN_ISOTP_CHK_PAD_LEN 0x010 /* check received CAN frame padding */ -#define CAN_ISOTP_CHK_PAD_DATA 0x020 /* check received CAN frame padding */ -#define CAN_ISOTP_HALF_DUPLEX 0x040 /* half duplex error state handling */ -#define CAN_ISOTP_FORCE_TXSTMIN 0x080 /* ignore stmin from received FC */ -#define CAN_ISOTP_FORCE_RXSTMIN 0x100 /* ignore CFs depending on rx stmin */ - - -/* default values */ - -#define CAN_ISOTP_DEFAULT_FLAGS 0 -#define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00 -#define CAN_ISOTP_DEFAULT_RXPAD_CONTENT 0x00 -#define CAN_ISOTP_DEFAULT_TXPAD_CONTENT 0x00 -#define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0 -#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. - * - */ - -#endif diff --git a/include/socketcan/can/netlink.h b/include/socketcan/can/netlink.h deleted file mode 100644 index 9bb47e3..0000000 --- a/include/socketcan/can/netlink.h +++ /dev/null @@ -1,122 +0,0 @@ -/* - * socketcan/can/netlink.h - * - * Definitions for the CAN netlink interface - * - * Copyright (c) 2009 Wolfgang Grandegger - * - */ - -#ifndef CAN_NETLINK_H -#define CAN_NETLINK_H - -#include - -/* - * CAN bit-timing parameters - * - * For further information, please read chapter "8 BIT TIMING - * REQUIREMENTS" of the "Bosch CAN Specification version 2.0" - * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf. - */ -struct can_bittiming { - __u32 bitrate; /* Bit-rate in bits/second */ - __u32 sample_point; /* Sample point in one-tenth of a percent */ - __u32 tq; /* Time quanta (TQ) in nanoseconds */ - __u32 prop_seg; /* Propagation segment in TQs */ - __u32 phase_seg1; /* Phase buffer segment 1 in TQs */ - __u32 phase_seg2; /* Phase buffer segment 2 in TQs */ - __u32 sjw; /* Synchronisation jump width in TQs */ - __u32 brp; /* Bit-rate prescaler */ -}; - -/* - * CAN harware-dependent bit-timing constant - * - * Used for calculating and checking bit-timing parameters - */ -struct can_bittiming_const { - char name[16]; /* Name of the CAN controller hardware */ - __u32 tseg1_min; /* Time segement 1 = prop_seg + phase_seg1 */ - __u32 tseg1_max; - __u32 tseg2_min; /* Time segement 2 = phase_seg2 */ - __u32 tseg2_max; - __u32 sjw_max; /* Synchronisation jump width */ - __u32 brp_min; /* Bit-rate prescaler */ - __u32 brp_max; - __u32 brp_inc; -}; - -/* - * CAN clock parameters - */ -struct can_clock { - __u32 freq; /* CAN system clock frequency in Hz */ -}; - -/* - * CAN operational and error states - */ -enum can_state { - CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */ - CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */ - CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */ - CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */ - CAN_STATE_STOPPED, /* Device is stopped */ - CAN_STATE_SLEEPING, /* Device is sleeping */ - CAN_STATE_MAX -}; - -/* - * CAN bus error counters - */ -struct can_berr_counter { - __u16 txerr; - __u16 rxerr; -}; - -/* - * CAN controller mode - */ -struct can_ctrlmode { - __u32 mask; - __u32 flags; -}; - -#define CAN_CTRLMODE_LOOPBACK 0x01 /* Loopback mode */ -#define CAN_CTRLMODE_LISTENONLY 0x02 /* Listen-only mode */ -#define CAN_CTRLMODE_3_SAMPLES 0x04 /* Triple sampling mode */ -#define CAN_CTRLMODE_ONE_SHOT 0x08 /* One-Shot mode */ -#define CAN_CTRLMODE_BERR_REPORTING 0x10 /* Bus-error reporting */ - -/* - * CAN device statistics - */ -struct can_device_stats { - __u32 bus_error; /* Bus errors */ - __u32 error_warning; /* Changes to error warning state */ - __u32 error_passive; /* Changes to error passive state */ - __u32 bus_off; /* Changes to bus off state */ - __u32 arbitration_lost; /* Arbitration lost errors */ - __u32 restarts; /* CAN controller re-starts */ -}; - -/* - * CAN netlink interface - */ -enum { - IFLA_CAN_UNSPEC, - IFLA_CAN_BITTIMING, - IFLA_CAN_BITTIMING_CONST, - IFLA_CAN_CLOCK, - IFLA_CAN_STATE, - IFLA_CAN_CTRLMODE, - IFLA_CAN_RESTART_MS, - IFLA_CAN_RESTART, - IFLA_CAN_BERR_COUNTER, - __IFLA_CAN_MAX -}; - -#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1) - -#endif /* CAN_NETLINK_H */ diff --git a/include/socketcan/can/raw.h b/include/socketcan/can/raw.h deleted file mode 100644 index c80bff0..0000000 --- a/include/socketcan/can/raw.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * socketcan/can/raw.h - * - * Definitions for raw CAN sockets - * - * Authors: Oliver Hartkopp - * Urs Thuermann - * Copyright (c) 2002-2007 Volkswagen Group Electronic Research - * All rights reserved. - * - */ - -#ifndef CAN_RAW_H -#define CAN_RAW_H - -#include - -#define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW) - -/* for socket options affecting the socket (not the global system) */ - -enum { - CAN_RAW_FILTER = 1, /* set 0 .. n can_filter(s) */ - CAN_RAW_ERR_FILTER, /* set filter for error frames */ - CAN_RAW_LOOPBACK, /* local loopback (default:on) */ - CAN_RAW_RECV_OWN_MSGS, /* receive my own msgs (default:off) */ - CAN_RAW_FD_FRAMES, /* allow CAN FD frames (default:off) */ -}; - -#endif