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📄 bcm.h /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) / / * linux/can/bcm.h * * Definitions for CAN Broadcast Manager (BCM) * * Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> * 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 _CAN_BCM_H #define _CAN_BCM_H #include <linux/types.h> #include <linux/can.h> struct bcm_timeval { long tv_sec; long tv_usec; }; /* * struct bcm_msg_head - head of messages to/from the broadcast manager * @opcode: opcode, see enum below. * @flags: special flags, see below. * @count: number of frames to send before changing interval. * @ival1: interval for the first @count frames. * @ival2: interval for the following frames. * @can_id: CAN ID of frames to be sent or received. * @nframes: number of frames appended to the message head. * @frames: array of CAN frames. / struct bcm_msg_head { __u32 opcode; __u32 flags; __u32 count; struct bcm_timeval ival1, ival2; canid_t can_id; __u32 nframes; struct can_frame frames[0]; }; enum { TX_SETUP = 1, / create (cyclic) transmission task / TX_DELETE, / remove (cyclic) transmission task / TX_READ, / read properties of (cyclic) transmission task / TX_SEND, / send one CAN frame / RX_SETUP, / create RX content filter subscription / RX_DELETE, / remove RX content filter subscription / RX_READ, / read properties of RX content filter subscription / TX_STATUS, / reply to TX_READ request / TX_EXPIRED, / notification on performed transmissions (count=0) / RX_STATUS, / reply to RX_READ request / RX_TIMEOUT, / cyclic message is absent / RX_CHANGED / updated CAN frame (detected content change) / }; #define SETTIMER 0x0001 #define STARTTIMER 0x0002 #define TX_COUNTEVT 0x0004 #define TX_ANNOUNCE 0x0008 #define TX_CP_CAN_ID 0x0010 #define RX_FILTER_ID 0x0020 #define RX_CHECK_DLC 0x0040 #define RX_NO_AUTOTIMER 0x0080 #define RX_ANNOUNCE_RESUME 0x0100 #define TX_RESET_MULTI_IDX 0x0200 #define RX_RTR_FRAME 0x0400 #define CAN_FD_FRAME 0x0800 #endif / !_UAPI_CAN_BCM_H */	4.02 KB	2026-03-24 10:01
📄 error.h /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) / / * linux/can/error.h * * Definitions of the CAN error messages to be filtered and passed to the user. * * Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> * 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 _CAN_ERROR_H #define _CAN_ERROR_H #define CAN_ERR_DLC 8 / dlc for error message frames / / error class (mask) in can_id / #define CAN_ERR_TX_TIMEOUT 0x00000001U / TX timeout (by netdevice driver) / #define CAN_ERR_LOSTARB 0x00000002U / lost arbitration / data[0] / #define CAN_ERR_CRTL 0x00000004U / controller problems / data[1] / #define CAN_ERR_PROT 0x00000008U / protocol violations / data[2..3] / #define CAN_ERR_TRX 0x00000010U / transceiver status / data[4] / #define CAN_ERR_ACK 0x00000020U / received no ACK on transmission / #define CAN_ERR_BUSOFF 0x00000040U / bus off / #define CAN_ERR_BUSERROR 0x00000080U / bus error (may flood!) / #define CAN_ERR_RESTARTED 0x00000100U / controller restarted / #define CAN_ERR_CNT 0x00000200U / TX error counter / data[6] / / RX error counter / data[7] / / arbitration lost in bit ... / data[0] / #define CAN_ERR_LOSTARB_UNSPEC 0x00 / unspecified / / else bit number in bitstream / / error status of CAN-controller / data[1] / #define CAN_ERR_CRTL_UNSPEC 0x00 / unspecified / #define CAN_ERR_CRTL_RX_OVERFLOW 0x01 / RX buffer overflow / #define CAN_ERR_CRTL_TX_OVERFLOW 0x02 / TX buffer overflow / #define CAN_ERR_CRTL_RX_WARNING 0x04 / reached warning level for RX errors / #define CAN_ERR_CRTL_TX_WARNING 0x08 / reached warning level for TX errors / #define CAN_ERR_CRTL_RX_PASSIVE 0x10 / reached error passive status RX / #define CAN_ERR_CRTL_TX_PASSIVE 0x20 / reached error passive status TX / / (at least one error counter exceeds / / the protocol-defined level of 127) / #define CAN_ERR_CRTL_ACTIVE 0x40 / recovered to error active state / / error in CAN protocol (type) / data[2] / #define CAN_ERR_PROT_UNSPEC 0x00 / unspecified / #define CAN_ERR_PROT_BIT 0x01 / single bit error / #define CAN_ERR_PROT_FORM 0x02 / frame format error / #define CAN_ERR_PROT_STUFF 0x04 / bit stuffing error / #define CAN_ERR_PROT_BIT0 0x08 / unable to send dominant bit / #define CAN_ERR_PROT_BIT1 0x10 / unable to send recessive bit / #define CAN_ERR_PROT_OVERLOAD 0x20 / bus overload / #define CAN_ERR_PROT_ACTIVE 0x40 / active error announcement / #define CAN_ERR_PROT_TX 0x80 / error occurred on transmission / / error in CAN protocol (location) / data[3] / #define CAN_ERR_PROT_LOC_UNSPEC 0x00 / unspecified / #define CAN_ERR_PROT_LOC_SOF 0x03 / start of frame / #define CAN_ERR_PROT_LOC_ID28_21 0x02 / ID bits 28 - 21 (SFF: 10 - 3) / #define CAN_ERR_PROT_LOC_ID20_18 0x06 / ID bits 20 - 18 (SFF: 2 - 0 )/ #define CAN_ERR_PROT_LOC_SRTR 0x04 / substitute RTR (SFF: RTR) / #define CAN_ERR_PROT_LOC_IDE 0x05 / identifier extension / #define CAN_ERR_PROT_LOC_ID17_13 0x07 / ID bits 17-13 / #define CAN_ERR_PROT_LOC_ID12_05 0x0F / ID bits 12-5 / #define CAN_ERR_PROT_LOC_ID04_00 0x0E / ID bits 4-0 / #define CAN_ERR_PROT_LOC_RTR 0x0C / RTR / #define CAN_ERR_PROT_LOC_RES1 0x0D / reserved bit 1 / #define CAN_ERR_PROT_LOC_RES0 0x09 / reserved bit 0 / #define CAN_ERR_PROT_LOC_DLC 0x0B / data length code / #define CAN_ERR_PROT_LOC_DATA 0x0A / data section / #define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 / CRC sequence / #define CAN_ERR_PROT_LOC_CRC_DEL 0x18 / CRC delimiter / #define CAN_ERR_PROT_LOC_ACK 0x19 / ACK slot / #define CAN_ERR_PROT_LOC_ACK_DEL 0x1B / ACK delimiter / #define CAN_ERR_PROT_LOC_EOF 0x1A / end of frame / #define CAN_ERR_PROT_LOC_INTERM 0x12 / intermission / / error status of CAN-transceiver / data[4] / / CANH CANL / #define CAN_ERR_TRX_UNSPEC 0x00 / 0000 0000 / #define CAN_ERR_TRX_CANH_NO_WIRE 0x04 / 0000 0100 / #define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 / 0000 0101 / #define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 / 0000 0110 / #define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 / 0000 0111 / #define CAN_ERR_TRX_CANL_NO_WIRE 0x40 / 0100 0000 / #define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 / 0101 0000 / #define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 / 0110 0000 / #define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 / 0111 0000 / #define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 / 1000 0000 / / data[5] is reserved (do not use) / / TX error counter / data[6] / / RX error counter / data[7] / / CAN state thresholds * * Error counter Error state * ----------------------------------- * 0 - 95 Error-active * 96 - 127 Error-warning * 128 - 255 Error-passive * 256 and greater Bus-off / #define CAN_ERROR_WARNING_THRESHOLD 96 #define CAN_ERROR_PASSIVE_THRESHOLD 128 #define CAN_BUS_OFF_THRESHOLD 256 #endif / _CAN_ERROR_H */	6.92 KB	2026-03-24 10:01
📄 gw.h /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) / / * linux/can/gw.h * * Definitions for CAN frame Gateway/Router/Bridge * * Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> * Copyright (c) 2011 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 _CAN_GW_H #define _CAN_GW_H #include <linux/types.h> #include <linux/can.h> struct rtcanmsg { __u8 can_family; __u8 gwtype; __u16 flags; }; / CAN gateway types / enum { CGW_TYPE_UNSPEC, CGW_TYPE_CAN_CAN, / CAN->CAN routing / __CGW_TYPE_MAX }; #define CGW_TYPE_MAX (__CGW_TYPE_MAX - 1) / CAN rtnetlink attribute definitions / enum { CGW_UNSPEC, CGW_MOD_AND, / CAN frame modification binary AND / CGW_MOD_OR, / CAN frame modification binary OR / CGW_MOD_XOR, / CAN frame modification binary XOR / CGW_MOD_SET, / CAN frame modification set alternate values / CGW_CS_XOR, / set data[] XOR checksum into data[index] / CGW_CS_CRC8, / set data[] CRC8 checksum into data[index] / CGW_HANDLED, / number of handled CAN frames / CGW_DROPPED, / number of dropped CAN frames / CGW_SRC_IF, / ifindex of source network interface / CGW_DST_IF, / ifindex of destination network interface / CGW_FILTER, / specify struct can_filter on source CAN device / CGW_DELETED, / number of deleted CAN frames (see max_hops param) / CGW_LIM_HOPS, / limit the number of hops of this specific rule / CGW_MOD_UID, / user defined identifier for modification updates / CGW_FDMOD_AND, / CAN FD frame modification binary AND / CGW_FDMOD_OR, / CAN FD frame modification binary OR / CGW_FDMOD_XOR, / CAN FD frame modification binary XOR / CGW_FDMOD_SET, / CAN FD frame modification set alternate values / __CGW_MAX }; #define CGW_MAX (__CGW_MAX - 1) #define CGW_FLAGS_CAN_ECHO 0x01 #define CGW_FLAGS_CAN_SRC_TSTAMP 0x02 #define CGW_FLAGS_CAN_IIF_TX_OK 0x04 #define CGW_FLAGS_CAN_FD 0x08 #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 / Classical CAN data length code / #define CGW_MOD_LEN CGW_MOD_DLC / CAN FD (plain) data length / #define CGW_MOD_DATA 0x04 #define CGW_MOD_FLAGS 0x08 / CAN FD flags / #define CGW_FRAME_MODS 4 / ID DLC/LEN DATA FLAGS / #define MAX_MODFUNCTIONS (CGW_MOD_FUNCS CGW_FRAME_MODS) struct cgw_frame_mod { struct can_frame cf; __u8 modtype; } __attribute__((packed)); struct cgw_fdframe_mod { struct canfd_frame cf; __u8 modtype; } __attribute__((packed)); #define CGW_MODATTR_LEN sizeof(struct cgw_frame_mod) #define CGW_FDMODATTR_LEN sizeof(struct cgw_fdframe_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_(AND\|OR\|XOR\|SET) (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_LIM_HOPS (length 1 byte): * Limit the number of hops of this specific rule. Usually the received CAN * frame can be processed as much as 'max_hops' times (which is given at module * load time of the can-gw module). This value is used to reduce the number of * possible hops for this gateway rule to a value smaller then max_hops. * * CGW_MOD_UID (length 4 bytes): * Optional non-zero user defined routing job identifier to alter existing * modification settings at runtime. * * 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 / !_UAPI_CAN_GW_H */	7.84 KB	2026-03-24 10:01
📄 isotp.h /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) / / * linux/can/isotp.h * * Definitions for isotp CAN sockets (ISO 15765-2:2016) * * Copyright (c) 2020 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 _CAN_ISOTP_H #define _CAN_ISOTP_H #include <linux/types.h> #include <linux/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 / #define CAN_ISOTP_LL_OPTS 5 / pass struct can_isotp_ll_options / 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 / __u8 rx_ext_address; / set address for extended addressing / / __u8 value : extended address (rx) / }; 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 / }; struct can_isotp_ll_options { __u8 mtu; / generated & accepted CAN frame type / / __u8 value : / / CAN_MTU (16) -> standard CAN 2.0 / / CANFD_MTU (72) -> CAN FD frame / __u8 tx_dl; / tx link layer data length in bytes / / (configured maximum payload length) / / __u8 value : 8,12,16,20,24,32,48,64 / / => rx path supports all LL_DL values / __u8 tx_flags; / set into struct canfd_frame.flags / / at frame creation: e.g. CANFD_BRS / / Obsolete when the BRS flag is fixed / / by the CAN netdriver configuration / }; / flags for isotp behaviour / #define CAN_ISOTP_LISTEN_MODE 0x0001 / listen only (do not send FC) / #define CAN_ISOTP_EXTEND_ADDR 0x0002 / enable extended addressing / #define CAN_ISOTP_TX_PADDING 0x0004 / enable CAN frame padding tx path / #define CAN_ISOTP_RX_PADDING 0x0008 / enable CAN frame padding rx path / #define CAN_ISOTP_CHK_PAD_LEN 0x0010 / check received CAN frame padding / #define CAN_ISOTP_CHK_PAD_DATA 0x0020 / check received CAN frame padding / #define CAN_ISOTP_HALF_DUPLEX 0x0040 / half duplex error state handling / #define CAN_ISOTP_FORCE_TXSTMIN 0x0080 / ignore stmin from received FC / #define CAN_ISOTP_FORCE_RXSTMIN 0x0100 / ignore CFs depending on rx stmin / #define CAN_ISOTP_RX_EXT_ADDR 0x0200 / different rx extended addressing / #define CAN_ISOTP_WAIT_TX_DONE 0x0400 / wait for tx completion / #define CAN_ISOTP_SF_BROADCAST 0x0800 / 1-to-N functional addressing / #define CAN_ISOTP_CF_BROADCAST 0x1000 / 1-to-N transmission w/o FC / #define CAN_ISOTP_DYN_FC_PARMS 0x2000 / dynamic FC parameters BS/STmin / / protocol machine default values / #define CAN_ISOTP_DEFAULT_FLAGS 0 #define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00 #define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC / prevent bit-stuffing / #define CAN_ISOTP_DEFAULT_FRAME_TXTIME 50000 / 50 micro seconds / #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. / / link layer default values => make use of Classical CAN frames / #define CAN_ISOTP_DEFAULT_LL_MTU CAN_MTU #define CAN_ISOTP_DEFAULT_LL_TX_DL CAN_MAX_DLEN #define CAN_ISOTP_DEFAULT_LL_TX_FLAGS 0 / * The CAN_ISOTP_DEFAULT_FRAME_TXTIME has become a non-zero value as * it only makes sense for isotp implementation tests to run without * a N_As value. As user space applications usually do not set the * frame_txtime element of struct can_isotp_options the new in-kernel * default is very likely overwritten with zero when the sockopt() * CAN_ISOTP_OPTS is invoked. * To make sure that a N_As value of zero is only set intentional the * value '0' is now interpreted as 'do not change the current value'. * When a frame_txtime of zero is required for testing purposes this * CAN_ISOTP_FRAME_TXTIME_ZERO u32 value has to be set in frame_txtime. / #define CAN_ISOTP_FRAME_TXTIME_ZERO 0xFFFFFFFF #endif / !_UAPI_CAN_ISOTP_H */	7.33 KB	2026-03-24 10:01
📄 j1939.h /* SPDX-License-Identifier: GPL-2.0-only WITH Linux-syscall-note / / * j1939.h * * Copyright (c) 2010-2011 EIA Electronics * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License version 2 as * published by the Free Software Foundation. / #ifndef _CAN_J1939_H_ #define _CAN_J1939_H_ #include <linux/types.h> #include <linux/socket.h> #include <linux/can.h> #define J1939_MAX_UNICAST_ADDR 0xfd #define J1939_IDLE_ADDR 0xfe #define J1939_NO_ADDR 0xff / == broadcast or no addr / #define J1939_NO_NAME 0 #define J1939_PGN_REQUEST 0x0ea00 / Request PG / #define J1939_PGN_ADDRESS_CLAIMED 0x0ee00 / Address Claimed / #define J1939_PGN_ADDRESS_COMMANDED 0x0fed8 / Commanded Address / #define J1939_PGN_PDU1_MAX 0x3ff00 #define J1939_PGN_MAX 0x3ffff #define J1939_NO_PGN 0x40000 / J1939 Parameter Group Number * * bit 0-7 : PDU Specific (PS) * bit 8-15 : PDU Format (PF) * bit 16 : Data Page (DP) * bit 17 : Reserved (R) * bit 19-31 : set to zero / typedef __u32 pgn_t; / J1939 Priority * * bit 0-2 : Priority (P) * bit 3-7 : set to zero / typedef __u8 priority_t; / J1939 NAME * * bit 0-20 : Identity Number * bit 21-31 : Manufacturer Code * bit 32-34 : ECU Instance * bit 35-39 : Function Instance * bit 40-47 : Function * bit 48 : Reserved * bit 49-55 : Vehicle System * bit 56-59 : Vehicle System Instance * bit 60-62 : Industry Group * bit 63 : Arbitrary Address Capable / typedef __u64 name_t; / J1939 socket options / #define SOL_CAN_J1939 (SOL_CAN_BASE + CAN_J1939) enum { SO_J1939_FILTER = 1, / set filters / SO_J1939_PROMISC = 2, / set/clr promiscuous mode / SO_J1939_SEND_PRIO = 3, SO_J1939_ERRQUEUE = 4, }; enum { SCM_J1939_DEST_ADDR = 1, SCM_J1939_DEST_NAME = 2, SCM_J1939_PRIO = 3, SCM_J1939_ERRQUEUE = 4, }; enum { J1939_NLA_PAD, J1939_NLA_BYTES_ACKED, J1939_NLA_TOTAL_SIZE, J1939_NLA_PGN, J1939_NLA_SRC_NAME, J1939_NLA_DEST_NAME, J1939_NLA_SRC_ADDR, J1939_NLA_DEST_ADDR, }; enum { J1939_EE_INFO_NONE, J1939_EE_INFO_TX_ABORT, J1939_EE_INFO_RX_RTS, J1939_EE_INFO_RX_DPO, J1939_EE_INFO_RX_ABORT, }; struct j1939_filter { name_t name; name_t name_mask; pgn_t pgn; pgn_t pgn_mask; __u8 addr; __u8 addr_mask; }; #define J1939_FILTER_MAX 512 / maximum number of j1939_filter set via setsockopt() / #endif / !_UAPI_CAN_J1939_H_ */	2.35 KB	2026-03-24 10:01
📄 netlink.h /* 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 <wg@grandegger.com> * * 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 _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 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 */	5.02 KB	2026-03-24 10:01
📄 raw.h /* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) / / * linux/can/raw.h * * Definitions for raw CAN sockets * * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de> * Urs Thuermann <urs.thuermann@volkswagen.de> * 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 _CAN_RAW_H #define _CAN_RAW_H #include <linux/can.h> #define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW) #define CAN_RAW_FILTER_MAX 512 / maximum number of can_filter set via setsockopt() / enum { SCM_CAN_RAW_ERRQUEUE = 1, }; / 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) / CAN_RAW_FD_FRAMES, / allow CAN FD frames (default:off) / CAN_RAW_JOIN_FILTERS, / all filters must match to trigger / CAN_RAW_XL_FRAMES, / allow CAN XL frames (default:off) / CAN_RAW_XL_VCID_OPTS, / CAN XL VCID configuration options / }; / configuration for CAN XL virtual CAN identifier (VCID) handling / struct can_raw_vcid_options { __u8 flags; / flags for vcid (filter) behaviour / __u8 tx_vcid; / VCID value set into canxl_frame.prio / __u8 rx_vcid; / VCID value for VCID filter / __u8 rx_vcid_mask; / VCID mask for VCID filter / }; / can_raw_vcid_options.flags for CAN XL virtual CAN identifier handling / #define CAN_RAW_XL_VCID_TX_SET 0x01 #define CAN_RAW_XL_VCID_TX_PASS 0x02 #define CAN_RAW_XL_VCID_RX_FILTER 0x04 #endif / !_UAPI_CAN_RAW_H */	3.53 KB	2026-03-24 10:01
📄 vxcan.h /* SPDX-License-Identifier: GPL-2.0-only WITH Linux-syscall-note */ #ifndef _CAN_VXCAN_H #define _CAN_VXCAN_H enum { VXCAN_INFO_UNSPEC, VXCAN_INFO_PEER, __VXCAN_INFO_MAX #define VXCAN_INFO_MAX (__VXCAN_INFO_MAX - 1) }; #endif	232 B	2026-03-24 10:01

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