209 lines
7.2 KiB
C
209 lines
7.2 KiB
C
|
/*
|
||
|
|
* 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 _UAPI_CAN_GW_H
|
||
|
|
#define _UAPI_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_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_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_(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 */
|