1 /* SPDX-License-Identifier: ((GPL-2.0-only WIT 1 /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
2 /* 2 /*
3 * linux/can/isotp.h 3 * linux/can/isotp.h
4 * 4 *
5 * Definitions for ISO 15765-2 CAN transport p 5 * Definitions for ISO 15765-2 CAN transport protocol sockets
6 * 6 *
7 * Copyright (c) 2020 Volkswagen Group Electro 7 * Copyright (c) 2020 Volkswagen Group Electronic Research
8 * All rights reserved. 8 * All rights reserved.
9 * 9 *
10 * Redistribution and use in source and binary 10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that t 11 * modification, are permitted provided that the following conditions
12 * are met: 12 * are met:
13 * 1. Redistributions of source code must reta 13 * 1. Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the 14 * notice, this list of conditions and the following disclaimer.
15 * 2. Redistributions in binary form must repr 15 * 2. Redistributions in binary form must reproduce the above copyright
16 * notice, this list of conditions and the 16 * notice, this list of conditions and the following disclaimer in the
17 * documentation and/or other materials pro 17 * documentation and/or other materials provided with the distribution.
18 * 3. Neither the name of Volkswagen nor the n 18 * 3. Neither the name of Volkswagen nor the names of its contributors
19 * may be used to endorse or promote produc 19 * may be used to endorse or promote products derived from this software
20 * without specific prior written permissio 20 * without specific prior written permission.
21 * 21 *
22 * Alternatively, provided that this notice is 22 * Alternatively, provided that this notice is retained in full, this
23 * software may be distributed under the terms 23 * software may be distributed under the terms of the GNU General
24 * Public License ("GPL") version 2, in which 24 * Public License ("GPL") version 2, in which case the provisions of the
25 * GPL apply INSTEAD OF those given above. 25 * GPL apply INSTEAD OF those given above.
26 * 26 *
27 * The provided data structures and external i 27 * The provided data structures and external interfaces from this code
28 * are not restricted to be used by modules wi 28 * are not restricted to be used by modules with a GPL compatible license.
29 * 29 *
30 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT 30 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
31 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTI 31 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
32 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCH 32 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
33 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO 33 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
34 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIR 34 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
35 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGE 35 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 36 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
37 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 37 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
38 * THEORY OF LIABILITY, WHETHER IN CONTRACT, S 38 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
39 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING 39 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
40 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE PO 40 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
41 * DAMAGE. 41 * DAMAGE.
42 */ 42 */
43 43
44 #ifndef _UAPI_CAN_ISOTP_H 44 #ifndef _UAPI_CAN_ISOTP_H
45 #define _UAPI_CAN_ISOTP_H 45 #define _UAPI_CAN_ISOTP_H
46 46
47 #include <linux/types.h> 47 #include <linux/types.h>
48 #include <linux/can.h> 48 #include <linux/can.h>
49 49
50 #define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOT 50 #define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOTP)
51 51
52 /* for socket options affecting the socket (no 52 /* for socket options affecting the socket (not the global system) */
53 53
54 #define CAN_ISOTP_OPTS 1 /* pas 54 #define CAN_ISOTP_OPTS 1 /* pass struct can_isotp_options */
55 55
56 #define CAN_ISOTP_RECV_FC 2 /* pas 56 #define CAN_ISOTP_RECV_FC 2 /* pass struct can_isotp_fc_options */
57 57
58 /* sockopts to force stmin timer values for pr 58 /* sockopts to force stmin timer values for protocol regression tests */
59 59
60 #define CAN_ISOTP_TX_STMIN 3 /* pas 60 #define CAN_ISOTP_TX_STMIN 3 /* pass __u32 value in nano secs */
61 /* use 61 /* use this time instead of value */
62 /* pro 62 /* provided in FC from the receiver */
63 63
64 #define CAN_ISOTP_RX_STMIN 4 /* pas 64 #define CAN_ISOTP_RX_STMIN 4 /* pass __u32 value in nano secs */
65 /* ign 65 /* ignore received CF frames which */
66 /* tim 66 /* timestamps differ less than val */
67 67
68 #define CAN_ISOTP_LL_OPTS 5 /* pas 68 #define CAN_ISOTP_LL_OPTS 5 /* pass struct can_isotp_ll_options */
69 69
70 struct can_isotp_options { 70 struct can_isotp_options {
71 71
72 __u32 flags; /* set flags f 72 __u32 flags; /* set flags for isotp behaviour. */
73 /* __u32 value 73 /* __u32 value : flags see below */
74 74
75 __u32 frame_txtime; /* frame trans 75 __u32 frame_txtime; /* frame transmission time (N_As/N_Ar) */
76 /* __u32 value 76 /* __u32 value : time in nano secs */
77 77
78 __u8 ext_address; /* set address 78 __u8 ext_address; /* set address for extended addressing */
79 /* __u8 value 79 /* __u8 value : extended address */
80 80
81 __u8 txpad_content; /* set content 81 __u8 txpad_content; /* set content of padding byte (tx) */
82 /* __u8 value 82 /* __u8 value : content on tx path */
83 83
84 __u8 rxpad_content; /* set content 84 __u8 rxpad_content; /* set content of padding byte (rx) */
85 /* __u8 value 85 /* __u8 value : content on rx path */
86 86
87 __u8 rx_ext_address; /* set address 87 __u8 rx_ext_address; /* set address for extended addressing */
88 /* __u8 value 88 /* __u8 value : extended address (rx) */
89 }; 89 };
90 90
91 struct can_isotp_fc_options { 91 struct can_isotp_fc_options {
92 92
93 __u8 bs; /* blocksize p 93 __u8 bs; /* blocksize provided in FC frame */
94 /* __u8 value 94 /* __u8 value : blocksize. 0 = off */
95 95
96 __u8 stmin; /* separation 96 __u8 stmin; /* separation time provided in FC frame */
97 /* __u8 value 97 /* __u8 value : */
98 /* 0x00 - 0x7F 98 /* 0x00 - 0x7F : 0 - 127 ms */
99 /* 0x80 - 0xF0 99 /* 0x80 - 0xF0 : reserved */
100 /* 0xF1 - 0xF9 100 /* 0xF1 - 0xF9 : 100 us - 900 us */
101 /* 0xFA - 0xFF 101 /* 0xFA - 0xFF : reserved */
102 102
103 __u8 wftmax; /* max. number 103 __u8 wftmax; /* max. number of wait frame transmiss. */
104 /* __u8 value 104 /* __u8 value : 0 = omit FC N_PDU WT */
105 }; 105 };
106 106
107 struct can_isotp_ll_options { 107 struct can_isotp_ll_options {
108 108
109 __u8 mtu; /* generated & 109 __u8 mtu; /* generated & accepted CAN frame type */
110 /* __u8 value 110 /* __u8 value : */
111 /* CAN_MTU ( 111 /* CAN_MTU (16) -> standard CAN 2.0 */
112 /* CANFD_MTU ( 112 /* CANFD_MTU (72) -> CAN FD frame */
113 113
114 __u8 tx_dl; /* tx link lay 114 __u8 tx_dl; /* tx link layer data length in bytes */
115 /* (configured 115 /* (configured maximum payload length) */
116 /* __u8 value 116 /* __u8 value : 8,12,16,20,24,32,48,64 */
117 /* => rx path 117 /* => rx path supports all LL_DL values */
118 118
119 __u8 tx_flags; /* set into st 119 __u8 tx_flags; /* set into struct canfd_frame.flags */
120 /* at frame cr 120 /* at frame creation: e.g. CANFD_BRS */
121 /* Obsolete wh 121 /* Obsolete when the BRS flag is fixed */
122 /* by the CAN 122 /* by the CAN netdriver configuration */
123 }; 123 };
124 124
125 /* flags for isotp behaviour */ 125 /* flags for isotp behaviour */
126 126
127 #define CAN_ISOTP_LISTEN_MODE 0x0001 /* lis 127 #define CAN_ISOTP_LISTEN_MODE 0x0001 /* listen only (do not send FC) */
128 #define CAN_ISOTP_EXTEND_ADDR 0x0002 /* ena 128 #define CAN_ISOTP_EXTEND_ADDR 0x0002 /* enable extended addressing */
129 #define CAN_ISOTP_TX_PADDING 0x0004 /* ena 129 #define CAN_ISOTP_TX_PADDING 0x0004 /* enable CAN frame padding tx path */
130 #define CAN_ISOTP_RX_PADDING 0x0008 /* ena 130 #define CAN_ISOTP_RX_PADDING 0x0008 /* enable CAN frame padding rx path */
131 #define CAN_ISOTP_CHK_PAD_LEN 0x0010 /* che 131 #define CAN_ISOTP_CHK_PAD_LEN 0x0010 /* check received CAN frame padding */
132 #define CAN_ISOTP_CHK_PAD_DATA 0x0020 /* che 132 #define CAN_ISOTP_CHK_PAD_DATA 0x0020 /* check received CAN frame padding */
133 #define CAN_ISOTP_HALF_DUPLEX 0x0040 /* hal 133 #define CAN_ISOTP_HALF_DUPLEX 0x0040 /* half duplex error state handling */
134 #define CAN_ISOTP_FORCE_TXSTMIN 0x0080 /* ign 134 #define CAN_ISOTP_FORCE_TXSTMIN 0x0080 /* ignore stmin from received FC */
135 #define CAN_ISOTP_FORCE_RXSTMIN 0x0100 /* ign 135 #define CAN_ISOTP_FORCE_RXSTMIN 0x0100 /* ignore CFs depending on rx stmin */
136 #define CAN_ISOTP_RX_EXT_ADDR 0x0200 /* dif 136 #define CAN_ISOTP_RX_EXT_ADDR 0x0200 /* different rx extended addressing */
137 #define CAN_ISOTP_WAIT_TX_DONE 0x0400 /* wai 137 #define CAN_ISOTP_WAIT_TX_DONE 0x0400 /* wait for tx completion */
138 #define CAN_ISOTP_SF_BROADCAST 0x0800 /* 1-t 138 #define CAN_ISOTP_SF_BROADCAST 0x0800 /* 1-to-N functional addressing */
139 #define CAN_ISOTP_CF_BROADCAST 0x1000 /* 1-t 139 #define CAN_ISOTP_CF_BROADCAST 0x1000 /* 1-to-N transmission w/o FC */
140 #define CAN_ISOTP_DYN_FC_PARMS 0x2000 /* dyn 140 #define CAN_ISOTP_DYN_FC_PARMS 0x2000 /* dynamic FC parameters BS/STmin */
141 141
142 /* protocol machine default values */ 142 /* protocol machine default values */
143 143
144 #define CAN_ISOTP_DEFAULT_FLAGS 0 144 #define CAN_ISOTP_DEFAULT_FLAGS 0
145 #define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00 145 #define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00
146 #define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC / 146 #define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC /* prevent bit-stuffing */
147 #define CAN_ISOTP_DEFAULT_FRAME_TXTIME 50000 147 #define CAN_ISOTP_DEFAULT_FRAME_TXTIME 50000 /* 50 micro seconds */
148 #define CAN_ISOTP_DEFAULT_RECV_BS 0 148 #define CAN_ISOTP_DEFAULT_RECV_BS 0
149 #define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00 149 #define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00
150 #define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0 150 #define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0
151 151
152 /* 152 /*
153 * Remark on CAN_ISOTP_DEFAULT_RECV_* values: 153 * Remark on CAN_ISOTP_DEFAULT_RECV_* values:
154 * 154 *
155 * We can strongly assume, that the Linux Kern 155 * We can strongly assume, that the Linux Kernel implementation of
156 * CAN_ISOTP is capable to run with BS=0, STmi 156 * CAN_ISOTP is capable to run with BS=0, STmin=0 and WFTmax=0.
157 * But as we like to be able to behave as a co 157 * But as we like to be able to behave as a commonly available ECU,
158 * these default settings can be changed via s 158 * these default settings can be changed via sockopts.
159 * For that reason the STmin value is intentio 159 * For that reason the STmin value is intentionally _not_ checked for
160 * consistency and copied directly into the fl 160 * consistency and copied directly into the flow control (FC) frame.
161 */ 161 */
162 162
163 /* link layer default values => make use of Cl 163 /* link layer default values => make use of Classical CAN frames */
164 164
165 #define CAN_ISOTP_DEFAULT_LL_MTU CAN_MT 165 #define CAN_ISOTP_DEFAULT_LL_MTU CAN_MTU
166 #define CAN_ISOTP_DEFAULT_LL_TX_DL CAN_MA 166 #define CAN_ISOTP_DEFAULT_LL_TX_DL CAN_MAX_DLEN
167 #define CAN_ISOTP_DEFAULT_LL_TX_FLAGS 0 167 #define CAN_ISOTP_DEFAULT_LL_TX_FLAGS 0
168 168
169 /* 169 /*
170 * The CAN_ISOTP_DEFAULT_FRAME_TXTIME has beco 170 * The CAN_ISOTP_DEFAULT_FRAME_TXTIME has become a non-zero value as
171 * it only makes sense for isotp implementatio 171 * it only makes sense for isotp implementation tests to run without
172 * a N_As value. As user space applications us 172 * a N_As value. As user space applications usually do not set the
173 * frame_txtime element of struct can_isotp_op 173 * frame_txtime element of struct can_isotp_options the new in-kernel
174 * default is very likely overwritten with zer 174 * default is very likely overwritten with zero when the sockopt()
175 * CAN_ISOTP_OPTS is invoked. 175 * CAN_ISOTP_OPTS is invoked.
176 * To make sure that a N_As value of zero is o 176 * To make sure that a N_As value of zero is only set intentional the
177 * value '' is now interpreted as 'do not chan 177 * value '' is now interpreted as 'do not change the current value'.
178 * When a frame_txtime of zero is required for 178 * When a frame_txtime of zero is required for testing purposes this
179 * CAN_ISOTP_FRAME_TXTIME_ZERO u32 value has t 179 * CAN_ISOTP_FRAME_TXTIME_ZERO u32 value has to be set in frame_txtime.
180 */ 180 */
181 #define CAN_ISOTP_FRAME_TXTIME_ZERO 0xFFFF 181 #define CAN_ISOTP_FRAME_TXTIME_ZERO 0xFFFFFFFF
182 182
183 #endif /* !_UAPI_CAN_ISOTP_H */ 183 #endif /* !_UAPI_CAN_ISOTP_H */
184 184
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