include: import kernel header files into tree
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de> Tested-by: Jan-Niklas Meier <dschanoeh@googlemail.com>pull/7/head
Marc Kleine-Budde
parent
a4c200efe6
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#include <socketcan/can.h>
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#include <socketcan/can/bcm.h>
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#include <socketcan/can/core.h>
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#include <socketcan/can/dev.h>
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#include <socketcan/can/error.h>
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#include <socketcan/can/gw.h>
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#include <socketcan/can/isotp.h>
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#include <socketcan/can/netlink.h>
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#include <socketcan/can/raw.h>
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/*
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* socketcan/can.h
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*
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* Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
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*
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* $Id$
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*
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* Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
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* Urs Thuermann <urs.thuermann@volkswagen.de>
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* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#ifndef CAN_H
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#define CAN_H
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#include <linux/version.h>
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#include <linux/types.h>
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#include <linux/socket.h>
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/* controller area network (CAN) kernel definitions */
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/* special address description flags for the CAN_ID */
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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
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#define CAN_ERR_FLAG 0x20000000U /* error frame */
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/* valid bits in CAN ID for frame formats */
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#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
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#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
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#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
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/*
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* Controller Area Network Identifier structure
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*
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* bit 0-28 : CAN identifier (11/29 bit)
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* bit 29 : error frame flag (0 = data frame, 1 = error frame)
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* bit 30 : remote transmission request flag (1 = rtr frame)
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* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
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*/
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typedef __u32 canid_t;
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/*
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* Controller Area Network Error Frame Mask structure
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*
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* bit 0-28 : error class mask (see include/socketcan/can/error.h)
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* bit 29-31 : set to zero
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*/
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typedef __u32 can_err_mask_t;
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/**
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* struct can_frame - basic CAN frame structure
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* @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above.
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* @can_dlc: the data length field of the CAN frame
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* @data: the CAN frame payload.
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*/
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struct can_frame {
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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__u8 can_dlc; /* data length code: 0 .. 8 */
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__u8 data[8] __attribute__((aligned(8)));
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};
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/* particular protocols of the protocol family PF_CAN */
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#define CAN_RAW 1 /* RAW sockets */
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#define CAN_BCM 2 /* Broadcast Manager */
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#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
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#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
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#define CAN_MCNET 5 /* Bosch MCNet */
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#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
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#define CAN_NPROTO 7
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#define SOL_CAN_BASE 100
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/**
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* struct sockaddr_can - the sockaddr structure for CAN sockets
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* @can_family: address family number AF_CAN.
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* @can_ifindex: CAN network interface index.
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* @can_addr: protocol specific address information
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*/
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struct sockaddr_can {
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sa_family_t can_family;
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int can_ifindex;
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union {
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/* transport protocol class address information (e.g. ISOTP) */
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struct { canid_t rx_id, tx_id; } tp;
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/* reserved for future CAN protocols address information */
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} can_addr;
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};
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/**
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* struct can_filter - CAN ID based filter in can_register().
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* @can_id: relevant bits of CAN ID which are not masked out.
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* @can_mask: CAN mask (see description)
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*
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* Description:
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* A filter matches, when
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*
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* <received_can_id> & mask == can_id & mask
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*
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* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
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* filter for error frames (CAN_ERR_FLAG bit set in mask).
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*/
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struct can_filter {
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canid_t can_id;
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canid_t can_mask;
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};
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#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
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#endif /* CAN_H */
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/*
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* socketcan/can/bcm.h
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*
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* Definitions for CAN Broadcast Manager (BCM)
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*
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* $Id$
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*
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* Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
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* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#ifndef CAN_BCM_H
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#define CAN_BCM_H
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/**
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* struct bcm_msg_head - head of messages to/from the broadcast manager
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* @opcode: opcode, see enum below.
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* @flags: special flags, see below.
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* @count: number of frames to send before changing interval.
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* @ival1: interval for the first @count frames.
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* @ival2: interval for the following frames.
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* @can_id: CAN ID of frames to be sent or received.
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* @nframes: number of frames appended to the message head.
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* @frames: array of CAN frames.
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*/
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struct bcm_msg_head {
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__u32 opcode;
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__u32 flags;
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__u32 count;
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struct timeval ival1, ival2;
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canid_t can_id;
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__u32 nframes;
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struct can_frame frames[0];
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};
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enum {
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TX_SETUP = 1, /* create (cyclic) transmission task */
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TX_DELETE, /* remove (cyclic) transmission task */
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TX_READ, /* read properties of (cyclic) transmission task */
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TX_SEND, /* send one CAN frame */
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RX_SETUP, /* create RX content filter subscription */
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RX_DELETE, /* remove RX content filter subscription */
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RX_READ, /* read properties of RX content filter subscription */
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TX_STATUS, /* reply to TX_READ request */
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TX_EXPIRED, /* notification on performed transmissions (count=0) */
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RX_STATUS, /* reply to RX_READ request */
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RX_TIMEOUT, /* cyclic message is absent */
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RX_CHANGED /* updated CAN frame (detected content change) */
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};
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#define SETTIMER 0x0001
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#define STARTTIMER 0x0002
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#define TX_COUNTEVT 0x0004
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#define TX_ANNOUNCE 0x0008
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#define TX_CP_CAN_ID 0x0010
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#define RX_FILTER_ID 0x0020
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#define RX_CHECK_DLC 0x0040
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#define RX_NO_AUTOTIMER 0x0080
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#define RX_ANNOUNCE_RESUME 0x0100
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#define TX_RESET_MULTI_IDX 0x0200
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#define RX_RTR_FRAME 0x0400
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#endif /* CAN_BCM_H */
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/*
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* socketcan/can/error.h
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*
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* Definitions of the CAN error frame to be filtered and passed to the user.
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*
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* $Id$
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*
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* Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
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* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#ifndef CAN_ERROR_H
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#define CAN_ERROR_H
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#define CAN_ERR_DLC 8 /* dlc for error frames */
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/* error class (mask) in can_id */
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#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */
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#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */
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#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */
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#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */
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#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */
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#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */
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#define CAN_ERR_BUSOFF 0x00000040U /* bus off */
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#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */
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#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */
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/* arbitration lost in bit ... / data[0] */
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#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */
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/* else bit number in bitstream */
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/* error status of CAN-controller / data[1] */
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#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */
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#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */
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#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */
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#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */
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#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */
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#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */
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#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */
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/* (at least one error counter exceeds */
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/* the protocol-defined level of 127) */
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/* error in CAN protocol (type) / data[2] */
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#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */
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#define CAN_ERR_PROT_BIT 0x01 /* single bit error */
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#define CAN_ERR_PROT_FORM 0x02 /* frame format error */
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#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */
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#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */
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#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */
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#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */
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#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */
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#define CAN_ERR_PROT_TX 0x80 /* error occurred on transmission */
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/* error in CAN protocol (location) / data[3] */
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#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */
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#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */
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#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */
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#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/
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#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */
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#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */
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#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */
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#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */
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#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */
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#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */
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#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */
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#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */
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#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */
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#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */
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#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */
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#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */
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#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */
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#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */
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#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */
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#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */
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/* error status of CAN-transceiver / data[4] */
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/* CANH CANL */
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#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */
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#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */
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#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */
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#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */
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#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */
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#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */
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#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */
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#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */
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#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */
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#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */
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/* controller specific additional information / data[5..7] */
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#endif /* CAN_ERROR_H */
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/*
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* socketcan/can/gw.h
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*
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* Definitions for CAN frame Gateway/Router/Bridge
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*
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* $Id$
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*
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* Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
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* Copyright (c) 2011 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#ifndef CAN_GW_H
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#define CAN_GW_H
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#include <linux/types.h>
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#include <socketcan/can.h>
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struct rtcanmsg {
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__u8 can_family;
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__u8 gwtype;
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__u16 flags;
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};
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/* CAN gateway types */
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enum {
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CGW_TYPE_UNSPEC,
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CGW_TYPE_CAN_CAN, /* CAN->CAN routing */
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__CGW_TYPE_MAX
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};
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#define CGW_TYPE_MAX (__CGW_TYPE_MAX - 1)
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/* CAN rtnetlink attribute definitions */
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enum {
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CGW_UNSPEC,
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CGW_MOD_AND, /* CAN frame modification binary AND */
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CGW_MOD_OR, /* CAN frame modification binary OR */
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CGW_MOD_XOR, /* CAN frame modification binary XOR */
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CGW_MOD_SET, /* CAN frame modification set alternate values */
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CGW_CS_XOR, /* set data[] XOR checksum into data[index] */
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CGW_CS_CRC8, /* set data[] CRC8 checksum into data[index] */
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CGW_HANDLED, /* number of handled CAN frames */
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CGW_DROPPED, /* number of dropped CAN frames */
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CGW_SRC_IF, /* ifindex of source network interface */
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CGW_DST_IF, /* ifindex of destination network interface */
|
||||||
|
CGW_FILTER, /* specify struct can_filter on source CAN device */
|
||||||
|
__CGW_MAX
|
||||||
|
};
|
||||||
|
|
||||||
|
#define CGW_MAX (__CGW_MAX - 1)
|
||||||
|
|
||||||
|
#define CGW_FLAGS_CAN_ECHO 0x01
|
||||||
|
#define CGW_FLAGS_CAN_SRC_TSTAMP 0x02
|
||||||
|
|
||||||
|
#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_XXX (length 17 bytes):
|
||||||
|
* Specifies a modification that's done to a received CAN frame before it is
|
||||||
|
* send out to the destination interface.
|
||||||
|
*
|
||||||
|
* <struct can_frame> data used as operator
|
||||||
|
* <u8> affected CAN frame elements
|
||||||
|
*
|
||||||
|
* 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
|
||||||
|
|
@ -0,0 +1,99 @@
|
||||||
|
|
||||||
|
/*
|
||||||
|
* socketcan/can/ioctl.h
|
||||||
|
*
|
||||||
|
* Definitions for CAN controller setup (work in progress)
|
||||||
|
*
|
||||||
|
* $Id$
|
||||||
|
*
|
||||||
|
* Send feedback to <socketcan-users@lists.berlios.de>
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef CAN_IOCTL_H
|
||||||
|
#define CAN_IOCTL_H
|
||||||
|
|
||||||
|
#include <linux/sockios.h>
|
||||||
|
|
||||||
|
/*
|
||||||
|
* CAN bitrate
|
||||||
|
*/
|
||||||
|
#define CAN_BITRATE_UNCONFIGURED ((__u32) 0xFFFFFFFFU)
|
||||||
|
#define CAN_BITRATE_UNKNOWN 0
|
||||||
|
#define CAN_BITRATE_DEFAULT 500000
|
||||||
|
|
||||||
|
/*
|
||||||
|
* CAN custom bit time
|
||||||
|
*/
|
||||||
|
enum can_bittimes {
|
||||||
|
CAN_BITTIME_STD,
|
||||||
|
CAN_BITTIME_BTR
|
||||||
|
};
|
||||||
|
|
||||||
|
/* TSEG1 of controllers usually is a sum of synch_seg (always 1),
|
||||||
|
* prop_seg and phase_seg1, TSEG2 = phase_seg2 */
|
||||||
|
|
||||||
|
struct can_bittime_std {
|
||||||
|
__u32 brp; /* baud rate prescaler */
|
||||||
|
__u8 prop_seg; /* from 1 to 8 */
|
||||||
|
__u8 phase_seg1; /* from 1 to 8 */
|
||||||
|
__u8 phase_seg2; /* from 1 to 8 */
|
||||||
|
__u8 sjw:7; /* from 1 to 4 */
|
||||||
|
__u8 sam:1; /* 1 - enable triple sampling */
|
||||||
|
};
|
||||||
|
|
||||||
|
struct can_bittime_btr {
|
||||||
|
__u8 btr0;
|
||||||
|
__u8 btr1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct can_bittime {
|
||||||
|
enum can_bittimes type;
|
||||||
|
union {
|
||||||
|
struct can_bittime_std std;
|
||||||
|
struct can_bittime_btr btr;
|
||||||
|
};
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
* CAN mode
|
||||||
|
*/
|
||||||
|
enum can_mode {
|
||||||
|
CAN_MODE_STOP = 0,
|
||||||
|
CAN_MODE_START,
|
||||||
|
CAN_MODE_SLEEP
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
* CAN controller mode
|
||||||
|
*/
|
||||||
|
#define CAN_CTRLMODE_LOOPBACK 0x1
|
||||||
|
#define CAN_CTRLMODE_LISTENONLY 0x2
|
||||||
|
|
||||||
|
/*
|
||||||
|
* CAN operational and error states
|
||||||
|
*/
|
||||||
|
enum can_state {
|
||||||
|
CAN_STATE_ACTIVE = 0,
|
||||||
|
CAN_STATE_BUS_WARNING,
|
||||||
|
CAN_STATE_BUS_PASSIVE,
|
||||||
|
CAN_STATE_BUS_OFF,
|
||||||
|
CAN_STATE_STOPPED,
|
||||||
|
CAN_STATE_SLEEPING
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
* CAN device statistics
|
||||||
|
*/
|
||||||
|
struct can_device_stats {
|
||||||
|
int error_warning;
|
||||||
|
int data_overrun;
|
||||||
|
int wakeup;
|
||||||
|
int bus_error;
|
||||||
|
int error_passive;
|
||||||
|
int arbitration_lost;
|
||||||
|
int restarts;
|
||||||
|
int bus_error_at_init;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* CAN_IOCTL_H */
|
||||||
|
|
@ -0,0 +1,110 @@
|
||||||
|
/*
|
||||||
|
* socketcan/can/isotp.h
|
||||||
|
*
|
||||||
|
* Definitions for isotp CAN sockets
|
||||||
|
*
|
||||||
|
* $Id$
|
||||||
|
*
|
||||||
|
* Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
|
||||||
|
* Copyright (c) 2008 Volkswagen Group Electronic Research
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Send feedback to <socketcan-users@lists.berlios.de>
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef CAN_ISOTP_H
|
||||||
|
#define CAN_ISOTP_H
|
||||||
|
|
||||||
|
#include <socketcan/can.h>
|
||||||
|
|
||||||
|
#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
|
||||||
|
|
@ -0,0 +1,126 @@
|
||||||
|
/*
|
||||||
|
* socketcan/can/netlink.h
|
||||||
|
*
|
||||||
|
* Definitions for the CAN netlink interface
|
||||||
|
*
|
||||||
|
* $Id: dev.h 939 2009-02-14 14:30:19Z wolf $
|
||||||
|
*
|
||||||
|
* Copyright (c) 2009 Wolfgang Grandegger <wg@grandegger.com>
|
||||||
|
*
|
||||||
|
* Send feedback to <socketcan-users@lists.berlios.de>
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef CAN_NETLINK_H
|
||||||
|
#define CAN_NETLINK_H
|
||||||
|
|
||||||
|
#include <linux/types.h>
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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 */
|
||||||
|
|
@ -0,0 +1,33 @@
|
||||||
|
/*
|
||||||
|
* socketcan/can/raw.h
|
||||||
|
*
|
||||||
|
* Definitions for raw CAN sockets
|
||||||
|
*
|
||||||
|
* $Id$
|
||||||
|
*
|
||||||
|
* Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
|
||||||
|
* Urs Thuermann <urs.thuermann@volkswagen.de>
|
||||||
|
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* Send feedback to <socketcan-users@lists.berlios.de>
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef CAN_RAW_H
|
||||||
|
#define CAN_RAW_H
|
||||||
|
|
||||||
|
#include <socketcan/can.h>
|
||||||
|
|
||||||
|
#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) */
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
Loading…
Reference in New Issue