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