update the socketcan uapi headers

Author: pschichtel

core/src/include/linux/can.h

@@ -48,6 +48,7 @@
 
 #include <linux/types.h>
 #include <linux/socket.h>
+#include <linux/stddef.h> /* for offsetof */
 
 /* controller area network (CAN) kernel definitions */
 
@@ -60,6 +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
@@ -73,6 +75,7 @@ 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
@@ -91,6 +94,16 @@ typedef __u32 can_err_mask_t;
 #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 - Classical CAN frame structure (aka CAN 2.0B)
  * @can_id:   CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
@@ -141,8 +154,8 @@ struct can_frame {
  * 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).
- * N.B. the Kernel APIs do NOT provide mixed CAN / CAN FD content inside of
- * struct canfd_frame therefore the CANFD_FDF flag is disregarded by Linux.
+ * 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 */
@@ -166,8 +179,46 @@ 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) */
+
+/**
+ * struct canxl_frame - CAN with e'X'tended frame 'L'ength frame structure
+ * @prio:  11 bit arbitration priority with zero'ed CAN_*_FLAG flags
+ * @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 (canid_t) */
+	__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 */

core/src/include/linux/can/bcm.h

@@ -71,7 +71,7 @@ struct bcm_msg_head {
 	struct bcm_timeval ival1, ival2;
 	canid_t can_id;
 	__u32 nframes;
-	struct can_frame frames[0];
+	struct can_frame frames[];
 };
 
 enum {

core/src/include/linux/can/error.h

@@ -57,6 +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 */
@@ -120,6 +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) */
+
+/* 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 */

core/src/include/linux/can/isotp.h

@@ -124,33 +124,30 @@ struct can_isotp_ll_options {
 
 /* 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 */
-#define CAN_ISOTP_WAIT_TX_DONE	0x400	/* wait for tx completion */
-#define CAN_ISOTP_SF_BROADCAST	0x800	/* 1-to-N functional 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 */
+
+/* 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:
  *
@@ -162,4 +159,24 @@ struct can_isotp_ll_options {
  * 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 */

core/src/include/linux/can/netlink.h

@@ -137,6 +137,7 @@ enum {
 	IFLA_CAN_DATA_BITRATE_CONST,
 	IFLA_CAN_BITRATE_MAX,
 	IFLA_CAN_TDC,
+	IFLA_CAN_CTRLMODE_EXT,
 
 	/* add new constants above here */
 	__IFLA_CAN_MAX,
@@ -166,6 +167,18 @@ enum {
 	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
 

core/src/include/linux/can/raw.h

@@ -62,6 +62,7 @@ enum {
 	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) */
 };
 
 #endif /* !_UAPI_CAN_RAW_H */

core/src/main/java/tel/schich/javacan/IsotpOptions.java

@@ -256,17 +256,19 @@ public String toString() {
     }
 
     public enum Flag {
-        LISTEN_MODE(0x001, "listen only (do not send FC)"),
-        EXTEND_ADDR(0x002, "enable extended addressing"),
-        TX_PADDING(0x004, "enable CAN frame padding tx path"),
-        RX_PADDING(0x008, "enable CAN frame padding rx path"),
-        CHK_PAD_LEN(0x010, "check received CAN frame padding"),
-        CHK_PAD_DATA(0x020, "check received CAN frame padding"),
-        HALF_DUPLEX(0x040, "half duplex error state handling"),
-        FORCE_TXSTMIN(0x080, "ignore stmin from received FC"),
-        FORCE_RXSTMIN(0x100, "ignore CFs depending on rx stmin"),
-        RX_EXT_ADDR(0x200, "different rx extended addressing"),
-        WAIT_TX_DONE(0x400, "wait for tx completion");
+        LISTEN_MODE(0x0001, "listen only (do not send FC)"),
+        EXTEND_ADDR(0x0002, "enable extended addressing"),
+        TX_PADDING(0x0004, "enable CAN frame padding tx path"),
+        RX_PADDING(0x0008, "enable CAN frame padding rx path"),
+        CHK_PAD_LEN(0x0010, "check received CAN frame padding"),
+        CHK_PAD_DATA(0x0020, "check received CAN frame padding"),
+        HALF_DUPLEX(0x0040, "half duplex error state handling"),
+        FORCE_TXSTMIN(0x0080, "ignore stmin from received FC"),
+        FORCE_RXSTMIN(0x0100, "ignore CFs depending on rx stmin"),
+        RX_EXT_ADDR(0x0200, "different rx extended addressing"),
+        WAIT_TX_DONE(0x0400, "wait for tx completion"),
+        SF_BROADCAST(0x0800, "1-to-N functional addressing"),
+        CF_BROADCAST(0x1000, "1-to-N transmission w/o FC");
 
         private final int bit;
         private final String description;