From d617410c87fee540f47ac4a14597dafb20c4e21d Mon Sep 17 00:00:00 2001 From: Yegor Yefremov Date: Wed, 11 Dec 2024 12:00:32 +0100 Subject: [PATCH] Update Linux headers from kernel 6.13 --- include/linux/can.h | 138 +++++++++++++++++++++++++++++++------- include/linux/can/bcm.h | 17 +++-- include/linux/can/error.h | 28 ++++++-- include/linux/can/isotp.h | 72 ++++++++++++-------- include/linux/can/raw.h | 30 ++++++++- 5 files changed, 222 insertions(+), 63 deletions(-) diff --git a/include/linux/can.h b/include/linux/can.h index 0a8c880..e78cbd8 100644 --- a/include/linux/can.h +++ b/include/linux/can.h @@ -1,3 +1,4 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can.h * @@ -42,11 +43,12 @@ * DAMAGE. */ -#ifndef CAN_H -#define CAN_H +#ifndef _UAPI_CAN_H +#define _UAPI_CAN_H #include #include +#include /* for offsetof */ /* controller area network (CAN) kernel definitions */ @@ -59,6 +61,7 @@ #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ +#define CANXL_PRIO_MASK CAN_SFF_MASK /* 11 bit priority mask */ /* * Controller Area Network Identifier structure @@ -72,42 +75,69 @@ typedef __u32 canid_t; #define CAN_SFF_ID_BITS 11 #define CAN_EFF_ID_BITS 29 +#define CANXL_PRIO_BITS CAN_SFF_ID_BITS /* * Controller Area Network Error Message Frame Mask structure * - * bit 0-28 : error class mask (see include/linux/can/error.h) + * bit 0-28 : error class mask (see include/uapi/linux/can/error.h) * bit 29-31 : set to zero */ typedef __u32 can_err_mask_t; /* CAN payload length and DLC definitions according to ISO 11898-1 */ #define CAN_MAX_DLC 8 +#define CAN_MAX_RAW_DLC 15 #define CAN_MAX_DLEN 8 /* CAN FD payload length and DLC definitions according to ISO 11898-7 */ #define CANFD_MAX_DLC 15 #define CANFD_MAX_DLEN 64 +/* + * CAN XL payload length and DLC definitions according to ISO 11898-1 + * CAN XL DLC ranges from 0 .. 2047 => data length from 1 .. 2048 byte + */ +#define CANXL_MIN_DLC 0 +#define CANXL_MAX_DLC 2047 +#define CANXL_MAX_DLC_MASK 0x07FF +#define CANXL_MIN_DLEN 1 +#define CANXL_MAX_DLEN 2048 + /** - * struct can_frame - basic CAN frame structure - * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition - * @can_dlc: frame payload length in byte (0 .. 8) aka data length code - * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1 - * mapping of the 'data length code' to the real payload length - * @data: CAN frame payload (up to 8 byte) + * struct can_frame - Classical CAN frame structure (aka CAN 2.0B) + * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition + * @len: CAN frame payload length in byte (0 .. 8) + * @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) + * @__pad: padding + * @__res0: reserved / padding + * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length + * len8_dlc contains values from 9 .. 15 when the payload length is + * 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. + * CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. + * @data: CAN frame payload (up to 8 byte) */ struct can_frame { canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ - __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */ - __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); + union { + /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) + * was previously named can_dlc so we need to carry that + * name for legacy support + */ + __u8 len; + __u8 can_dlc; /* deprecated */ + } __attribute__((packed)); /* disable padding added in some ABIs */ + __u8 __pad; /* padding */ + __u8 __res0; /* reserved / padding */ + __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ + __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); }; /* * defined bits for canfd_frame.flags * - * The use of struct canfd_frame implies the Extended Data Length (EDL) bit to - * be set in the CAN frame bitstream on the wire. The EDL bit switch turns + * The use of struct canfd_frame implies the FD Frame (FDF) bit to + * be set in the CAN frame bitstream on the wire. The FDF bit switch turns * the CAN controllers bitstream processor into the CAN FD mode which creates * two new options within the CAN FD frame specification: * @@ -118,9 +148,18 @@ struct can_frame { * controller only the CANFD_BRS bit is relevant for real CAN controllers when * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make * sense for virtual CAN interfaces to test applications with echoed frames. + * + * The struct can_frame and struct canfd_frame intentionally share the same + * layout to be able to write CAN frame content into a CAN FD frame structure. + * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets + * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of + * using struct canfd_frame for mixed CAN / CAN FD content (dual use). + * Since the introduction of CAN XL the CANFD_FDF flag is set in all CAN FD + * frame structures provided by the CAN subsystem of the Linux kernel. */ #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ +#define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */ /** * struct canfd_frame - CAN flexible data rate frame structure @@ -140,8 +179,51 @@ struct canfd_frame { __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); }; +/* + * defined bits for canxl_frame.flags + * + * The canxl_frame.flags element contains two bits CANXL_XLF and CANXL_SEC + * and shares the relative position of the struct can[fd]_frame.len element. + * The CANXL_XLF bit ALWAYS needs to be set to indicate a valid CAN XL frame. + * As a side effect setting this bit intentionally breaks the length checks + * for Classical CAN and CAN FD frames. + * + * Undefined bits in canxl_frame.flags are reserved and shall be set to zero. + */ +#define CANXL_XLF 0x80 /* mandatory CAN XL frame flag (must always be set!) */ +#define CANXL_SEC 0x01 /* Simple Extended Content (security/segmentation) */ + +/* the 8-bit VCID is optionally placed in the canxl_frame.prio element */ +#define CANXL_VCID_OFFSET 16 /* bit offset of VCID in prio element */ +#define CANXL_VCID_VAL_MASK 0xFFUL /* VCID is an 8-bit value */ +#define CANXL_VCID_MASK (CANXL_VCID_VAL_MASK << CANXL_VCID_OFFSET) + +/** + * struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure + * @prio: 11 bit arbitration priority with zero'ed CAN_*_FLAG flags / VCID + * @flags: additional flags for CAN XL + * @sdt: SDU (service data unit) type + * @len: frame payload length in byte (CANXL_MIN_DLEN .. CANXL_MAX_DLEN) + * @af: acceptance field + * @data: CAN XL frame payload (CANXL_MIN_DLEN .. CANXL_MAX_DLEN byte) + * + * @prio shares the same position as @can_id from struct can[fd]_frame. + */ +struct canxl_frame { + canid_t prio; /* 11 bit priority for arbitration / 8 bit VCID */ + __u8 flags; /* additional flags for CAN XL */ + __u8 sdt; /* SDU (service data unit) type */ + __u16 len; /* frame payload length in byte */ + __u32 af; /* acceptance field */ + __u8 data[CANXL_MAX_DLEN]; +}; + #define CAN_MTU (sizeof(struct can_frame)) #define CANFD_MTU (sizeof(struct canfd_frame)) +#define CANXL_MTU (sizeof(struct canxl_frame)) +#define CANXL_HDR_SIZE (offsetof(struct canxl_frame, data)) +#define CANXL_MIN_MTU (CANXL_HDR_SIZE + 64) +#define CANXL_MAX_MTU CANXL_MTU /* particular protocols of the protocol family PF_CAN */ #define CAN_RAW 1 /* RAW sockets */ @@ -150,18 +232,11 @@ struct canfd_frame { #define CAN_TP20 4 /* VAG Transport Protocol v2.0 */ #define CAN_MCNET 5 /* Bosch MCNet */ #define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */ -#define CAN_NPROTO 7 +#define CAN_J1939 7 /* SAE J1939 */ +#define CAN_NPROTO 8 #define SOL_CAN_BASE 100 -/* - * This typedef was introduced in Linux v3.1-rc2 - * (commit 6602a4b net: Make userland include of netlink.h more sane) - * in . It must be duplicated here to make the CAN - * headers self-contained. - */ -typedef unsigned short __kernel_sa_family_t; - /** * struct sockaddr_can - the sockaddr structure for CAN sockets * @can_family: address family number AF_CAN. @@ -175,6 +250,23 @@ struct sockaddr_can { /* transport protocol class address information (e.g. ISOTP) */ struct { canid_t rx_id, tx_id; } tp; + /* J1939 address information */ + struct { + /* 8 byte name when using dynamic addressing */ + __u64 name; + + /* pgn: + * 8 bit: PS in PDU2 case, else 0 + * 8 bit: PF + * 1 bit: DP + * 1 bit: reserved + */ + __u32 pgn; + + /* 1 byte address */ + __u8 addr; + } j1939; + /* reserved for future CAN protocols address information */ } can_addr; }; @@ -199,4 +291,4 @@ struct can_filter { #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ -#endif /* CAN_H */ +#endif /* !_UAPI_CAN_H */ diff --git a/include/linux/can/bcm.h b/include/linux/can/bcm.h index 382251a..f1e45f5 100644 --- a/include/linux/can/bcm.h +++ b/include/linux/can/bcm.h @@ -1,3 +1,4 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can/bcm.h * @@ -41,12 +42,17 @@ * DAMAGE. */ -#ifndef CAN_BCM_H -#define CAN_BCM_H +#ifndef _UAPI_CAN_BCM_H +#define _UAPI_CAN_BCM_H #include #include +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. @@ -62,10 +68,10 @@ struct bcm_msg_head { __u32 opcode; __u32 flags; __u32 count; - struct timeval ival1, ival2; + struct bcm_timeval ival1, ival2; canid_t can_id; __u32 nframes; - struct can_frame frames[0]; + struct can_frame frames[]; }; enum { @@ -94,5 +100,6 @@ enum { #define RX_ANNOUNCE_RESUME 0x0100 #define TX_RESET_MULTI_IDX 0x0200 #define RX_RTR_FRAME 0x0400 +#define CAN_FD_FRAME 0x0800 -#endif /* CAN_BCM_H */ +#endif /* !_UAPI_CAN_BCM_H */ diff --git a/include/linux/can/error.h b/include/linux/can/error.h index b632045..acc1ac3 100644 --- a/include/linux/can/error.h +++ b/include/linux/can/error.h @@ -1,3 +1,4 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can/error.h * @@ -41,8 +42,8 @@ * DAMAGE. */ -#ifndef CAN_ERROR_H -#define CAN_ERROR_H +#ifndef _UAPI_CAN_ERROR_H +#define _UAPI_CAN_ERROR_H #define CAN_ERR_DLC 8 /* dlc for error message frames */ @@ -56,6 +57,8 @@ #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 */ @@ -71,6 +74,7 @@ #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 */ @@ -118,6 +122,22 @@ #define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */ #define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */ -/* controller specific additional information / data[5..7] */ +/* data[5] is reserved (do not use) */ -#endif /* CAN_ERROR_H */ +/* 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 /* _UAPI_CAN_ERROR_H */ diff --git a/include/linux/can/isotp.h b/include/linux/can/isotp.h index f074329..bd99091 100644 --- a/include/linux/can/isotp.h +++ b/include/linux/can/isotp.h @@ -1,10 +1,10 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can/isotp.h * - * Definitions for isotp CAN sockets + * Definitions for ISO 15765-2 CAN transport protocol sockets * - * Author: Oliver Hartkopp - * Copyright (c) 2008 Volkswagen Group Electronic Research + * Copyright (c) 2020 Volkswagen Group Electronic Research * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -39,13 +39,12 @@ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * DAMAGE. - * - * Send feedback to */ -#ifndef CAN_ISOTP_H -#define CAN_ISOTP_H +#ifndef _UAPI_CAN_ISOTP_H +#define _UAPI_CAN_ISOTP_H +#include #include #define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOTP) @@ -123,35 +122,33 @@ struct can_isotp_ll_options { /* by the CAN netdriver configuration */ }; - /* 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 */ -#define CAN_ISOTP_RX_EXT_ADDR 0x200 /* different rx extended addressing */ - - -/* default values */ +#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 0 +#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 -#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 - /* * Remark on CAN_ISOTP_DEFAULT_RECV_* values: * @@ -161,7 +158,26 @@ struct can_isotp_ll_options { * 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 +/* 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 */ diff --git a/include/linux/can/raw.h b/include/linux/can/raw.h index c7d8c33..e024d89 100644 --- a/include/linux/can/raw.h +++ b/include/linux/can/raw.h @@ -1,3 +1,4 @@ +/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */ /* * linux/can/raw.h * @@ -42,12 +43,17 @@ * DAMAGE. */ -#ifndef CAN_RAW_H -#define CAN_RAW_H +#ifndef _UAPI_CAN_RAW_H +#define _UAPI_CAN_RAW_H #include #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) */ @@ -57,6 +63,24 @@ enum { 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 */ + }; -#endif +/* 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 */