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Diffstat (limited to 'Documentation/networking/can.txt')
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diff --git a/Documentation/networking/can.txt b/Documentation/networking/can.txt index 2035bc4932f..2236d6dcb7d 100644 --- a/Documentation/networking/can.txt +++ b/Documentation/networking/can.txt @@ -2,31 +2,38 @@ can.txt -Readme file for the Controller Area Network Protocol Family (aka Socket CAN) +Readme file for the Controller Area Network Protocol Family (aka SocketCAN) This file contains - 1 Overview / What is Socket CAN + 1 Overview / What is SocketCAN 2 Motivation / Why using the socket API - 3 Socket CAN concept + 3 SocketCAN concept 3.1 receive lists 3.2 local loopback of sent frames - 3.3 network security issues (capabilities) - 3.4 network problem notifications + 3.3 network problem notifications - 4 How to use Socket CAN + 4 How to use SocketCAN 4.1 RAW protocol sockets with can_filters (SOCK_RAW) 4.1.1 RAW socket option CAN_RAW_FILTER 4.1.2 RAW socket option CAN_RAW_ERR_FILTER 4.1.3 RAW socket option CAN_RAW_LOOPBACK 4.1.4 RAW socket option CAN_RAW_RECV_OWN_MSGS + 4.1.5 RAW socket option CAN_RAW_FD_FRAMES + 4.1.6 RAW socket returned message flags 4.2 Broadcast Manager protocol sockets (SOCK_DGRAM) + 4.2.1 Broadcast Manager operations + 4.2.2 Broadcast Manager message flags + 4.2.3 Broadcast Manager transmission timers + 4.2.4 Broadcast Manager message sequence transmission + 4.2.5 Broadcast Manager receive filter timers + 4.2.6 Broadcast Manager multiplex message receive filter 4.3 connected transport protocols (SOCK_SEQPACKET) 4.4 unconnected transport protocols (SOCK_DGRAM) - 5 Socket CAN core module + 5 SocketCAN core module 5.1 can.ko module params 5.2 procfs content 5.3 writing own CAN protocol modules @@ -36,21 +43,27 @@ This file contains 6.2 local loopback of sent frames 6.3 CAN controller hardware filters 6.4 The virtual CAN driver (vcan) - 6.5 currently supported CAN hardware - 6.6 todo + 6.5 The CAN network device driver interface + 6.5.1 Netlink interface to set/get devices properties + 6.5.2 Setting the CAN bit-timing + 6.5.3 Starting and stopping the CAN network device + 6.6 CAN FD (flexible data rate) driver support + 6.7 supported CAN hardware - 7 Credits + 7 SocketCAN resources + + 8 Credits ============================================================================ -1. Overview / What is Socket CAN +1. Overview / What is SocketCAN -------------------------------- The socketcan package is an implementation of CAN protocols (Controller Area Network) for Linux. CAN is a networking technology which has widespread use in automation, embedded devices, and automotive fields. While there have been other CAN implementations -for Linux based on character devices, Socket CAN uses the Berkeley +for Linux based on character devices, SocketCAN uses the Berkeley socket API, the Linux network stack and implements the CAN device drivers as network interfaces. The CAN socket API has been designed as similar as possible to the TCP/IP protocols to allow programmers, @@ -60,7 +73,7 @@ sockets. 2. Motivation / Why using the socket API ---------------------------------------- -There have been CAN implementations for Linux before Socket CAN so the +There have been CAN implementations for Linux before SocketCAN so the question arises, why we have started another project. Most existing implementations come as a device driver for some CAN hardware, they are based on character devices and provide comparatively little @@ -75,10 +88,10 @@ the CAN controller requires employment of another device driver and often the need for adaption of large parts of the application to the new driver's API. -Socket CAN was designed to overcome all of these limitations. A new +SocketCAN was designed to overcome all of these limitations. A new protocol family has been implemented which provides a socket interface to user space applications and which builds upon the Linux network -layer, so to use all of the provided queueing functionality. A device +layer, enabling use all of the provided queueing functionality. A device driver for CAN controller hardware registers itself with the Linux network layer as a network device, so that CAN frames from the controller can be passed up to the network layer and on to the CAN @@ -132,15 +145,15 @@ solution for a couple of reasons: providing an API for device drivers to register with. However, then it would be no more difficult, or may be even easier, to use the networking framework provided by the Linux kernel, and this is what - Socket CAN does. + SocketCAN does. The use of the networking framework of the Linux kernel is just the natural and most appropriate way to implement CAN for Linux. -3. Socket CAN concept +3. SocketCAN concept --------------------- - As described in chapter 2 it is the main goal of Socket CAN to + As described in chapter 2 it is the main goal of SocketCAN to provide a socket interface to user space applications which builds upon the Linux network layer. In contrast to the commonly known TCP/IP and ethernet networking, the CAN bus is a broadcast-only(!) @@ -154,11 +167,11 @@ solution for a couple of reasons: The network transparent access of multiple applications leads to the problem that different applications may be interested in the same - CAN-IDs from the same CAN network interface. The Socket CAN core + CAN-IDs from the same CAN network interface. The SocketCAN core module - which implements the protocol family CAN - provides several high efficient receive lists for this reason. If e.g. a user space application opens a CAN RAW socket, the raw protocol module itself - requests the (range of) CAN-IDs from the Socket CAN core that are + requests the (range of) CAN-IDs from the SocketCAN core that are requested by the user. The subscription and unsubscription of CAN-IDs can be done for specific CAN interfaces or for all(!) known CAN interfaces with the can_rx_(un)register() functions provided to @@ -203,21 +216,7 @@ solution for a couple of reasons: * = you really like to have this when you're running analyser tools like 'candump' or 'cansniffer' on the (same) node. - 3.3 network security issues (capabilities) - - The Controller Area Network is a local field bus transmitting only - broadcast messages without any routing and security concepts. - In the majority of cases the user application has to deal with - raw CAN frames. Therefore it might be reasonable NOT to restrict - the CAN access only to the user root, as known from other networks. - Since the currently implemented CAN_RAW and CAN_BCM sockets can only - send and receive frames to/from CAN interfaces it does not affect - security of others networks to allow all users to access the CAN. - To enable non-root users to access CAN_RAW and CAN_BCM protocol - sockets the Kconfig options CAN_RAW_USER and/or CAN_BCM_USER may be - selected at kernel compile time. - - 3.4 network problem notifications + 3.3 network problem notifications The use of the CAN bus may lead to several problems on the physical and media access control layer. Detecting and logging of these lower @@ -226,20 +225,22 @@ solution for a couple of reasons: arbitration problems and error frames caused by the different ECUs. The occurrence of detected errors are important for diagnosis and have to be logged together with the exact timestamp. For this - reason the CAN interface driver can generate so called Error Frames - that can optionally be passed to the user application in the same - way as other CAN frames. Whenever an error on the physical layer + reason the CAN interface driver can generate so called Error Message + Frames that can optionally be passed to the user application in the + same way as other CAN frames. Whenever an error on the physical layer or the MAC layer is detected (e.g. by the CAN controller) the driver - creates an appropriate error frame. Error frames can be requested by - the user application using the common CAN filter mechanisms. Inside - this filter definition the (interested) type of errors may be - selected. The reception of error frames is disabled by default. - -4. How to use Socket CAN + creates an appropriate error message frame. Error messages frames can + be requested by the user application using the common CAN filter + mechanisms. Inside this filter definition the (interested) type of + errors may be selected. The reception of error messages is disabled + by default. The format of the CAN error message frame is briefly + described in the Linux header file "include/linux/can/error.h". + +4. How to use SocketCAN ------------------------ Like TCP/IP, you first need to open a socket for communicating over a - CAN network. Since Socket CAN implements a new protocol family, you + CAN network. Since SocketCAN implements a new protocol family, you need to pass PF_CAN as the first argument to the socket(2) system call. Currently, there are two CAN protocols to choose from, the raw socket protocol and the broadcast manager (BCM). So to open a socket, @@ -265,13 +266,13 @@ solution for a couple of reasons: struct can_frame { canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ - __u8 can_dlc; /* data length code: 0 .. 8 */ + __u8 can_dlc; /* frame payload length in byte (0 .. 8) */ __u8 data[8] __attribute__((aligned(8))); }; The alignment of the (linear) payload data[] to a 64bit boundary - allows the user to define own structs and unions to easily access the - CAN payload. There is no given byteorder on the CAN bus by + allows the user to define their own structs and unions to easily access + the CAN payload. There is no given byteorder on the CAN bus by default. A read(2) system call on a CAN_RAW socket transfers a struct can_frame to the user space. @@ -327,7 +328,7 @@ solution for a couple of reasons: return 1; } - /* paraniod check ... */ + /* paranoid check ... */ if (nbytes < sizeof(struct can_frame)) { fprintf(stderr, "read: incomplete CAN frame\n"); return 1; @@ -367,6 +368,51 @@ solution for a couple of reasons: nbytes = sendto(s, &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, sizeof(addr)); + Remark about CAN FD (flexible data rate) support: + + Generally the handling of CAN FD is very similar to the formerly described + examples. The new CAN FD capable CAN controllers support two different + bitrates for the arbitration phase and the payload phase of the CAN FD frame + and up to 64 bytes of payload. This extended payload length breaks all the + kernel interfaces (ABI) which heavily rely on the CAN frame with fixed eight + bytes of payload (struct can_frame) like the CAN_RAW socket. Therefore e.g. + the CAN_RAW socket supports a new socket option CAN_RAW_FD_FRAMES that + switches the socket into a mode that allows the handling of CAN FD frames + and (legacy) CAN frames simultaneously (see section 4.1.5). + + The struct canfd_frame is defined in include/linux/can.h: + + struct canfd_frame { + canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ + __u8 len; /* frame payload length in byte (0 .. 64) */ + __u8 flags; /* additional flags for CAN FD */ + __u8 __res0; /* reserved / padding */ + __u8 __res1; /* reserved / padding */ + __u8 data[64] __attribute__((aligned(8))); + }; + + The struct canfd_frame and the existing struct can_frame have the can_id, + the payload length and the payload data at the same offset inside their + structures. This allows to handle the different structures very similar. + When the content of a struct can_frame is copied into a struct canfd_frame + all structure elements can be used as-is - only the data[] becomes extended. + + When introducing the struct canfd_frame it turned out that the data length + code (DLC) of the struct can_frame was used as a length information as the + length and the DLC has a 1:1 mapping in the range of 0 .. 8. To preserve + the easy handling of the length information the canfd_frame.len element + contains a plain length value from 0 .. 64. So both canfd_frame.len and + can_frame.can_dlc are equal and contain a length information and no DLC. + For details about the distinction of CAN and CAN FD capable devices and + the mapping to the bus-relevant data length code (DLC), see chapter 6.6. + + The length of the two CAN(FD) frame structures define the maximum transfer + unit (MTU) of the CAN(FD) network interface and skbuff data length. Two + definitions are specified for CAN specific MTUs in include/linux/can.h : + + #define CAN_MTU (sizeof(struct can_frame)) == 16 => 'legacy' CAN frame + #define CANFD_MTU (sizeof(struct canfd_frame)) == 72 => CAN FD frame + 4.1 RAW protocol sockets with can_filters (SOCK_RAW) Using CAN_RAW sockets is extensively comparable to the commonly @@ -375,7 +421,7 @@ solution for a couple of reasons: defaults are set at RAW socket binding time: - The filters are set to exactly one filter receiving everything - - The socket only receives valid data frames (=> no error frames) + - The socket only receives valid data frames (=> no error message frames) - The loopback of sent CAN frames is enabled (see chapter 3.2) - The socket does not receive its own sent frames (in loopback mode) @@ -418,15 +464,50 @@ solution for a couple of reasons: setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); - To set the filters to zero filters is quite obsolete as not read + To set the filters to zero filters is quite obsolete as to not read data causes the raw socket to discard the received CAN frames. But having this 'send only' use-case we may remove the receive list in the Kernel to save a little (really a very little!) CPU usage. + 4.1.1.1 CAN filter usage optimisation + + The CAN filters are processed in per-device filter lists at CAN frame + reception time. To reduce the number of checks that need to be performed + while walking through the filter lists the CAN core provides an optimized + filter handling when the filter subscription focusses on a single CAN ID. + + For the possible 2048 SFF CAN identifiers the identifier is used as an index + to access the corresponding subscription list without any further checks. + For the 2^29 possible EFF CAN identifiers a 10 bit XOR folding is used as + hash function to retrieve the EFF table index. + + To benefit from the optimized filters for single CAN identifiers the + CAN_SFF_MASK or CAN_EFF_MASK have to be set into can_filter.mask together + with set CAN_EFF_FLAG and CAN_RTR_FLAG bits. A set CAN_EFF_FLAG bit in the + can_filter.mask makes clear that it matters whether a SFF or EFF CAN ID is + subscribed. E.g. in the example from above + + rfilter[0].can_id = 0x123; + rfilter[0].can_mask = CAN_SFF_MASK; + + both SFF frames with CAN ID 0x123 and EFF frames with 0xXXXXX123 can pass. + + To filter for only 0x123 (SFF) and 0x12345678 (EFF) CAN identifiers the + filter has to be defined in this way to benefit from the optimized filters: + + struct can_filter rfilter[2]; + + rfilter[0].can_id = 0x123; + rfilter[0].can_mask = (CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_SFF_MASK); + rfilter[1].can_id = 0x12345678 | CAN_EFF_FLAG; + rfilter[1].can_mask = (CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_EFF_MASK); + + setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter)); + 4.1.2 RAW socket option CAN_RAW_ERR_FILTER As described in chapter 3.4 the CAN interface driver can generate so - called Error Frames that can optionally be passed to the user + called Error Message Frames that can optionally be passed to the user application in the same way as other CAN frames. The possible errors are divided into different error classes that may be filtered using the appropriate error mask. To register for every possible @@ -464,22 +545,300 @@ solution for a couple of reasons: setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &recv_own_msgs, sizeof(recv_own_msgs)); + 4.1.5 RAW socket option CAN_RAW_FD_FRAMES + + CAN FD support in CAN_RAW sockets can be enabled with a new socket option + CAN_RAW_FD_FRAMES which is off by default. When the new socket option is + not supported by the CAN_RAW socket (e.g. on older kernels), switching the + CAN_RAW_FD_FRAMES option returns the error -ENOPROTOOPT. + + Once CAN_RAW_FD_FRAMES is enabled the application can send both CAN frames + and CAN FD frames. OTOH the application has to handle CAN and CAN FD frames + when reading from the socket. + + CAN_RAW_FD_FRAMES enabled: CAN_MTU and CANFD_MTU are allowed + CAN_RAW_FD_FRAMES disabled: only CAN_MTU is allowed (default) + + Example: + [ remember: CANFD_MTU == sizeof(struct canfd_frame) ] + + struct canfd_frame cfd; + + nbytes = read(s, &cfd, CANFD_MTU); + + if (nbytes == CANFD_MTU) { + printf("got CAN FD frame with length %d\n", cfd.len); + /* cfd.flags contains valid data */ + } else if (nbytes == CAN_MTU) { + printf("got legacy CAN frame with length %d\n", cfd.len); + /* cfd.flags is undefined */ + } else { + fprintf(stderr, "read: invalid CAN(FD) frame\n"); + return 1; + } + + /* the content can be handled independently from the received MTU size */ + + printf("can_id: %X data length: %d data: ", cfd.can_id, cfd.len); + for (i = 0; i < cfd.len; i++) + printf("%02X ", cfd.data[i]); + + When reading with size CANFD_MTU only returns CAN_MTU bytes that have + been received from the socket a legacy CAN frame has been read into the + provided CAN FD structure. Note that the canfd_frame.flags data field is + not specified in the struct can_frame and therefore it is only valid in + CANFD_MTU sized CAN FD frames. + + Implementation hint for new CAN applications: + + To build a CAN FD aware application use struct canfd_frame as basic CAN + data structure for CAN_RAW based applications. When the application is + executed on an older Linux kernel and switching the CAN_RAW_FD_FRAMES + socket option returns an error: No problem. You'll get legacy CAN frames + or CAN FD frames and can process them the same way. + + When sending to CAN devices make sure that the device is capable to handle + CAN FD frames by checking if the device maximum transfer unit is CANFD_MTU. + The CAN device MTU can be retrieved e.g. with a SIOCGIFMTU ioctl() syscall. + + 4.1.6 RAW socket returned message flags + + When using recvmsg() call, the msg->msg_flags may contain following flags: + + MSG_DONTROUTE: set when the received frame was created on the local host. + + MSG_CONFIRM: set when the frame was sent via the socket it is received on. + This flag can be interpreted as a 'transmission confirmation' when the + CAN driver supports the echo of frames on driver level, see 3.2 and 6.2. + In order to receive such messages, CAN_RAW_RECV_OWN_MSGS must be set. + 4.2 Broadcast Manager protocol sockets (SOCK_DGRAM) + + The Broadcast Manager protocol provides a command based configuration + interface to filter and send (e.g. cyclic) CAN messages in kernel space. + + Receive filters can be used to down sample frequent messages; detect events + such as message contents changes, packet length changes, and do time-out + monitoring of received messages. + + Periodic transmission tasks of CAN frames or a sequence of CAN frames can be + created and modified at runtime; both the message content and the two + possible transmit intervals can be altered. + + A BCM socket is not intended for sending individual CAN frames using the + struct can_frame as known from the CAN_RAW socket. Instead a special BCM + configuration message is defined. The basic BCM configuration message used + to communicate with the broadcast manager and the available operations are + defined in the linux/can/bcm.h include. The BCM message consists of a + message header with a command ('opcode') followed by zero or more CAN frames. + The broadcast manager sends responses to user space in the same form: + + struct bcm_msg_head { + __u32 opcode; /* command */ + __u32 flags; /* special flags */ + __u32 count; /* run 'count' times with ival1 */ + struct timeval ival1, ival2; /* count and subsequent interval */ + canid_t can_id; /* unique can_id for task */ + __u32 nframes; /* number of can_frames following */ + struct can_frame frames[0]; + }; + + The aligned payload 'frames' uses the same basic CAN frame structure defined + at the beginning of section 4 and in the include/linux/can.h include. All + messages to the broadcast manager from user space have this structure. + + Note a CAN_BCM socket must be connected instead of bound after socket + creation (example without error checking): + + int s; + struct sockaddr_can addr; + struct ifreq ifr; + + s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM); + + strcpy(ifr.ifr_name, "can0"); + ioctl(s, SIOCGIFINDEX, &ifr); + + addr.can_family = AF_CAN; + addr.can_ifindex = ifr.ifr_ifindex; + + connect(s, (struct sockaddr *)&addr, sizeof(addr)) + + (..) + + The broadcast manager socket is able to handle any number of in flight + transmissions or receive filters concurrently. The different RX/TX jobs are + distinguished by the unique can_id in each BCM message. However additional + CAN_BCM sockets are recommended to communicate on multiple CAN interfaces. + When the broadcast manager socket is bound to 'any' CAN interface (=> the + interface index is set to zero) the configured receive filters apply to any + CAN interface unless the sendto() syscall is used to overrule the 'any' CAN + interface index. When using recvfrom() instead of read() to retrieve BCM + socket messages the originating CAN interface is provided in can_ifindex. + + 4.2.1 Broadcast Manager operations + + The opcode defines the operation for the broadcast manager to carry out, + or details the broadcast managers response to several events, including + user requests. + + Transmit Operations (user space to broadcast manager): + + TX_SETUP: Create (cyclic) transmission task. + + TX_DELETE: Remove (cyclic) transmission task, requires only can_id. + + TX_READ: Read properties of (cyclic) transmission task for can_id. + + TX_SEND: Send one CAN frame. + + Transmit Responses (broadcast manager to user space): + + TX_STATUS: Reply to TX_READ request (transmission task configuration). + + TX_EXPIRED: Notification when counter finishes sending at initial interval + 'ival1'. Requires the TX_COUNTEVT flag to be set at TX_SETUP. + + Receive Operations (user space to broadcast manager): + + RX_SETUP: Create RX content filter subscription. + + RX_DELETE: Remove RX content filter subscription, requires only can_id. + + RX_READ: Read properties of RX content filter subscription for can_id. + + Receive Responses (broadcast manager to user space): + + RX_STATUS: Reply to RX_READ request (filter task configuration). + + RX_TIMEOUT: Cyclic message is detected to be absent (timer ival1 expired). + + RX_CHANGED: BCM message with updated CAN frame (detected content change). + Sent on first message received or on receipt of revised CAN messages. + + 4.2.2 Broadcast Manager message flags + + When sending a message to the broadcast manager the 'flags' element may + contain the following flag definitions which influence the behaviour: + + SETTIMER: Set the values of ival1, ival2 and count + + STARTTIMER: Start the timer with the actual values of ival1, ival2 + and count. Starting the timer leads simultaneously to emit a CAN frame. + + TX_COUNTEVT: Create the message TX_EXPIRED when count expires + + TX_ANNOUNCE: A change of data by the process is emitted immediately. + + TX_CP_CAN_ID: Copies the can_id from the message header to each + subsequent frame in frames. This is intended as usage simplification. For + TX tasks the unique can_id from the message header may differ from the + can_id(s) stored for transmission in the subsequent struct can_frame(s). + + RX_FILTER_ID: Filter by can_id alone, no frames required (nframes=0). + + RX_CHECK_DLC: A change of the DLC leads to an RX_CHANGED. + + RX_NO_AUTOTIMER: Prevent automatically starting the timeout monitor. + + RX_ANNOUNCE_RESUME: If passed at RX_SETUP and a receive timeout occurred, a + RX_CHANGED message will be generated when the (cyclic) receive restarts. + + TX_RESET_MULTI_IDX: Reset the index for the multiple frame transmission. + + RX_RTR_FRAME: Send reply for RTR-request (placed in op->frames[0]). + + 4.2.3 Broadcast Manager transmission timers + + Periodic transmission configurations may use up to two interval timers. + In this case the BCM sends a number of messages ('count') at an interval + 'ival1', then continuing to send at another given interval 'ival2'. When + only one timer is needed 'count' is set to zero and only 'ival2' is used. + When SET_TIMER and START_TIMER flag were set the timers are activated. + The timer values can be altered at runtime when only SET_TIMER is set. + + 4.2.4 Broadcast Manager message sequence transmission + + Up to 256 CAN frames can be transmitted in a sequence in the case of a cyclic + TX task configuration. The number of CAN frames is provided in the 'nframes' + element of the BCM message head. The defined number of CAN frames are added + as array to the TX_SETUP BCM configuration message. + + /* create a struct to set up a sequence of four CAN frames */ + struct { + struct bcm_msg_head msg_head; + struct can_frame frame[4]; + } mytxmsg; + + (..) + mytxmsg.nframes = 4; + (..) + + write(s, &mytxmsg, sizeof(mytxmsg)); + + With every transmission the index in the array of CAN frames is increased + and set to zero at index overflow. + + 4.2.5 Broadcast Manager receive filter timers + + The timer values ival1 or ival2 may be set to non-zero values at RX_SETUP. + When the SET_TIMER flag is set the timers are enabled: + + ival1: Send RX_TIMEOUT when a received message is not received again within + the given time. When START_TIMER is set at RX_SETUP the timeout detection + is activated directly - even without a former CAN frame reception. + + ival2: Throttle the received message rate down to the value of ival2. This + is useful to reduce messages for the application when the signal inside the + CAN frame is stateless as state changes within the ival2 periode may get + lost. + + 4.2.6 Broadcast Manager multiplex message receive filter + + To filter for content changes in multiplex message sequences an array of more + than one CAN frames can be passed in a RX_SETUP configuration message. The + data bytes of the first CAN frame contain the mask of relevant bits that + have to match in the subsequent CAN frames with the received CAN frame. + If one of the subsequent CAN frames is matching the bits in that frame data + mark the relevant content to be compared with the previous received content. + Up to 257 CAN frames (multiplex filter bit mask CAN frame plus 256 CAN + filters) can be added as array to the TX_SETUP BCM configuration message. + + /* usually used to clear CAN frame data[] - beware of endian problems! */ + #define U64_DATA(p) (*(unsigned long long*)(p)->data) + + struct { + struct bcm_msg_head msg_head; + struct can_frame frame[5]; + } msg; + + msg.msg_head.opcode = RX_SETUP; + msg.msg_head.can_id = 0x42; + msg.msg_head.flags = 0; + msg.msg_head.nframes = 5; + U64_DATA(&msg.frame[0]) = 0xFF00000000000000ULL; /* MUX mask */ + U64_DATA(&msg.frame[1]) = 0x01000000000000FFULL; /* data mask (MUX 0x01) */ + U64_DATA(&msg.frame[2]) = 0x0200FFFF000000FFULL; /* data mask (MUX 0x02) */ + U64_DATA(&msg.frame[3]) = 0x330000FFFFFF0003ULL; /* data mask (MUX 0x33) */ + U64_DATA(&msg.frame[4]) = 0x4F07FC0FF0000000ULL; /* data mask (MUX 0x4F) */ + + write(s, &msg, sizeof(msg)); + 4.3 connected transport protocols (SOCK_SEQPACKET) 4.4 unconnected transport protocols (SOCK_DGRAM) -5. Socket CAN core module +5. SocketCAN core module ------------------------- - The Socket CAN core module implements the protocol family + The SocketCAN core module implements the protocol family PF_CAN. CAN protocol modules are loaded by the core module at runtime. The core module provides an interface for CAN protocol modules to subscribe needed CAN IDs (see chapter 3.1). 5.1 can.ko module params - - stats_timer: To calculate the Socket CAN core statistics + - stats_timer: To calculate the SocketCAN core statistics (e.g. current/maximum frames per second) this 1 second timer is invoked at can.ko module start time by default. This timer can be disabled by using stattimer=0 on the module commandline. @@ -488,7 +847,7 @@ solution for a couple of reasons: 5.2 procfs content - As described in chapter 3.1 the Socket CAN core uses several filter + As described in chapter 3.1 the SocketCAN core uses several filter lists to deliver received CAN frames to CAN protocol modules. These receive lists, their filters and the count of filter matches can be checked in the appropriate receive list. All entries contain the @@ -508,22 +867,22 @@ solution for a couple of reasons: rcvlist_all - list for unfiltered entries (no filter operations) rcvlist_eff - list for single extended frame (EFF) entries - rcvlist_err - list for error frames masks + rcvlist_err - list for error message frames masks rcvlist_fil - list for mask/value filters rcvlist_inv - list for mask/value filters (inverse semantic) rcvlist_sff - list for single standard frame (SFF) entries Additional procfs files in /proc/net/can - stats - Socket CAN core statistics (rx/tx frames, match ratios, ...) + stats - SocketCAN core statistics (rx/tx frames, match ratios, ...) reset_stats - manual statistic reset - version - prints the Socket CAN core version and the ABI version + version - prints the SocketCAN core version and the ABI version 5.3 writing own CAN protocol modules To implement a new protocol in the protocol family PF_CAN a new protocol has to be defined in include/linux/can.h . - The prototypes and definitions to use the Socket CAN core can be + The prototypes and definitions to use the SocketCAN core can be accessed by including include/linux/can/core.h . In addition to functions that register the CAN protocol and the CAN device notifier chain there are functions to subscribe CAN @@ -554,10 +913,13 @@ solution for a couple of reasons: dev->type = ARPHRD_CAN; /* the netdevice hardware type */ dev->flags = IFF_NOARP; /* CAN has no arp */ - dev->mtu = sizeof(struct can_frame); + dev->mtu = CAN_MTU; /* sizeof(struct can_frame) -> legacy CAN interface */ + + or alternative, when the controller supports CAN with flexible data rate: + dev->mtu = CANFD_MTU; /* sizeof(struct canfd_frame) -> CAN FD interface */ - The struct can_frame is the payload of each socket buffer in the - protocol family PF_CAN. + The struct can_frame or struct canfd_frame is the payload of each socket + buffer (skbuff) in the protocol family PF_CAN. 6.2 local loopback of sent frames @@ -605,61 +967,234 @@ solution for a couple of reasons: removal of vcan network devices can be managed with the ip(8) tool: - Create a virtual CAN network interface: - ip link add type vcan + $ ip link add type vcan - Create a virtual CAN network interface with a specific name 'vcan42': - ip link add dev vcan42 type vcan + $ ip link add dev vcan42 type vcan - Remove a (virtual CAN) network interface 'vcan42': - ip link del vcan42 - - The tool 'vcan' from the SocketCAN SVN repository on BerliOS is obsolete. + $ ip link del vcan42 + + 6.5 The CAN network device driver interface + + The CAN network device driver interface provides a generic interface + to setup, configure and monitor CAN network devices. The user can then + configure the CAN device, like setting the bit-timing parameters, via + the netlink interface using the program "ip" from the "IPROUTE2" + utility suite. The following chapter describes briefly how to use it. + Furthermore, the interface uses a common data structure and exports a + set of common functions, which all real CAN network device drivers + should use. Please have a look to the SJA1000 or MSCAN driver to + understand how to use them. The name of the module is can-dev.ko. + + 6.5.1 Netlink interface to set/get devices properties + + The CAN device must be configured via netlink interface. The supported + netlink message types are defined and briefly described in + "include/linux/can/netlink.h". CAN link support for the program "ip" + of the IPROUTE2 utility suite is available and it can be used as shown + below: + + - Setting CAN device properties: + + $ ip link set can0 type can help + Usage: ip link set DEVICE type can + [ bitrate BITRATE [ sample-point SAMPLE-POINT] ] | + [ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1 + phase-seg2 PHASE-SEG2 [ sjw SJW ] ] + + [ loopback { on | off } ] + [ listen-only { on | off } ] + [ triple-sampling { on | off } ] + + [ restart-ms TIME-MS ] + [ restart ] + + Where: BITRATE := { 1..1000000 } + SAMPLE-POINT := { 0.000..0.999 } + TQ := { NUMBER } + PROP-SEG := { 1..8 } + PHASE-SEG1 := { 1..8 } + PHASE-SEG2 := { 1..8 } + SJW := { 1..4 } + RESTART-MS := { 0 | NUMBER } + + - Display CAN device details and statistics: + + $ ip -details -statistics link show can0 + 2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP qlen 10 + link/can + can <TRIPLE-SAMPLING> state ERROR-ACTIVE restart-ms 100 + bitrate 125000 sample_point 0.875 + tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 + sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 + clock 8000000 + re-started bus-errors arbit-lost error-warn error-pass bus-off + 41 17457 0 41 42 41 + RX: bytes packets errors dropped overrun mcast + 140859 17608 17457 0 0 0 + TX: bytes packets errors dropped carrier collsns + 861 112 0 41 0 0 + + More info to the above output: + + "<TRIPLE-SAMPLING>" + Shows the list of selected CAN controller modes: LOOPBACK, + LISTEN-ONLY, or TRIPLE-SAMPLING. + + "state ERROR-ACTIVE" + The current state of the CAN controller: "ERROR-ACTIVE", + "ERROR-WARNING", "ERROR-PASSIVE", "BUS-OFF" or "STOPPED" + + "restart-ms 100" + Automatic restart delay time. If set to a non-zero value, a + restart of the CAN controller will be triggered automatically + in case of a bus-off condition after the specified delay time + in milliseconds. By default it's off. + + "bitrate 125000 sample-point 0.875" + Shows the real bit-rate in bits/sec and the sample-point in the + range 0.000..0.999. If the calculation of bit-timing parameters + is enabled in the kernel (CONFIG_CAN_CALC_BITTIMING=y), the + bit-timing can be defined by setting the "bitrate" argument. + Optionally the "sample-point" can be specified. By default it's + 0.000 assuming CIA-recommended sample-points. + + "tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1" + Shows the time quanta in ns, propagation segment, phase buffer + segment 1 and 2 and the synchronisation jump width in units of + tq. They allow to define the CAN bit-timing in a hardware + independent format as proposed by the Bosch CAN 2.0 spec (see + chapter 8 of http://www.semiconductors.bosch.de/pdf/can2spec.pdf). + + "sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 + clock 8000000" + Shows the bit-timing constants of the CAN controller, here the + "sja1000". The minimum and maximum values of the time segment 1 + and 2, the synchronisation jump width in units of tq, the + bitrate pre-scaler and the CAN system clock frequency in Hz. + These constants could be used for user-defined (non-standard) + bit-timing calculation algorithms in user-space. + + "re-started bus-errors arbit-lost error-warn error-pass bus-off" + Shows the number of restarts, bus and arbitration lost errors, + and the state changes to the error-warning, error-passive and + bus-off state. RX overrun errors are listed in the "overrun" + field of the standard network statistics. + + 6.5.2 Setting the CAN bit-timing + + The CAN bit-timing parameters can always be defined in a hardware + independent format as proposed in the Bosch CAN 2.0 specification + specifying the arguments "tq", "prop_seg", "phase_seg1", "phase_seg2" + and "sjw": + + $ ip link set canX type can tq 125 prop-seg 6 \ + phase-seg1 7 phase-seg2 2 sjw 1 + + If the kernel option CONFIG_CAN_CALC_BITTIMING is enabled, CIA + recommended CAN bit-timing parameters will be calculated if the bit- + rate is specified with the argument "bitrate": + + $ ip link set canX type can bitrate 125000 + + Note that this works fine for the most common CAN controllers with + standard bit-rates but may *fail* for exotic bit-rates or CAN system + clock frequencies. Disabling CONFIG_CAN_CALC_BITTIMING saves some + space and allows user-space tools to solely determine and set the + bit-timing parameters. The CAN controller specific bit-timing + constants can be used for that purpose. They are listed by the + following command: + + $ ip -details link show can0 + ... + sja1000: clock 8000000 tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 + + 6.5.3 Starting and stopping the CAN network device + + A CAN network device is started or stopped as usual with the command + "ifconfig canX up/down" or "ip link set canX up/down". Be aware that + you *must* define proper bit-timing parameters for real CAN devices + before you can start it to avoid error-prone default settings: + + $ ip link set canX up type can bitrate 125000 + + A device may enter the "bus-off" state if too many errors occurred on + the CAN bus. Then no more messages are received or sent. An automatic + bus-off recovery can be enabled by setting the "restart-ms" to a + non-zero value, e.g.: + + $ ip link set canX type can restart-ms 100 + + Alternatively, the application may realize the "bus-off" condition + by monitoring CAN error message frames and do a restart when + appropriate with the command: + + $ ip link set canX type can restart + + Note that a restart will also create a CAN error message frame (see + also chapter 3.4). - Virtual CAN network device creation in older Kernels: - In Linux Kernel versions < 2.6.24 the vcan driver creates 4 vcan - netdevices at module load time by default. This value can be changed - with the module parameter 'numdev'. E.g. 'modprobe vcan numdev=8' + 6.6 CAN FD (flexible data rate) driver support + + CAN FD capable CAN controllers support two different bitrates for the + arbitration phase and the payload phase of the CAN FD frame. Therefore a + second bit timing has to be specified in order to enable the CAN FD bitrate. + + Additionally CAN FD capable CAN controllers support up to 64 bytes of + payload. The representation of this length in can_frame.can_dlc and + canfd_frame.len for userspace applications and inside the Linux network + layer is a plain value from 0 .. 64 instead of the CAN 'data length code'. + The data length code was a 1:1 mapping to the payload length in the legacy + CAN frames anyway. The payload length to the bus-relevant DLC mapping is + only performed inside the CAN drivers, preferably with the helper + functions can_dlc2len() and can_len2dlc(). - 6.5 currently supported CAN hardware + The CAN netdevice driver capabilities can be distinguished by the network + devices maximum transfer unit (MTU): + + MTU = 16 (CAN_MTU) => sizeof(struct can_frame) => 'legacy' CAN device + MTU = 72 (CANFD_MTU) => sizeof(struct canfd_frame) => CAN FD capable device - On the project website http://developer.berlios.de/projects/socketcan - there are different drivers available: + The CAN device MTU can be retrieved e.g. with a SIOCGIFMTU ioctl() syscall. + N.B. CAN FD capable devices can also handle and send legacy CAN frames. - vcan: Virtual CAN interface driver (if no real hardware is available) - sja1000: Philips SJA1000 CAN controller (recommended) - i82527: Intel i82527 CAN controller - mscan: Motorola/Freescale CAN controller (e.g. inside SOC MPC5200) - ccan: CCAN controller core (e.g. inside SOC h7202) - slcan: For a bunch of CAN adaptors that are attached via a - serial line ASCII protocol (for serial / USB adaptors) + FIXME: Add details about the CAN FD controller configuration when available. - Additionally the different CAN adaptors (ISA/PCI/PCMCIA/USB/Parport) - from PEAK Systemtechnik support the CAN netdevice driver model - since Linux driver v6.0: http://www.peak-system.com/linux/index.htm + 6.7 Supported CAN hardware - Please check the Mailing Lists on the berlios OSS project website. + Please check the "Kconfig" file in "drivers/net/can" to get an actual + list of the support CAN hardware. On the SocketCAN project website + (see chapter 7) there might be further drivers available, also for + older kernel versions. - 6.6 todo +7. SocketCAN resources +----------------------- - The configuration interface for CAN network drivers is still an open - issue that has not been finalized in the socketcan project. Also the - idea of having a library module (candev.ko) that holds functions - that are needed by all CAN netdevices is not ready to ship. - Your contribution is welcome. + The Linux CAN / SocketCAN project ressources (project site / mailing list) + are referenced in the MAINTAINERS file in the Linux source tree. + Search for CAN NETWORK [LAYERS|DRIVERS]. -7. Credits +8. Credits ---------- - Oliver Hartkopp (PF_CAN core, filters, drivers, bcm) + Oliver Hartkopp (PF_CAN core, filters, drivers, bcm, SJA1000 driver) Urs Thuermann (PF_CAN core, kernel integration, socket interfaces, raw, vcan) Jan Kizka (RT-SocketCAN core, Socket-API reconciliation) - Wolfgang Grandegger (RT-SocketCAN core & drivers, Raw Socket-API reviews) + Wolfgang Grandegger (RT-SocketCAN core & drivers, Raw Socket-API reviews, + CAN device driver interface, MSCAN driver) Robert Schwebel (design reviews, PTXdist integration) Marc Kleine-Budde (design reviews, Kernel 2.6 cleanups, drivers) Benedikt Spranger (reviews) Thomas Gleixner (LKML reviews, coding style, posting hints) - Andrey Volkov (kernel subtree structure, ioctls, mscan driver) + Andrey Volkov (kernel subtree structure, ioctls, MSCAN driver) Matthias Brukner (first SJA1000 CAN netdevice implementation Q2/2003) Klaus Hitschler (PEAK driver integration) Uwe Koppe (CAN netdevices with PF_PACKET approach) Michael Schulze (driver layer loopback requirement, RT CAN drivers review) + Pavel Pisa (Bit-timing calculation) + Sascha Hauer (SJA1000 platform driver) + Sebastian Haas (SJA1000 EMS PCI driver) + Markus Plessing (SJA1000 EMS PCI driver) + Per Dalen (SJA1000 Kvaser PCI driver) + Sam Ravnborg (reviews, coding style, kbuild help) |