1 /* SPDX-License-Identifier: ((GPL-2.0-only WIT <<
2 /* 1 /*
3 * linux/can/gw.h 2 * linux/can/gw.h
4 * 3 *
5 * Definitions for CAN frame Gateway/Router/Br 4 * Definitions for CAN frame Gateway/Router/Bridge
6 * 5 *
7 * Author: Oliver Hartkopp <oliver.hartkopp@vo 6 * Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
8 * Copyright (c) 2011 Volkswagen Group Electro 7 * Copyright (c) 2011 Volkswagen Group Electronic Research
9 * All rights reserved. 8 * All rights reserved.
10 * 9 *
11 * Redistribution and use in source and binary <<
12 * modification, are permitted provided that t <<
13 * are met: <<
14 * 1. Redistributions of source code must reta <<
15 * notice, this list of conditions and the <<
16 * 2. Redistributions in binary form must repr <<
17 * notice, this list of conditions and the <<
18 * documentation and/or other materials pro <<
19 * 3. Neither the name of Volkswagen nor the n <<
20 * may be used to endorse or promote produc <<
21 * without specific prior written permissio <<
22 * <<
23 * Alternatively, provided that this notice is <<
24 * software may be distributed under the terms <<
25 * Public License ("GPL") version 2, in which <<
26 * GPL apply INSTEAD OF those given above. <<
27 * <<
28 * The provided data structures and external i <<
29 * are not restricted to be used by modules wi <<
30 * <<
31 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT <<
32 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTI <<
33 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCH <<
34 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO <<
35 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIR <<
36 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGE <<
37 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS <<
38 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) <<
39 * THEORY OF LIABILITY, WHETHER IN CONTRACT, S <<
40 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING <<
41 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE PO <<
42 * DAMAGE. <<
43 */ 10 */
44 11
45 #ifndef _UAPI_CAN_GW_H !! 12 #ifndef CAN_GW_H
46 #define _UAPI_CAN_GW_H !! 13 #define CAN_GW_H
47 14
48 #include <linux/types.h> 15 #include <linux/types.h>
49 #include <linux/can.h> 16 #include <linux/can.h>
50 17
51 struct rtcanmsg { 18 struct rtcanmsg {
52 __u8 can_family; 19 __u8 can_family;
53 __u8 gwtype; 20 __u8 gwtype;
54 __u16 flags; 21 __u16 flags;
55 }; 22 };
56 23
57 /* CAN gateway types */ 24 /* CAN gateway types */
58 enum { 25 enum {
59 CGW_TYPE_UNSPEC, 26 CGW_TYPE_UNSPEC,
60 CGW_TYPE_CAN_CAN, /* CAN->CAN ro 27 CGW_TYPE_CAN_CAN, /* CAN->CAN routing */
61 __CGW_TYPE_MAX 28 __CGW_TYPE_MAX
62 }; 29 };
63 30
64 #define CGW_TYPE_MAX (__CGW_TYPE_MAX - 1) 31 #define CGW_TYPE_MAX (__CGW_TYPE_MAX - 1)
65 32
66 /* CAN rtnetlink attribute definitions */ 33 /* CAN rtnetlink attribute definitions */
67 enum { 34 enum {
68 CGW_UNSPEC, 35 CGW_UNSPEC,
69 CGW_MOD_AND, /* CAN frame modificat 36 CGW_MOD_AND, /* CAN frame modification binary AND */
70 CGW_MOD_OR, /* CAN frame modificat 37 CGW_MOD_OR, /* CAN frame modification binary OR */
71 CGW_MOD_XOR, /* CAN frame modificat 38 CGW_MOD_XOR, /* CAN frame modification binary XOR */
72 CGW_MOD_SET, /* CAN frame modificat 39 CGW_MOD_SET, /* CAN frame modification set alternate values */
73 CGW_CS_XOR, /* set data[] XOR chec 40 CGW_CS_XOR, /* set data[] XOR checksum into data[index] */
74 CGW_CS_CRC8, /* set data[] CRC8 che 41 CGW_CS_CRC8, /* set data[] CRC8 checksum into data[index] */
75 CGW_HANDLED, /* number of handled C 42 CGW_HANDLED, /* number of handled CAN frames */
76 CGW_DROPPED, /* number of dropped C 43 CGW_DROPPED, /* number of dropped CAN frames */
77 CGW_SRC_IF, /* ifindex of source n 44 CGW_SRC_IF, /* ifindex of source network interface */
78 CGW_DST_IF, /* ifindex of destinat 45 CGW_DST_IF, /* ifindex of destination network interface */
79 CGW_FILTER, /* specify struct can_ 46 CGW_FILTER, /* specify struct can_filter on source CAN device */
80 CGW_DELETED, /* number of deleted C 47 CGW_DELETED, /* number of deleted CAN frames (see max_hops param) */
81 CGW_LIM_HOPS, /* limit the number of <<
82 CGW_MOD_UID, /* user defined identi <<
83 CGW_FDMOD_AND, /* CAN FD frame modifi <<
84 CGW_FDMOD_OR, /* CAN FD frame modifi <<
85 CGW_FDMOD_XOR, /* CAN FD frame modifi <<
86 CGW_FDMOD_SET, /* CAN FD frame modifi <<
87 __CGW_MAX 48 __CGW_MAX
88 }; 49 };
89 50
90 #define CGW_MAX (__CGW_MAX - 1) 51 #define CGW_MAX (__CGW_MAX - 1)
91 52
92 #define CGW_FLAGS_CAN_ECHO 0x01 53 #define CGW_FLAGS_CAN_ECHO 0x01
93 #define CGW_FLAGS_CAN_SRC_TSTAMP 0x02 54 #define CGW_FLAGS_CAN_SRC_TSTAMP 0x02
94 #define CGW_FLAGS_CAN_IIF_TX_OK 0x04 55 #define CGW_FLAGS_CAN_IIF_TX_OK 0x04
95 #define CGW_FLAGS_CAN_FD 0x08 <<
96 56
97 #define CGW_MOD_FUNCS 4 /* AND OR XOR SET */ 57 #define CGW_MOD_FUNCS 4 /* AND OR XOR SET */
98 58
99 /* CAN frame elements that are affected by cur 59 /* CAN frame elements that are affected by curr. 3 CAN frame modifications */
100 #define CGW_MOD_ID 0x01 60 #define CGW_MOD_ID 0x01
101 #define CGW_MOD_DLC 0x02 /* Cla !! 61 #define CGW_MOD_DLC 0x02
102 #define CGW_MOD_LEN CGW_MOD_DLC /* CAN <<
103 #define CGW_MOD_DATA 0x04 62 #define CGW_MOD_DATA 0x04
104 #define CGW_MOD_FLAGS 0x08 /* CAN <<
105 63
106 #define CGW_FRAME_MODS 4 /* ID DLC/LEN DATA FL !! 64 #define CGW_FRAME_MODS 3 /* ID DLC DATA */
107 65
108 #define MAX_MODFUNCTIONS (CGW_MOD_FUNCS * CGW_ 66 #define MAX_MODFUNCTIONS (CGW_MOD_FUNCS * CGW_FRAME_MODS)
109 67
110 struct cgw_frame_mod { 68 struct cgw_frame_mod {
111 struct can_frame cf; 69 struct can_frame cf;
112 __u8 modtype; 70 __u8 modtype;
113 } __attribute__((packed)); 71 } __attribute__((packed));
114 72
115 struct cgw_fdframe_mod { <<
116 struct canfd_frame cf; <<
117 __u8 modtype; <<
118 } __attribute__((packed)); <<
119 <<
120 #define CGW_MODATTR_LEN sizeof(struct cgw_fram 73 #define CGW_MODATTR_LEN sizeof(struct cgw_frame_mod)
121 #define CGW_FDMODATTR_LEN sizeof(struct cgw_fd <<
122 74
123 struct cgw_csum_xor { 75 struct cgw_csum_xor {
124 __s8 from_idx; 76 __s8 from_idx;
125 __s8 to_idx; 77 __s8 to_idx;
126 __s8 result_idx; 78 __s8 result_idx;
127 __u8 init_xor_val; 79 __u8 init_xor_val;
128 } __attribute__((packed)); 80 } __attribute__((packed));
129 81
130 struct cgw_csum_crc8 { 82 struct cgw_csum_crc8 {
131 __s8 from_idx; 83 __s8 from_idx;
132 __s8 to_idx; 84 __s8 to_idx;
133 __s8 result_idx; 85 __s8 result_idx;
134 __u8 init_crc_val; 86 __u8 init_crc_val;
135 __u8 final_xor_val; 87 __u8 final_xor_val;
136 __u8 crctab[256]; 88 __u8 crctab[256];
137 __u8 profile; 89 __u8 profile;
138 __u8 profile_data[20]; 90 __u8 profile_data[20];
139 } __attribute__((packed)); 91 } __attribute__((packed));
140 92
141 /* length of checksum operation parameters. id 93 /* length of checksum operation parameters. idx = index in CAN frame data[] */
142 #define CGW_CS_XOR_LEN sizeof(struct cgw_csum 94 #define CGW_CS_XOR_LEN sizeof(struct cgw_csum_xor)
143 #define CGW_CS_CRC8_LEN sizeof(struct cgw_csu 95 #define CGW_CS_CRC8_LEN sizeof(struct cgw_csum_crc8)
144 96
145 /* CRC8 profiles (compute CRC for additional d 97 /* CRC8 profiles (compute CRC for additional data elements - see below) */
146 enum { 98 enum {
147 CGW_CRC8PRF_UNSPEC, 99 CGW_CRC8PRF_UNSPEC,
148 CGW_CRC8PRF_1U8, /* compute one 100 CGW_CRC8PRF_1U8, /* compute one additional u8 value */
149 CGW_CRC8PRF_16U8, /* u8 value ta 101 CGW_CRC8PRF_16U8, /* u8 value table indexed by data[1] & 0xF */
150 CGW_CRC8PRF_SFFID_XOR, /* (can_id & 0 102 CGW_CRC8PRF_SFFID_XOR, /* (can_id & 0xFF) ^ (can_id >> 8 & 0xFF) */
151 __CGW_CRC8PRF_MAX 103 __CGW_CRC8PRF_MAX
152 }; 104 };
153 105
154 #define CGW_CRC8PRF_MAX (__CGW_CRC8PRF_MAX - 1 106 #define CGW_CRC8PRF_MAX (__CGW_CRC8PRF_MAX - 1)
155 107
156 /* 108 /*
157 * CAN rtnetlink attribute contents in detail 109 * CAN rtnetlink attribute contents in detail
158 * 110 *
159 * CGW_XXX_IF (length 4 bytes): 111 * CGW_XXX_IF (length 4 bytes):
160 * Sets an interface index for source/destinat 112 * Sets an interface index for source/destination network interfaces.
161 * For the CAN->CAN gwtype the indices of _two 113 * For the CAN->CAN gwtype the indices of _two_ CAN interfaces are mandatory.
162 * 114 *
163 * CGW_FILTER (length 8 bytes): 115 * CGW_FILTER (length 8 bytes):
164 * Sets a CAN receive filter for the gateway j 116 * Sets a CAN receive filter for the gateway job specified by the
165 * struct can_filter described in include/linu 117 * struct can_filter described in include/linux/can.h
166 * 118 *
167 * CGW_MOD_(AND|OR|XOR|SET) (length 17 bytes): !! 119 * CGW_MOD_XXX (length 17 bytes):
168 * Specifies a modification that's done to a r 120 * Specifies a modification that's done to a received CAN frame before it is
169 * send out to the destination interface. 121 * send out to the destination interface.
170 * 122 *
171 * <struct can_frame> data used as operator 123 * <struct can_frame> data used as operator
172 * <u8> affected CAN frame elements 124 * <u8> affected CAN frame elements
173 * 125 *
174 * CGW_LIM_HOPS (length 1 byte): <<
175 * Limit the number of hops of this specific r <<
176 * frame can be processed as much as 'max_hops <<
177 * load time of the can-gw module). This value <<
178 * possible hops for this gateway rule to a va <<
179 * <<
180 * CGW_MOD_UID (length 4 bytes): <<
181 * Optional non-zero user defined routing job <<
182 * modification settings at runtime. <<
183 * <<
184 * CGW_CS_XOR (length 4 bytes): 126 * CGW_CS_XOR (length 4 bytes):
185 * Set a simple XOR checksum starting with an 127 * Set a simple XOR checksum starting with an initial value into
186 * data[result-idx] using data[start-idx] .. d 128 * data[result-idx] using data[start-idx] .. data[end-idx]
187 * 129 *
188 * The XOR checksum is calculated like this: 130 * The XOR checksum is calculated like this:
189 * 131 *
190 * xor = init_xor_val 132 * xor = init_xor_val
191 * 133 *
192 * for (i = from_idx .. to_idx) 134 * for (i = from_idx .. to_idx)
193 * xor ^= can_frame.data[i] 135 * xor ^= can_frame.data[i]
194 * 136 *
195 * can_frame.data[ result_idx ] = xor 137 * can_frame.data[ result_idx ] = xor
196 * 138 *
197 * CGW_CS_CRC8 (length 282 bytes): 139 * CGW_CS_CRC8 (length 282 bytes):
198 * Set a CRC8 value into data[result-idx] usin 140 * Set a CRC8 value into data[result-idx] using a given 256 byte CRC8 table,
199 * a given initial value and a defined input d 141 * a given initial value and a defined input data[start-idx] .. data[end-idx].
200 * Finally the result value is XOR'ed with the 142 * Finally the result value is XOR'ed with the final_xor_val.
201 * 143 *
202 * The CRC8 checksum is calculated like this: 144 * The CRC8 checksum is calculated like this:
203 * 145 *
204 * crc = init_crc_val 146 * crc = init_crc_val
205 * 147 *
206 * for (i = from_idx .. to_idx) 148 * for (i = from_idx .. to_idx)
207 * crc = crctab[ crc ^ can_frame.data[i] 149 * crc = crctab[ crc ^ can_frame.data[i] ]
208 * 150 *
209 * can_frame.data[ result_idx ] = crc ^ final_ 151 * can_frame.data[ result_idx ] = crc ^ final_xor_val
210 * 152 *
211 * The calculated CRC may contain additional s 153 * The calculated CRC may contain additional source data elements that can be
212 * defined in the handling of 'checksum profil 154 * defined in the handling of 'checksum profiles' e.g. shown in AUTOSAR specs
213 * like http://www.autosar.org/download/R4.0/A 155 * like http://www.autosar.org/download/R4.0/AUTOSAR_SWS_E2ELibrary.pdf
214 * E.g. the profile_data[] may contain additio 156 * E.g. the profile_data[] may contain additional u8 values (called DATA_IDs)
215 * that are used depending on counter values i 157 * that are used depending on counter values inside the CAN frame data[].
216 * So far only three profiles have been implem 158 * So far only three profiles have been implemented for illustration.
217 * 159 *
218 * Remark: In general the attribute data is a 160 * Remark: In general the attribute data is a linear buffer.
219 * Beware of sending unpacked or align 161 * Beware of sending unpacked or aligned structs!
220 */ 162 */
221 163
222 #endif /* !_UAPI_CAN_GW_H */ !! 164 #endif
223 165
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