kernel/linux.git/include/uapi/linux/can, branch v6.19.11

can: netlink: add PWM netlink interface

2025-11-26T10:20:43+00:00

When the TMS is switched on, the node uses PWM (Pulse Width Modulation) during the data phase instead of the classic NRZ (Non Return to Zero) encoding. PWM is configured by three parameters: - PWMS: Pulse Width Modulation Short phase - PWML: Pulse Width Modulation Long phase - PWMO: Pulse Width Modulation Offset time For each of these parameters, define three IFLA symbols: - IFLA_CAN_PWM_PWM*_MIN: the minimum allowed value. - IFLA_CAN_PWM_PWM*_MAX: the maximum allowed value. - IFLA_CAN_PWM_PWM*: the runtime value. This results in a total of nine IFLA symbols which are all nested in a parent IFLA_CAN_XL_PWM symbol. IFLA_CAN_PWM_PWM*_MIN and IFLA_CAN_PWM_PWM*_MAX define the range of allowed values and will match the value statically configured by the device in struct can_pwm_const. IFLA_CAN_PWM_PWM* match the runtime values stored in struct can_pwm. Those parameters may only be configured when the tms mode is on. If the PWMS, PWML and PWMO parameters are provided, check that all the needed parameters are present using can_validate_pwm(), then check their value using can_validate_pwm_bittiming(). PWMO defaults to zero if omitted. Otherwise, if CAN_CTRLMODE_XL_TMS is true but none of the PWM parameters are provided, calculate them using can_calc_pwm(). Signed-off-by: Vincent Mailhol Signed-off-by: Oliver Hartkopp Link: https://patch.msgid.link/20251126-canxl-v8-11-e7e3eb74f889@pengutronix.de Signed-off-by: Marc Kleine-Budde

can: netlink: add CAN_CTRLMODE_XL_TMS flag

2025-11-26T10:20:43+00:00

The Transceiver Mode Switching (TMS) indicates whether the CAN XL controller shall use the PWM or NRZ encoding during the data phase. The term "transceiver mode switching" is used in both ISO 11898-1 and CiA 612-2 (although only the latter one uses the abbreviation TMS). We adopt the same naming convention here for consistency. Add the CAN_CTRLMODE_XL_TMS flag to the list of the CAN control modes. Add can_validate_xl_flags() to check the coherency of the TMS flag. That function will be reused in upcoming changes to validate the other CAN XL flags. Signed-off-by: Vincent Mailhol Signed-off-by: Oliver Hartkopp Link: https://patch.msgid.link/20251126-canxl-v8-6-e7e3eb74f889@pengutronix.de Signed-off-by: Marc Kleine-Budde

can: netlink: add initial CAN XL support

2025-11-26T10:20:43+00:00

CAN XL uses bittiming parameters different from Classical CAN and CAN FD. Thus, all the data bittiming parameters, including TDC, need to be duplicated for CAN XL. Add the CAN XL netlink interface for all the features which are common with CAN FD. Any new CAN XL specific features are added later on. The first time CAN XL is activated, the MTU is set by default to CANXL_MAX_MTU. The user may then configure a custom MTU within the CANXL_MIN_MTU to CANXL_MAX_MTU range, in which case, the custom MTU value will be kept as long as CAN XL remains active. Signed-off-by: Vincent Mailhol Signed-off-by: Oliver Hartkopp Link: https://patch.msgid.link/20251126-canxl-v8-5-e7e3eb74f889@pengutronix.de Signed-off-by: Marc Kleine-Budde

can: netlink: add CAN_CTRLMODE_RESTRICTED

2025-11-26T10:20:43+00:00

ISO 11898-1:2024 adds a new restricted operation mode. This mode is added as a mandatory feature for nodes which support CAN XL and is retrofitted as optional for legacy nodes (i.e. the ones which only support Classical CAN and CAN FD). The restricted operation mode is nearly the same as the listen only mode: the node can not send data frames or remote frames and can not send dominant bits if an error occurs. The only exception is that the node shall still send the acknowledgment bit. A second niche exception is that the node may still send a data frame containing a time reference message if the node is a primary time provider, but because the time provider feature is not yet implemented in the kernel, this second exception is not relevant to us at the moment. Add the CAN_CTRLMODE_RESTRICTED control mode flag and update the can_dev_dropped_skb() helper function accordingly. Finally, bail out if both CAN_CTRLMODE_LISTENONLY and CAN_CTRLMODE_RESTRICTED are provided. Signed-off-by: Vincent Mailhol Signed-off-by: Oliver Hartkopp Link: https://patch.msgid.link/20251126-canxl-v8-4-e7e3eb74f889@pengutronix.de Signed-off-by: Marc Kleine-Budde

can: netlink: document which symbols are FD specific

2025-09-24T15:09:44+00:00

The CAN XL netlink interface will also have data bitrate and TDC parameters. The current FD parameters do not have a prefix in their names to differentiate them. Because the netlink interface is part of the UAPI, it is unfortunately not feasible to rename the existing symbols to add an FD_ prefix. The best alternative is to add a comment for each of the symbols to notify the reader of which parts are CAN FD specific. While at it, fix a typo: transiver -> transceiver. Signed-off-by: Vincent Mailhol Link: https://patch.msgid.link/20250923-canxl-netlink-prep-v4-3-e720d28f66fe@kernel.org Signed-off-by: Marc Kleine-Budde

can: isotp: remove ISO 15675-2 specification version where possible

2024-06-20T09:52:56+00:00

With the new ISO 15765-2:2024 release the former documentation and comments have to be reworked. This patch removes the ISO specification version/date where possible. Signed-off-by: Oliver Hartkopp Acked-by: Vincent Mailhol Acked-by: Francesco Valla Link: https://lore.kernel.org/all/20240420194746.4885-1-socketcan@hartkopp.net Signed-off-by: Marc Kleine-Budde

can: canxl: add virtual CAN network identifier support

2024-02-13T10:47:13+00:00

CAN XL data frames contain an 8-bit virtual CAN network identifier (VCID). A VCID value of zero represents an 'untagged' CAN XL frame. To receive and send these optional VCIDs via CAN_RAW sockets a new socket option CAN_RAW_XL_VCID_OPTS is introduced to define/access VCID content: - tx: set the outgoing VCID value by the kernel (one fixed 8-bit value) - tx: pass through VCID values from the user space (e.g. for traffic replay) - rx: apply VCID receive filter (value/mask) to be passed to the user space With the 'tx pass through' option CAN_RAW_XL_VCID_TX_PASS all valid VCID values can be sent, e.g. to replay full qualified CAN XL traffic. The VCID value provided for the CAN_RAW_XL_VCID_TX_SET option will override the VCID value in the struct canxl_frame.prio defined for CAN_RAW_XL_VCID_TX_PASS when both flags are set. With a rx_vcid_mask of zero all possible VCID values (0x00 - 0xFF) are passed to the user space when the CAN_RAW_XL_VCID_RX_FILTER flag is set. Without this flag only untagged CAN XL frames (VCID = 0x00) are delivered to the user space (default). The 8-bit VCID is stored inside the CAN XL prio element (only in CAN XL frames!) to not interfere with other CAN content or the CAN filters provided by the CAN_RAW sockets and kernel infrastruture. Signed-off-by: Oliver Hartkopp Link: https://lore.kernel.org/all/20240212213550.18516-1-socketcan@hartkopp.net Signed-off-by: Marc Kleine-Budde

can: isotp: support dynamic flow control parameters

2024-02-12T15:55:40+00:00

The ISO15765-2 standard supports to take the PDUs communication parameters blocksize (BS) and Separation Time minimum (STmin) either from the first received flow control (FC) "static" or from every received FC "dynamic". Add a new CAN_ISOTP_DYN_FC_PARMS flag to support dynamic FC parameters. Signed-off-by: Oliver Hartkopp Link: https://lore.kernel.org/all/20231208165729.3011-1-socketcan@hartkopp.net Signed-off-by: Marc Kleine-Budde

can: uapi: move CAN_RAW_FILTER_MAX definition to raw.h

2023-06-22T07:44:28+00:00

CAN_RAW_FILTER_MAX is only relevant for CAN_RAW sockets and used in linux/can/raw.c or in userspace applications that include the raw.h file anyway. Signed-off-by: Oliver Hartkopp Link: https://lore.kernel.org/all/20230609121051.9631-1-socketcan@hartkopp.net Signed-off-by: Marc Kleine-Budde

can: raw: add CAN XL support

2022-09-15T07:08:09+00:00

Enable CAN_RAW sockets to read and write CAN XL frames analogue to the CAN FD extension (new CAN_RAW_XL_FRAMES sockopt). A CAN XL network interface is capable to handle Classical CAN, CAN FD and CAN XL frames. When CAN_RAW_XL_FRAMES is enabled, the CAN_RAW socket checks whether the addressed CAN network interface is capable to handle the provided CAN frame. In opposite to the fixed number of bytes for - CAN frames (CAN_MTU = sizeof(struct can_frame)) - CAN FD frames (CANFD_MTU = sizeof(struct can_frame)) the number of bytes when reading/writing CAN XL frames depends on the number of data bytes. For efficiency reasons the length of the struct canxl_frame is truncated to the needed size for read/write operations. This leads to a calculated size of CANXL_HDR_SIZE + canxl_frame::len which is enforced on write() operations and guaranteed on read() operations. NB: Valid length values are 1 .. 2048 (CANXL_MIN_DLEN .. CANXL_MAX_DLEN). Acked-by: Vincent Mailhol Signed-off-by: Oliver Hartkopp Link: https://lore.kernel.org/all/20220912170725.120748-8-socketcan@hartkopp.net Signed-off-by: Marc Kleine-Budde