From 0b242d346dddba85384dd784759fe2b77f063e12 Mon Sep 17 00:00:00 2001 From: Dario Binacchi Date: Sat, 20 May 2023 19:44:35 +0200 Subject: include: cache copy of can.h and can/netlink.h Ensure that rtnl-link-can example compiles in any installation. These headers are not installed in the system. Signed-off-by: Dario Binacchi Signed-off-by: Florian Westphal --- configure.ac | 1 + include/linux/Makefile.am | 4 +- include/linux/can.h | 298 ++++++++++++++++++++++++++++++++++++++++++ include/linux/can/Makefile.am | 1 + include/linux/can/netlink.h | 185 ++++++++++++++++++++++++++ 5 files changed, 487 insertions(+), 2 deletions(-) create mode 100644 include/linux/can.h create mode 100644 include/linux/can/Makefile.am create mode 100644 include/linux/can/netlink.h diff --git a/configure.ac b/configure.ac index 25916e2..4698aec 100644 --- a/configure.ac +++ b/configure.ac @@ -32,6 +32,7 @@ AC_CONFIG_FILES([Makefile include/Makefile include/libmnl/Makefile include/linux/Makefile + include/linux/can/Makefile include/linux/netfilter/Makefile examples/Makefile examples/genl/Makefile diff --git a/include/linux/Makefile.am b/include/linux/Makefile.am index 08c600b..ee0993d 100644 --- a/include/linux/Makefile.am +++ b/include/linux/Makefile.am @@ -1,2 +1,2 @@ -SUBDIRS = netfilter -noinst_HEADERS = netlink.h socket.h +SUBDIRS = can netfilter +noinst_HEADERS = can.h netlink.h socket.h diff --git a/include/linux/can.h b/include/linux/can.h new file mode 100644 index 0000000..2c6a3ee --- /dev/null +++ b/include/linux/can.h @@ -0,0 +1,298 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ +/* + * linux/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. + * + * 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_H +#define _UAPI_CAN_H + +#include +#include +#include /* for offsetof */ + +/* 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 */ +#define CANXL_PRIO_MASK CAN_SFF_MASK /* 11 bit priority mask */ + +/* + * 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 +#define CANXL_PRIO_BITS CAN_SFF_ID_BITS + +/* + * Controller Area Network Error Message Frame Mask structure + * + * 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 - 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 */ + 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 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: + * + * 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. + * + * 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 + * @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))); +}; + +/* + * defined bits for canxl_frame.flags + * + * The canxl_frame.flags element contains two bits CANXL_XLF and CANXL_SEC + * 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) */ + +/** + * struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure + * @prio: 11 bit arbitration priority with zero'ed CAN_*_FLAG flags + * @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 (canid_t) */ + __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 */ +#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_J1939 7 /* SAE J1939 */ +#define CAN_NPROTO 8 + +#define SOL_CAN_BASE 100 + +/* + * This typedef was introduced in Linux v3.1-rc2 + * (commit 6602a4b net: Make userland include of netlink.h more sane) + * in . It must be duplicated here to make the CAN + * headers self-contained. + */ +typedef unsigned short __kernel_sa_family_t; + +/** + * 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 { + __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; + + /* 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; +}; + +/** + * 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 */ +#define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ + +#endif /* !_UAPI_CAN_H */ diff --git a/include/linux/can/Makefile.am b/include/linux/can/Makefile.am new file mode 100644 index 0000000..2d02887 --- /dev/null +++ b/include/linux/can/Makefile.am @@ -0,0 +1 @@ +noinst_HEADERS = netlink.h diff --git a/include/linux/can/netlink.h b/include/linux/can/netlink.h new file mode 100644 index 0000000..02ec32d --- /dev/null +++ b/include/linux/can/netlink.h @@ -0,0 +1,185 @@ +/* SPDX-License-Identifier: GPL-2.0-only WITH Linux-syscall-note */ +/* + * linux/can/netlink.h + * + * Definitions for the CAN netlink interface + * + * Copyright (c) 2009 Wolfgang Grandegger + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the version 2 of the GNU General Public License + * as published by the Free Software Foundation + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + */ + +#ifndef _UAPI_CAN_NETLINK_H +#define _UAPI_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 hardware-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 segment 1 = prop_seg + phase_seg1 */ + __u32 tseg1_max; + __u32 tseg2_min; /* Time segment 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 */ +#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 + */ +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_DATA_BITTIMING, + IFLA_CAN_DATA_BITTIMING_CONST, + IFLA_CAN_TERMINATION, + IFLA_CAN_TERMINATION_CONST, + IFLA_CAN_BITRATE_CONST, + IFLA_CAN_DATA_BITRATE_CONST, + IFLA_CAN_BITRATE_MAX, + IFLA_CAN_TDC, + IFLA_CAN_CTRLMODE_EXT, + + /* add new constants above here */ + __IFLA_CAN_MAX, + 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 + +#endif /* !_UAPI_CAN_NETLINK_H */ -- cgit v1.2.3