diff --git a/include/linux/can.h b/include/linux/can.h
new file mode 100644
index 000000000..2b7d511ce
--- /dev/null
+++ b/include/linux/can.h
@@ -0,0 +1,302 @@
+/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
+/*
+ * linux/can.h
+ *
+ * Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
+ *
+ * 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 _UAPI_CAN_H
+#define _UAPI_CAN_H
+
+#include <linux/types.h>
+#include <linux/socket.h>
+#include <linux/stddef.h> /* for offsetof */
+
+/* controller area network (CAN) kernel definitions */
+
+/* special address description flags for the CAN_ID */
+#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
+#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
+#define CAN_ERR_FLAG 0x20000000U /* error message frame */
+
+/* valid bits in CAN ID for frame formats */
+#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
+ *
+ * bit 0-28 : CAN identifier (11/29 bit)
+ * bit 29 : error message frame flag (0 = data frame, 1 = error message)
+ * bit 30 : remote transmission request flag (1 = rtr frame)
+ * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
+ */
+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/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 - 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 */
+ 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 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:
+ *
+ * Bit Rate Switch - to indicate a second bitrate is/was used for the payload
+ * Error State Indicator - represents the error state of the transmitting node
+ *
+ * As the CANFD_ESI bit is internally generated by the transmitting CAN
+ * 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
+ * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
+ * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
+ * @flags: additional flags for CAN FD
+ * @__res0: reserved / padding
+ * @__res1: reserved / padding
+ * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
+ */
+struct canfd_frame {
+ canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
+ __u8 len; /* frame payload length in byte */
+ __u8 flags; /* additional flags for CAN FD */
+ __u8 __res0; /* reserved / padding */
+ __u8 __res1; /* reserved / padding */
+ __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 */
+#define CAN_BCM 2 /* Broadcast Manager */
+#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
+#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_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 <linux/socket.h>. 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.
+ * @can_ifindex: CAN network interface index.
+ * @can_addr: protocol specific address information
+ */
+struct sockaddr_can {
+ __kernel_sa_family_t can_family;
+ int can_ifindex;
+ union {
+ /* 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;
+};
+
+/**
+ * struct can_filter - CAN ID based filter in can_register().
+ * @can_id: relevant bits of CAN ID which are not masked out.
+ * @can_mask: CAN mask (see description)
+ *
+ * Description:
+ * A filter matches, when
+ *
+ * <received_can_id> & mask == can_id & mask
+ *
+ * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
+ * filter for error message frames (CAN_ERR_FLAG bit set in mask).
+ */
+struct can_filter {
+ canid_t can_id;
+ canid_t can_mask;
+};
+
+#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
+
+#endif /* !_UAPI_CAN_H */
diff --git a/include/linux/can/bcm.h b/include/linux/can/bcm.h
new file mode 100644
index 000000000..f1e45f533
--- /dev/null
+++ b/include/linux/can/bcm.h
@@ -0,0 +1,105 @@
+/* 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 _UAPI_CAN_BCM_H
+#define _UAPI_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[];
+};
+
+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 */
diff --git a/include/linux/can/error.h b/include/linux/can/error.h
new file mode 100644
index 000000000..acc1ac393
--- /dev/null
+++ b/include/linux/can/error.h
@@ -0,0 +1,143 @@
+/* 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 _UAPI_CAN_ERROR_H
+#define _UAPI_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 /* _UAPI_CAN_ERROR_H */
diff --git a/include/linux/can/gw.h b/include/linux/can/gw.h
new file mode 100644
index 000000000..e4f095755
--- /dev/null
+++ b/include/linux/can/gw.h
@@ -0,0 +1,222 @@
+/* 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 _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_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 */
diff --git a/include/linux/can/isotp.h b/include/linux/can/isotp.h
new file mode 100644
index 000000000..6cde62371
--- /dev/null
+++ b/include/linux/can/isotp.h
@@ -0,0 +1,183 @@
+/* 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 _UAPI_CAN_ISOTP_H
+#define _UAPI_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 */
diff --git a/include/linux/can/j1939.h b/include/linux/can/j1939.h
new file mode 100644
index 000000000..38936460f
--- /dev/null
+++ b/include/linux/can/j1939.h
@@ -0,0 +1,108 @@
+/* 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 _UAPI_CAN_J1939_H_
+#define _UAPI_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_ */
diff --git a/include/linux/can/netlink.h b/include/linux/can/netlink.h
new file mode 100644
index 000000000..02ec32d69
--- /dev/null
+++ b/include/linux/can/netlink.h
@@ -0,0 +1,185 @@
+/* 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 _UAPI_CAN_NETLINK_H
+#define _UAPI_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 */
diff --git a/include/linux/can/raw.h b/include/linux/can/raw.h
new file mode 100644
index 000000000..e024d896e
--- /dev/null
+++ b/include/linux/can/raw.h
@@ -0,0 +1,86 @@
+/* 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 _UAPI_CAN_RAW_H
+#define _UAPI_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 */
diff --git a/include/linux/can/vxcan.h b/include/linux/can/vxcan.h
new file mode 100644
index 000000000..4fa9d8777
--- /dev/null
+++ b/include/linux/can/vxcan.h
@@ -0,0 +1,13 @@
+/* SPDX-License-Identifier: GPL-2.0-only WITH Linux-syscall-note */
+#ifndef _UAPI_CAN_VXCAN_H
+#define _UAPI_CAN_VXCAN_H
+
+enum {
+ VXCAN_INFO_UNSPEC,
+ VXCAN_INFO_PEER,
+
+ __VXCAN_INFO_MAX
+#define VXCAN_INFO_MAX (__VXCAN_INFO_MAX - 1)
+};
+
+#endif