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can: bcm: add support for CAN FD frames

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The programming API of the CAN_BCM depends on struct can_frame which is
given as array directly behind the bcm_msg_head structure. To follow this
schema for the CAN FD frames a new flag 'CAN_FD_FRAME' in the bcm_msg_head
flags indicates that the concatenated CAN frame structures behind the
bcm_msg_head are defined as struct canfd_frame.

This patch adds the support to handle CAN and CAN FD frames on a per BCM-op
base. Main changes:

- generally use struct canfd_frames instead if struct can_frames
- use canfd_frame.flags instead of can_frame.can_dlc for private BCM flags
- make all CAN frame sizes depending on the new CAN_FD_FRAME flags
- separate between CAN and CAN FD when sending/receiving frames

Due to the dependence of the CAN_FD_FRAME flag the former binary interface
for classic CAN frames remains stable.

Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
tirimbino
Oliver Hartkopp 9 years ago committed by Marc Kleine-Budde
parent 2b5f5f5dc1
commit 6f3b911d5f
2 changed files with 136 additions and 88 deletions
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
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  1. 1
      include/uapi/linux/can/bcm.h
  2. 223
      net/can/bcm.c

1
include/uapi/linux/can/bcm.h
Unescape View File

@ -99,5 +99,6 @@ enum {
#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 */

223
net/can/bcm.c
Unescape View File

@ -1,7 +1,7 @@
/*
* bcm.c - Broadcast Manager to filter/send (cyclic) CAN content
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* Copyright (c) 2002-2016 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
@ -67,27 +67,31 @@
*/
#define MAX_NFRAMES 256
/* use of last_frames[index].can_dlc */
/* use of last_frames[index].flags */
#define RX_RECV 0x40 /* received data for this element */
#define RX_THR 0x80 /* element not been sent due to throttle feature */
#define BCM_CAN_DLC_MASK 0x0F /* clean private flags in can_dlc by masking */
#define BCM_CAN_FLAGS_MASK 0x3F /* to clean private flags after usage */
/* get best masking value for can_rx_register() for a given single can_id */
#define REGMASK(id) ((id & CAN_EFF_FLAG) ? \
(CAN_EFF_MASK | CAN_EFF_FLAG | CAN_RTR_FLAG) : \
(CAN_SFF_MASK | CAN_EFF_FLAG | CAN_RTR_FLAG))
#define CAN_BCM_VERSION CAN_VERSION
#define CAN_BCM_VERSION "20160617"
MODULE_DESCRIPTION("PF_CAN broadcast manager protocol");
MODULE_LICENSE("Dual BSD/GPL");
MODULE_AUTHOR("Oliver Hartkopp <oliver.hartkopp@volkswagen.de>");
MODULE_ALIAS("can-proto-2");
/* easy access to CAN frame payload */
static inline u64 GET_U64(const struct can_frame *cp)
/*
* easy access to the first 64 bit of can(fd)_frame payload. cp->data is
* 64 bit aligned so the offset has to be multiples of 8 which is ensured
* by the only callers in bcm_rx_cmp_to_index() bcm_rx_handler().
*/
static inline u64 get_u64(const struct canfd_frame *cp, int offset)
{
return *(u64 *)cp->data;
return *(u64 *)(cp->data + offset);
}
struct bcm_op {
@ -101,13 +105,14 @@ struct bcm_op {
struct tasklet_struct tsklet, thrtsklet;
ktime_t rx_stamp, kt_ival1, kt_ival2, kt_lastmsg;
int rx_ifindex;
int cfsiz;
u32 count;
u32 nframes;
u32 currframe;
struct can_frame *frames;
struct can_frame *last_frames;
struct can_frame sframe;
struct can_frame last_sframe;
struct canfd_frame *frames;
struct canfd_frame *last_frames;
struct canfd_frame sframe;
struct canfd_frame last_sframe;
struct sock *sk;
struct net_device *rx_reg_dev;
};
@ -136,7 +141,7 @@ static inline ktime_t bcm_timeval_to_ktime(struct bcm_timeval tv)
return ktime_set(tv.tv_sec, tv.tv_usec * NSEC_PER_USEC);
}
#define CFSIZ sizeof(struct can_frame)
#define CFSIZ(flags) ((flags & CAN_FD_FRAME) ? CANFD_MTU : CAN_MTU)
#define OPSIZ sizeof(struct bcm_op)
#define MHSIZ sizeof(struct bcm_msg_head)
@ -183,10 +188,16 @@ static int bcm_proc_show(struct seq_file *m, void *v)
if (!op->frames_abs)
continue;
seq_printf(m, "rx_op: %03X %-5s ",
op->can_id, bcm_proc_getifname(ifname, op->ifindex));
seq_printf(m, "[%u]%c ", op->nframes,
(op->flags & RX_CHECK_DLC) ? 'd' : ' ');
seq_printf(m, "rx_op: %03X %-5s ", op->can_id,
bcm_proc_getifname(ifname, op->ifindex));
if (op->flags & CAN_FD_FRAME)
seq_printf(m, "(%u)", op->nframes);
else
seq_printf(m, "[%u]", op->nframes);
seq_printf(m, "%c ", (op->flags & RX_CHECK_DLC) ? 'd' : ' ');
if (op->kt_ival1.tv64)
seq_printf(m, "timeo=%lld ",
(long long)ktime_to_us(op->kt_ival1));
@ -206,10 +217,13 @@ static int bcm_proc_show(struct seq_file *m, void *v)
list_for_each_entry(op, &bo->tx_ops, list) {
seq_printf(m, "tx_op: %03X %s [%u] ",
op->can_id,
bcm_proc_getifname(ifname, op->ifindex),
op->nframes);
seq_printf(m, "tx_op: %03X %s ", op->can_id,
bcm_proc_getifname(ifname, op->ifindex));
if (op->flags & CAN_FD_FRAME)
seq_printf(m, "(%u) ", op->nframes);
else
seq_printf(m, "[%u] ", op->nframes);
if (op->kt_ival1.tv64)
seq_printf(m, "t1=%lld ",
@ -246,7 +260,7 @@ static void bcm_can_tx(struct bcm_op *op)
{
struct sk_buff *skb;
struct net_device *dev;
struct can_frame *cf = &op->frames[op->currframe];
struct canfd_frame *cf = op->frames + op->cfsiz * op->currframe;
/* no target device? => exit */
if (!op->ifindex)
@ -258,7 +272,7 @@ static void bcm_can_tx(struct bcm_op *op)
return;
}
skb = alloc_skb(CFSIZ + sizeof(struct can_skb_priv), gfp_any());
skb = alloc_skb(op->cfsiz + sizeof(struct can_skb_priv), gfp_any());
if (!skb)
goto out;
@ -266,7 +280,7 @@ static void bcm_can_tx(struct bcm_op *op)
can_skb_prv(skb)->ifindex = dev->ifindex;
can_skb_prv(skb)->skbcnt = 0;
memcpy(skb_put(skb, CFSIZ), cf, CFSIZ);
memcpy(skb_put(skb, op->cfsiz), cf, op->cfsiz);
/* send with loopback */
skb->dev = dev;
@ -289,13 +303,13 @@ out:
* (consisting of bcm_msg_head + x CAN frames)
*/
static void bcm_send_to_user(struct bcm_op *op, struct bcm_msg_head *head,
struct can_frame *frames, int has_timestamp)
struct canfd_frame *frames, int has_timestamp)
{
struct sk_buff *skb;
struct can_frame *firstframe;
struct canfd_frame *firstframe;
struct sockaddr_can *addr;
struct sock *sk = op->sk;
unsigned int datalen = head->nframes * CFSIZ;
unsigned int datalen = head->nframes * op->cfsiz;
int err;
skb = alloc_skb(sizeof(*head) + datalen, gfp_any());
@ -306,18 +320,18 @@ static void bcm_send_to_user(struct bcm_op *op, struct bcm_msg_head *head,
if (head->nframes) {
/* CAN frames starting here */
firstframe = (struct can_frame *)skb_tail_pointer(skb);
firstframe = (struct canfd_frame *)skb_tail_pointer(skb);
memcpy(skb_put(skb, datalen), frames, datalen);
/*
* the BCM uses the can_dlc-element of the CAN frame
* the BCM uses the flags-element of the canfd_frame
* structure for internal purposes. This is only
* relevant for updates that are generated by the
* BCM, where nframes is 1
*/
if (head->nframes == 1)
firstframe->can_dlc &= BCM_CAN_DLC_MASK;
firstframe->flags &= BCM_CAN_FLAGS_MASK;
}
if (has_timestamp) {
@ -404,7 +418,7 @@ static enum hrtimer_restart bcm_tx_timeout_handler(struct hrtimer *hrtimer)
/*
* bcm_rx_changed - create a RX_CHANGED notification due to changed content
*/
static void bcm_rx_changed(struct bcm_op *op, struct can_frame *data)
static void bcm_rx_changed(struct bcm_op *op, struct canfd_frame *data)
{
struct bcm_msg_head head;
@ -416,7 +430,7 @@ static void bcm_rx_changed(struct bcm_op *op, struct can_frame *data)
op->frames_filtered = op->frames_abs = 0;
/* this element is not throttled anymore */
data->can_dlc &= (BCM_CAN_DLC_MASK|RX_RECV);
data->flags &= (BCM_CAN_FLAGS_MASK|RX_RECV);
head.opcode = RX_CHANGED;
head.flags = op->flags;
@ -435,13 +449,13 @@ static void bcm_rx_changed(struct bcm_op *op, struct can_frame *data)
* 2. send a notification to the user (if possible)
*/
static void bcm_rx_update_and_send(struct bcm_op *op,
struct can_frame *lastdata,
const struct can_frame *rxdata)
struct canfd_frame *lastdata,
const struct canfd_frame *rxdata)
{
memcpy(lastdata, rxdata, CFSIZ);
memcpy(lastdata, rxdata, op->cfsiz);
/* mark as used and throttled by default */
lastdata->can_dlc |= (RX_RECV|RX_THR);
lastdata->flags |= (RX_RECV|RX_THR);
/* throttling mode inactive ? */
if (!op->kt_ival2.tv64) {
@ -479,33 +493,36 @@ rx_changed_settime:
* received data stored in op->last_frames[]
*/
static void bcm_rx_cmp_to_index(struct bcm_op *op, unsigned int index,
const struct can_frame *rxdata)
const struct canfd_frame *rxdata)
{
struct canfd_frame *cf = op->frames + op->cfsiz * index;
struct canfd_frame *lcf = op->last_frames + op->cfsiz * index;
int i;
/*
* no one uses the MSBs of can_dlc for comparison,
* no one uses the MSBs of flags for comparison,
* so we use it here to detect the first time of reception
*/
if (!(op->last_frames[index].can_dlc & RX_RECV)) {
if (!(lcf->flags & RX_RECV)) {
/* received data for the first time => send update to user */
bcm_rx_update_and_send(op, &op->last_frames[index], rxdata);
bcm_rx_update_and_send(op, lcf, rxdata);
return;
}
/* do a real check in CAN frame data section */
if ((GET_U64(&op->frames[index]) & GET_U64(rxdata)) !=
(GET_U64(&op->frames[index]) & GET_U64(&op->last_frames[index]))) {
bcm_rx_update_and_send(op, &op->last_frames[index], rxdata);
return;
for (i = 0; i < rxdata->len; i += 8) {
if ((get_u64(cf, i) & get_u64(rxdata, i)) !=
(get_u64(cf, i) & get_u64(lcf, i))) {
bcm_rx_update_and_send(op, lcf, rxdata);
return;
}
}
if (op->flags & RX_CHECK_DLC) {
/* do a real check in CAN frame dlc */
if (rxdata->can_dlc != (op->last_frames[index].can_dlc &
BCM_CAN_DLC_MASK)) {
bcm_rx_update_and_send(op, &op->last_frames[index],
rxdata);
/* do a real check in CAN frame length */
if (rxdata->len != lcf->len) {
bcm_rx_update_and_send(op, lcf, rxdata);
return;
}
}
@ -555,7 +572,7 @@ static enum hrtimer_restart bcm_rx_timeout_handler(struct hrtimer *hrtimer)
/* if user wants to be informed, when cyclic CAN-Messages come back */
if ((op->flags & RX_ANNOUNCE_RESUME) && op->last_frames) {
/* clear received CAN frames to indicate 'nothing received' */
memset(op->last_frames, 0, op->nframes * CFSIZ);
memset(op->last_frames, 0, op->nframes * op->cfsiz);
}
return HRTIMER_NORESTART;
@ -567,9 +584,11 @@ static enum hrtimer_restart bcm_rx_timeout_handler(struct hrtimer *hrtimer)
static inline int bcm_rx_do_flush(struct bcm_op *op, int update,
unsigned int index)
{
if ((op->last_frames) && (op->last_frames[index].can_dlc & RX_THR)) {
struct canfd_frame *lcf = op->last_frames + op->cfsiz * index;
if ((op->last_frames) && (lcf->flags & RX_THR)) {
if (update)
bcm_rx_changed(op, &op->last_frames[index]);
bcm_rx_changed(op, lcf);
return 1;
}
return 0;
@ -634,15 +653,19 @@ static enum hrtimer_restart bcm_rx_thr_handler(struct hrtimer *hrtimer)
static void bcm_rx_handler(struct sk_buff *skb, void *data)
{
struct bcm_op *op = (struct bcm_op *)data;
const struct can_frame *rxframe = (struct can_frame *)skb->data;
const struct canfd_frame *rxframe = (struct canfd_frame *)skb->data;
unsigned int i;
/* disable timeout */
hrtimer_cancel(&op->timer);
if (op->can_id != rxframe->can_id)
return;
/* make sure to handle the correct frame type (CAN / CAN FD) */
if (skb->len != op->cfsiz)
return;
/* disable timeout */
hrtimer_cancel(&op->timer);
/* save rx timestamp */
op->rx_stamp = skb->tstamp;
/* save originator for recvfrom() */
@ -673,13 +696,14 @@ static void bcm_rx_handler(struct sk_buff *skb, void *data)
* multiplex compare
*
* find the first multiplex mask that fits.
* Remark: The MUX-mask is stored in index 0
* Remark: The MUX-mask is stored in index 0 - but only the
* first 64 bits of the frame data[] are relevant (CAN FD)
*/
for (i = 1; i < op->nframes; i++) {
if ((GET_U64(&op->frames[0]) & GET_U64(rxframe)) ==
(GET_U64(&op->frames[0]) &
GET_U64(&op->frames[i]))) {
if ((get_u64(op->frames, 0) & get_u64(rxframe, 0)) ==
(get_u64(op->frames, 0) &
get_u64(op->frames + op->cfsiz * i, 0))) {
bcm_rx_cmp_to_index(op, i, rxframe);
break;
}
@ -699,7 +723,8 @@ static struct bcm_op *bcm_find_op(struct list_head *ops,
struct bcm_op *op;
list_for_each_entry(op, ops, list) {
if ((op->can_id == mh->can_id) && (op->ifindex == ifindex))
if ((op->can_id == mh->can_id) && (op->ifindex == ifindex) &&
(op->flags & CAN_FD_FRAME) == (mh->flags & CAN_FD_FRAME))
return op;
}
@ -748,7 +773,8 @@ static int bcm_delete_rx_op(struct list_head *ops, struct bcm_msg_head *mh,
struct bcm_op *op, *n;
list_for_each_entry_safe(op, n, ops, list) {
if ((op->can_id == mh->can_id) && (op->ifindex == ifindex)) {
if ((op->can_id == mh->can_id) && (op->ifindex == ifindex) &&
(op->flags & CAN_FD_FRAME) == (mh->flags & CAN_FD_FRAME)) {
/*
* Don't care if we're bound or not (due to netdev
@ -794,7 +820,8 @@ static int bcm_delete_tx_op(struct list_head *ops, struct bcm_msg_head *mh,
struct bcm_op *op, *n;
list_for_each_entry_safe(op, n, ops, list) {
if ((op->can_id == mh->can_id) && (op->ifindex == ifindex)) {
if ((op->can_id == mh->can_id) && (op->ifindex == ifindex) &&
(op->flags & CAN_FD_FRAME) == (mh->flags & CAN_FD_FRAME)) {
list_del(&op->list);
bcm_remove_op(op);
return 1; /* done */
@ -835,6 +862,7 @@ static int bcm_tx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
{
struct bcm_sock *bo = bcm_sk(sk);
struct bcm_op *op;
struct canfd_frame *cf;
unsigned int i;
int err;
@ -861,19 +889,27 @@ static int bcm_tx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
/* update CAN frames content */
for (i = 0; i < msg_head->nframes; i++) {
err = memcpy_from_msg((u8 *)&op->frames[i], msg, CFSIZ);
if (op->frames[i].can_dlc > 8)
err = -EINVAL;
cf = op->frames + op->cfsiz * i;
err = memcpy_from_msg((u8 *)cf, msg, op->cfsiz);
if (op->flags & CAN_FD_FRAME) {
if (cf->len > 64)
err = -EINVAL;
} else {
if (cf->len > 8)
err = -EINVAL;
}
if (err < 0)
return err;
if (msg_head->flags & TX_CP_CAN_ID) {
/* copy can_id into frame */
op->frames[i].can_id = msg_head->can_id;
cf->can_id = msg_head->can_id;
}
}
op->flags = msg_head->flags;
} else {
/* insert new BCM operation for the given can_id */
@ -882,11 +918,13 @@ static int bcm_tx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
if (!op)
return -ENOMEM;
op->can_id = msg_head->can_id;
op->can_id = msg_head->can_id;
op->cfsiz = CFSIZ(msg_head->flags);
op->flags = msg_head->flags;
/* create array for CAN frames and copy the data */
if (msg_head->nframes > 1) {
op->frames = kmalloc(msg_head->nframes * CFSIZ,
op->frames = kmalloc(msg_head->nframes * op->cfsiz,
GFP_KERNEL);
if (!op->frames) {
kfree(op);
@ -896,10 +934,17 @@ static int bcm_tx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
op->frames = &op->sframe;
for (i = 0; i < msg_head->nframes; i++) {
err = memcpy_from_msg((u8 *)&op->frames[i], msg, CFSIZ);
if (op->frames[i].can_dlc > 8)
err = -EINVAL;
cf = op->frames + op->cfsiz * i;
err = memcpy_from_msg((u8 *)cf, msg, op->cfsiz);
if (op->flags & CAN_FD_FRAME) {
if (cf->len > 64)
err = -EINVAL;
} else {
if (cf->len > 8)
err = -EINVAL;
}
if (err < 0) {
if (op->frames != &op->sframe)
@ -910,7 +955,7 @@ static int bcm_tx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
if (msg_head->flags & TX_CP_CAN_ID) {
/* copy can_id into frame */
op->frames[i].can_id = msg_head->can_id;
cf->can_id = msg_head->can_id;
}
}
@ -945,8 +990,6 @@ static int bcm_tx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
/* check flags */
op->flags = msg_head->flags;
if (op->flags & TX_RESET_MULTI_IDX) {
/* start multiple frame transmission with index 0 */
op->currframe = 0;
@ -980,7 +1023,7 @@ static int bcm_tx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
if (op->flags & STARTTIMER)
bcm_tx_start_timer(op);
return msg_head->nframes * CFSIZ + MHSIZ;
return msg_head->nframes * op->cfsiz + MHSIZ;
}
/*
@ -1026,15 +1069,16 @@ static int bcm_rx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
if (msg_head->nframes) {
/* update CAN frames content */
err = memcpy_from_msg((u8 *)op->frames, msg,
msg_head->nframes * CFSIZ);
msg_head->nframes * op->cfsiz);
if (err < 0)
return err;
/* clear last_frames to indicate 'nothing received' */
memset(op->last_frames, 0, msg_head->nframes * CFSIZ);
memset(op->last_frames, 0, msg_head->nframes * op->cfsiz);
}
op->nframes = msg_head->nframes;
op->flags = msg_head->flags;
/* Only an update -> do not call can_rx_register() */
do_rx_register = 0;
@ -1045,12 +1089,14 @@ static int bcm_rx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
if (!op)
return -ENOMEM;
op->can_id = msg_head->can_id;
op->nframes = msg_head->nframes;
op->can_id = msg_head->can_id;
op->nframes = msg_head->nframes;
op->cfsiz = CFSIZ(msg_head->flags);
op->flags = msg_head->flags;
if (msg_head->nframes > 1) {
/* create array for CAN frames and copy the data */
op->frames = kmalloc(msg_head->nframes * CFSIZ,
op->frames = kmalloc(msg_head->nframes * op->cfsiz,
GFP_KERNEL);
if (!op->frames) {
kfree(op);
@ -1058,7 +1104,7 @@ static int bcm_rx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
}
/* create and init array for received CAN frames */
op->last_frames = kzalloc(msg_head->nframes * CFSIZ,
op->last_frames = kzalloc(msg_head->nframes * op->cfsiz,
GFP_KERNEL);
if (!op->last_frames) {
kfree(op->frames);
@ -1073,7 +1119,7 @@ static int bcm_rx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
if (msg_head->nframes) {
err = memcpy_from_msg((u8 *)op->frames, msg,
msg_head->nframes * CFSIZ);
msg_head->nframes * op->cfsiz);
if (err < 0) {
if (op->frames != &op->sframe)
kfree(op->frames);
@ -1115,7 +1161,6 @@ static int bcm_rx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
} /* if ((op = bcm_find_op(&bo->rx_ops, msg_head->can_id, ifindex))) */
/* check flags */
op->flags = msg_head->flags;
if (op->flags & RX_RTR_FRAME) {
@ -1187,7 +1232,7 @@ static int bcm_rx_setup(struct bcm_msg_head *msg_head, struct msghdr *msg,
}
}
return msg_head->nframes * CFSIZ + MHSIZ;
return msg_head->nframes * op->cfsiz + MHSIZ;
}
/*
@ -1244,6 +1289,7 @@ static int bcm_sendmsg(struct socket *sock, struct msghdr *msg, size_t size)
struct bcm_sock *bo = bcm_sk(sk);
int ifindex = bo->ifindex; /* default ifindex for this bcm_op */
struct bcm_msg_head msg_head;
int cfsiz;
int ret; /* read bytes or error codes as return value */
if (!bo->bound)
@ -1258,7 +1304,8 @@ static int bcm_sendmsg(struct socket *sock, struct msghdr *msg, size_t size)
if (ret < 0)
return ret;
if ((size - MHSIZ) % CFSIZ)
cfsiz = CFSIZ(msg_head.flags);
if ((size - MHSIZ) % cfsiz)
return -EINVAL;
/* check for alternative ifindex for this bcm_op */
@ -1332,10 +1379,10 @@ static int bcm_sendmsg(struct socket *sock, struct msghdr *msg, size_t size)
case TX_SEND:
/* we need exactly one CAN frame behind the msg head */
if ((msg_head.nframes != 1) || (size != CFSIZ + MHSIZ))
if ((msg_head.nframes != 1) || (size != cfsiz + MHSIZ))
ret = -EINVAL;
else
ret = bcm_tx_send(msg, ifindex, sk, CFSIZ);
ret = bcm_tx_send(msg, ifindex, sk, cfsiz);
break;
default:

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