From mboxrd@z Thu Jan 1 00:00:00 1970 From: Oliver Hartkopp Subject: [PATCH v3 4/5] can: bcm: add support for CAN FD frames Date: Tue, 31 May 2016 20:23:07 +0200 Message-ID: <1464718988-9386-5-git-send-email-socketcan@hartkopp.net> References: <1464718988-9386-1-git-send-email-socketcan@hartkopp.net> Return-path: Received: from mo4-p00-ob.smtp.rzone.de ([81.169.146.163]:59953 "EHLO mo4-p00-ob.smtp.rzone.de" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1755348AbcEaSXZ (ORCPT ); Tue, 31 May 2016 14:23:25 -0400 In-Reply-To: <1464718988-9386-1-git-send-email-socketcan@hartkopp.net> Sender: linux-can-owner@vger.kernel.org List-ID: To: linux-can@vger.kernel.org Cc: Oliver Hartkopp 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 --- include/uapi/linux/can/bcm.h | 1 + net/can/bcm.c | 223 ++++++++++++++++++++++++++----------------- 2 files changed, 134 insertions(+), 90 deletions(-) diff --git a/include/uapi/linux/can/bcm.h b/include/uapi/linux/can/bcm.h index 7a291dc..cefb304 100644 --- a/include/uapi/linux/can/bcm.h +++ b/include/uapi/linux/can/bcm.h @@ -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 */ diff --git a/net/can/bcm.c b/net/can/bcm.c index 640578a..b390b6b 100644 --- a/net/can/bcm.c +++ b/net/can/bcm.c @@ -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 +67,27 @@ */ #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 "20160531" MODULE_DESCRIPTION("PF_CAN broadcast manager protocol"); MODULE_LICENSE("Dual BSD/GPL"); MODULE_AUTHOR("Oliver Hartkopp "); 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 */ +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 +101,14 @@ 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 +137,7 @@ 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(op) ((op->flags & CAN_FD_FRAME)?CANFD_MTU:CAN_MTU) #define OPSIZ sizeof(struct bcm_op) #define MHSIZ sizeof(struct bcm_msg_head) @@ -183,10 +184,16 @@ 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) @@ -208,10 +215,13 @@ 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 ", @@ -248,7 +258,7 @@ 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) @@ -260,7 +270,7 @@ 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; @@ -268,7 +278,7 @@ 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; @@ -291,13 +301,13 @@ 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()); @@ -308,18 +318,18 @@ 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) { @@ -406,7 +416,7 @@ 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; @@ -418,7 +428,7 @@ 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; @@ -437,13 +447,13 @@ 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) { @@ -481,33 +491,36 @@ 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; } } @@ -557,7 +570,7 @@ 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; @@ -569,9 +582,11 @@ 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; @@ -636,15 +651,19 @@ 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() */ @@ -675,13 +694,14 @@ 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; } @@ -701,7 +721,8 @@ 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; } @@ -750,7 +771,8 @@ 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 @@ -796,7 +818,8 @@ 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 */ @@ -837,6 +860,7 @@ 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; @@ -863,19 +887,27 @@ 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 */ @@ -884,11 +916,13 @@ 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->flags = msg_head->flags; + op->cfsiz = CFSIZ(op); /* 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); @@ -898,10 +932,17 @@ 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) @@ -912,7 +953,7 @@ 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; } } @@ -947,8 +988,6 @@ 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; @@ -982,7 +1021,7 @@ 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; } /* @@ -1028,15 +1067,16 @@ 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; @@ -1047,20 +1087,22 @@ 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->flags = msg_head->flags; + op->cfsiz = CFSIZ(op); if (msg_head->nframes > 1) { - /* create array for CAN frames and copy the data */ - op->frames = kmalloc(msg_head->nframes * CFSIZ, + /* create array for canfd_frames and copy the data */ + op->frames = kmalloc(msg_head->nframes * op->cfsiz, GFP_KERNEL); if (!op->frames) { kfree(op); return -ENOMEM; } - /* create and init array for received CAN frames */ - op->last_frames = kzalloc(msg_head->nframes * CFSIZ, + /* create and init array for received canfd_frames */ + op->last_frames = kzalloc(msg_head->nframes * op->cfsiz, GFP_KERNEL); if (!op->last_frames) { kfree(op->frames); @@ -1075,7 +1117,7 @@ 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); @@ -1117,7 +1159,6 @@ 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) { @@ -1189,7 +1230,7 @@ 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; } /* @@ -1246,6 +1287,7 @@ 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) @@ -1260,7 +1302,8 @@ static int bcm_sendmsg(struct socket *sock, struct msghdr *msg, size_t size) if (ret < 0) return ret; - if ((size - MHSIZ) % CFSIZ) + cfsiz = (msg_head.flags & CAN_FD_FRAME)?CANFD_MTU:CAN_MTU; + if ((size - MHSIZ) % cfsiz) return -EINVAL; /* check for alternative ifindex for this bcm_op */ @@ -1334,10 +1377,10 @@ 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: -- 2.8.1