| Message ID | 20201109102618.2495-6-socketcan@hartkopp.net |
|---|---|
| State | New |
| Headers | show |
| Series | [v4,1/7] can: add optional DLC element to Classical CAN frame structure | expand |
On Mon. 9 Nov 2020 at 19:26, Oliver Hartkopp wrote: > > The extension of struct can_frame with the len8_dlc element and the > can_dlc naming issue required an update of the documentation. > > Additionally introduce the term 'Classical CAN' which has been established > by CAN in Automation to separate the original CAN2.0 A/B from CAN FD. > > Updated some data structures and flags. > > Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net> > --- > Documentation/networking/can.rst | 68 ++++++++++++++++++++++++-------- > 1 file changed, 52 insertions(+), 16 deletions(-) > > diff --git a/Documentation/networking/can.rst b/Documentation/networking/can.rst > index ff05cbd05e0d..e17c6427bb3a 100644 > --- a/Documentation/networking/can.rst > +++ b/Documentation/networking/can.rst > @@ -226,24 +226,40 @@ interface (which is different from TCP/IP due to different addressing > the socket, you can read(2) and write(2) from/to the socket or use > send(2), sendto(2), sendmsg(2) and the recv* counterpart operations > on the socket as usual. There are also CAN specific socket options > described below. > > -The basic CAN frame structure and the sockaddr structure are defined > -in include/linux/can.h: > +The Classical CAN frame structure (aka CAN 2.0B), the CAN FD frame structure > +and the sockaddr structure are defined in include/linux/can.h: > > .. code-block:: C > > struct can_frame { > canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ > - __u8 can_dlc; /* frame payload length in byte (0 .. 8) */ > + 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 */ > + }; > __u8 __pad; /* padding */ > __u8 __res0; /* reserved / padding */ > - __u8 __res1; /* reserved / padding */ > + __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ > __u8 data[8] __attribute__((aligned(8))); > }; > > +Remark: The len element contains the payload length in bytes and should be > +used instead of can_dlc. The deprecated can_dlc was misleadingly named as > +it always contained the plain payload length in bytes and not the so called > +'data length code' (DLC). > + > +To pass the raw DLC from/to a Classical CAN network device the len8_dlc > +element can contain values 9 .. 15 when the len element is 8 (the real > +payload length for all DLC values greater or equal to 8). The "Classical CAN network device" part could make the reader misunderstand that FD capable controllers can not handle Classical CAN frames with DLC greater than 8. All the CAN-FD controllers I am aware of can emit both Classical and FD frames. On the contrary, some Classical CAN controllers might not support sending DLCs greater than 8. Propose to add the nuance that this depends on the device property: +To pass the raw DLC from/to a capable network device +(c.f. cc-len8-dlc CAN device property), the len8_dlc element can +contain values 9 .. 15 when the len element is 8 (the real payload +length for all DLC values greater or equal to 8). > + > The alignment of the (linear) payload data[] to a 64bit boundary > 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. > @@ -258,10 +274,27 @@ PF_PACKET socket, that also binds to a specific interface: > int can_ifindex; > union { > /* transport protocol class address info (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; > }; This looks like some J1939 code. Did you mix your patches? > To determine the interface index an appropriate ioctl() has to > @@ -369,11 +402,11 @@ 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 :ref:`socketcan-rawfd`). > +and Classical CAN frames simultaneously (see :ref:`socketcan-rawfd`). > > The struct canfd_frame is defined in include/linux/can.h: > > .. code-block:: C > > @@ -395,21 +428,21 @@ all structure elements can be used as-is - only the data[] becomes extended. In below paragraph, needs to add an exception for can_frame.len8_dlc: 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. +all structure elements (except the len8_dlc field) can be used as-is and 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. > +can_frame.len 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 :ref:`socketcan-can-fd-driver`. Now that the field has been renamed, the "1:1 mapping" explanation becomes obsolete. I propose to drastically reduce the paragraph: +Despite being formerly named can_dlc, the len field of both struct +can_frame and struct canfd_frame are equal and contain a plain length +value from 0 .. 64; 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 :ref:`socketcan-can-fd-driver`. > 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: > > .. code-block:: C > > - #define CAN_MTU (sizeof(struct can_frame)) == 16 => 'legacy' CAN frame > + #define CAN_MTU (sizeof(struct can_frame)) == 16 => Classical CAN frame > #define CANFD_MTU (sizeof(struct canfd_frame)) == 72 => CAN FD frame > > > .. _socketcan-raw-sockets: > > @@ -607,11 +640,11 @@ Example: > > 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); > + printf("got Classical CAN frame with length %d\n", cfd.len); > /* cfd.flags is undefined */ > } else { > fprintf(stderr, "read: invalid CAN(FD) frame\n"); > return 1; > } > @@ -621,21 +654,21 @@ Example: > 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 > +been received from the socket a Classical 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 > +socket option returns an error: No problem. You'll get Classical 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. > @@ -840,10 +873,12 @@ 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]). > > +CAN_FD_FRAME: > + The CAN frames following the bcm_msg_head are struct canfd_frame's > > Broadcast Manager Transmission Timers > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > Periodic transmission configurations may use up to two interval timers. > @@ -1024,11 +1059,11 @@ In this example an application requests any CAN traffic from vcan0:: > > Additional procfs files in /proc/net/can:: > > stats - SocketCAN core statistics (rx/tx frames, match ratios, ...) > reset_stats - manual statistic reset > - version - prints the SocketCAN core version and the ABI version > + version - prints SocketCAN core and ABI version (removed in Linux 5.10) > > > Writing Own CAN Protocol Modules > -------------------------------- > > @@ -1068,11 +1103,11 @@ General Settings > .. code-block:: C > > dev->type = ARPHRD_CAN; /* the netdevice hardware type */ > dev->flags = IFF_NOARP; /* CAN has no arp */ > > - dev->mtu = CAN_MTU; /* sizeof(struct can_frame) -> legacy CAN interface */ > + dev->mtu = CAN_MTU; /* sizeof(struct can_frame) -> Classical 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 or struct canfd_frame is the payload of each socket > @@ -1182,10 +1217,11 @@ Setting CAN device properties:: > [ one-shot { on | off } ] > [ berr-reporting { on | off } ] > [ fd { on | off } ] > [ fd-non-iso { on | off } ] > [ presume-ack { on | off } ] > + [ cc-len8-dlc { on | off } ] > > [ restart-ms TIME-MS ] > [ restart ] > > Where: BITRATE := { 1..1000000 } > @@ -1324,26 +1360,26 @@ 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 > +payload. The representation of this length in can_frame.len 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 > +The data length code was a 1:1 mapping to the payload length in the Classical > 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(). Same as above: the "1:1 mapping" part is obsolete. Now that can_dlc has been renamed to length, no need to cover this matter in further details. I propose to replace it by below paragraph: +Additionally CAN FD capable CAN controllers support up to 64 bytes of +payload. The representation of this length in can_frame.len and +canfd_frame.len for userspace applications and inside the Linux +network layer is a plain value from 0 .. 64. In addition, I propose to add a sentence about the two new DLC helper functions: +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(). If the controller handles Classical +CAN frames with DLC greater than 8, helper functions +can_get_len8_dlc() and can_get_cc_dlc() can be used to respectively +fill the len8_dlc fill during reception and get the DLC value during > > 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 = 16 (CAN_MTU) => sizeof(struct can_frame) => Classical CAN device > MTU = 72 (CANFD_MTU) => sizeof(struct canfd_frame) => CAN FD capable device > > 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. > +N.B. CAN FD capable devices can also handle and send Classical CAN frames. > > When configuring CAN FD capable CAN controllers an additional 'data' bitrate > has to be set. This bitrate for the data phase of the CAN FD frame has to be > at least the bitrate which was configured for the arbitration phase. This > second bitrate is specified analogue to the first bitrate but the bitrate
diff --git a/Documentation/networking/can.rst b/Documentation/networking/can.rst index ff05cbd05e0d..e17c6427bb3a 100644 --- a/Documentation/networking/can.rst +++ b/Documentation/networking/can.rst @@ -226,24 +226,40 @@ interface (which is different from TCP/IP due to different addressing the socket, you can read(2) and write(2) from/to the socket or use send(2), sendto(2), sendmsg(2) and the recv* counterpart operations on the socket as usual. There are also CAN specific socket options described below. -The basic CAN frame structure and the sockaddr structure are defined -in include/linux/can.h: +The Classical CAN frame structure (aka CAN 2.0B), the CAN FD frame structure +and the sockaddr structure are defined in include/linux/can.h: .. code-block:: C struct can_frame { canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ - __u8 can_dlc; /* frame payload length in byte (0 .. 8) */ + 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 */ + }; __u8 __pad; /* padding */ __u8 __res0; /* reserved / padding */ - __u8 __res1; /* reserved / padding */ + __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ __u8 data[8] __attribute__((aligned(8))); }; +Remark: The len element contains the payload length in bytes and should be +used instead of can_dlc. The deprecated can_dlc was misleadingly named as +it always contained the plain payload length in bytes and not the so called +'data length code' (DLC). + +To pass the raw DLC from/to a Classical CAN network device the len8_dlc +element can contain values 9 .. 15 when the len element is 8 (the real +payload length for all DLC values greater or equal to 8). + The alignment of the (linear) payload data[] to a 64bit boundary 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. @@ -258,10 +274,27 @@ PF_PACKET socket, that also binds to a specific interface: int can_ifindex; union { /* transport protocol class address info (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; }; To determine the interface index an appropriate ioctl() has to @@ -369,11 +402,11 @@ 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 :ref:`socketcan-rawfd`). +and Classical CAN frames simultaneously (see :ref:`socketcan-rawfd`). The struct canfd_frame is defined in include/linux/can.h: .. code-block:: C @@ -395,21 +428,21 @@ 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. +can_frame.len 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 :ref:`socketcan-can-fd-driver`. 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: .. code-block:: C - #define CAN_MTU (sizeof(struct can_frame)) == 16 => 'legacy' CAN frame + #define CAN_MTU (sizeof(struct can_frame)) == 16 => Classical CAN frame #define CANFD_MTU (sizeof(struct canfd_frame)) == 72 => CAN FD frame .. _socketcan-raw-sockets: @@ -607,11 +640,11 @@ Example: 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); + printf("got Classical CAN frame with length %d\n", cfd.len); /* cfd.flags is undefined */ } else { fprintf(stderr, "read: invalid CAN(FD) frame\n"); return 1; } @@ -621,21 +654,21 @@ Example: 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 +been received from the socket a Classical 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 +socket option returns an error: No problem. You'll get Classical 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. @@ -840,10 +873,12 @@ 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]). +CAN_FD_FRAME: + The CAN frames following the bcm_msg_head are struct canfd_frame's Broadcast Manager Transmission Timers ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Periodic transmission configurations may use up to two interval timers. @@ -1024,11 +1059,11 @@ In this example an application requests any CAN traffic from vcan0:: Additional procfs files in /proc/net/can:: stats - SocketCAN core statistics (rx/tx frames, match ratios, ...) reset_stats - manual statistic reset - version - prints the SocketCAN core version and the ABI version + version - prints SocketCAN core and ABI version (removed in Linux 5.10) Writing Own CAN Protocol Modules -------------------------------- @@ -1068,11 +1103,11 @@ General Settings .. code-block:: C dev->type = ARPHRD_CAN; /* the netdevice hardware type */ dev->flags = IFF_NOARP; /* CAN has no arp */ - dev->mtu = CAN_MTU; /* sizeof(struct can_frame) -> legacy CAN interface */ + dev->mtu = CAN_MTU; /* sizeof(struct can_frame) -> Classical 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 or struct canfd_frame is the payload of each socket @@ -1182,10 +1217,11 @@ Setting CAN device properties:: [ one-shot { on | off } ] [ berr-reporting { on | off } ] [ fd { on | off } ] [ fd-non-iso { on | off } ] [ presume-ack { on | off } ] + [ cc-len8-dlc { on | off } ] [ restart-ms TIME-MS ] [ restart ] Where: BITRATE := { 1..1000000 } @@ -1324,26 +1360,26 @@ 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 +payload. The representation of this length in can_frame.len 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 +The data length code was a 1:1 mapping to the payload length in the Classical 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(). 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 = 16 (CAN_MTU) => sizeof(struct can_frame) => Classical CAN device MTU = 72 (CANFD_MTU) => sizeof(struct canfd_frame) => CAN FD capable device 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. +N.B. CAN FD capable devices can also handle and send Classical CAN frames. When configuring CAN FD capable CAN controllers an additional 'data' bitrate has to be set. This bitrate for the data phase of the CAN FD frame has to be at least the bitrate which was configured for the arbitration phase. This second bitrate is specified analogue to the first bitrate but the bitrate
The extension of struct can_frame with the len8_dlc element and the can_dlc naming issue required an update of the documentation. Additionally introduce the term 'Classical CAN' which has been established by CAN in Automation to separate the original CAN2.0 A/B from CAN FD. Updated some data structures and flags. Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net> --- Documentation/networking/can.rst | 68 ++++++++++++++++++++++++-------- 1 file changed, 52 insertions(+), 16 deletions(-)