* [PATCH iproute2 1/2] Add missing can.h
@ 2012-07-31 14:46 Rostislav Lisovy
2012-07-31 14:46 ` [PATCH iproute2 2/2] em_canid: Ematch used to classify CAN frames according to their identifiers Rostislav Lisovy
0 siblings, 1 reply; 3+ messages in thread
From: Rostislav Lisovy @ 2012-07-31 14:46 UTC (permalink / raw)
To: netdev; +Cc: linux-can, pisa, sojkam1, Rostislav Lisovy
Header file used when working with AF_CAN frames -- generated from
linux kernel 3.5+
Signed-off-by: Rostislav Lisovy <lisovy@gmail.com>
---
include/linux/can.h | 161 +++++++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 161 insertions(+)
create mode 100644 include/linux/can.h
diff --git a/include/linux/can.h b/include/linux/can.h
new file mode 100644
index 0000000..018055e
--- /dev/null
+++ b/include/linux/can.h
@@ -0,0 +1,161 @@
+/*
+ * linux/can.h
+ *
+ * Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
+ *
+ * Authors: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
+ * Urs Thuermann <urs.thuermann@volkswagen.de>
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ */
+
+#ifndef CAN_H
+#define CAN_H
+
+#include <linux/types.h>
+#include <linux/socket.h>
+
+/* controller area network (CAN) kernel definitions */
+
+/* special address description flags for the CAN_ID */
+#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
+#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
+#define CAN_ERR_FLAG 0x20000000U /* error message frame */
+
+/* valid bits in CAN ID for frame formats */
+#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
+#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
+#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
+
+/*
+ * Controller Area Network Identifier structure
+ *
+ * bit 0-28 : CAN identifier (11/29 bit)
+ * bit 29 : error message frame flag (0 = data frame, 1 = error message)
+ * bit 30 : remote transmission request flag (1 = rtr frame)
+ * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
+ */
+typedef __u32 canid_t;
+
+#define CAN_SFF_ID_BITS 11
+#define CAN_EFF_ID_BITS 29
+
+/*
+ * Controller Area Network Error Message Frame Mask structure
+ *
+ * bit 0-28 : error class mask (see include/linux/can/error.h)
+ * bit 29-31 : set to zero
+ */
+typedef __u32 can_err_mask_t;
+
+/* CAN payload length and DLC definitions according to ISO 11898-1 */
+#define CAN_MAX_DLC 8
+#define CAN_MAX_DLEN 8
+
+/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
+#define CANFD_MAX_DLC 15
+#define CANFD_MAX_DLEN 64
+
+/**
+ * struct can_frame - basic CAN frame structure
+ * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
+ * @can_dlc: frame payload length in byte (0 .. 8) aka data length code
+ * N.B. the DLC field from ISO 11898-1 Chapter 8.4.2.3 has a 1:1
+ * mapping of the 'data length code' to the real payload length
+ * @data: CAN frame payload (up to 8 byte)
+ */
+struct can_frame {
+ canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
+ __u8 can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
+ __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8)));
+};
+
+/*
+ * defined bits for canfd_frame.flags
+ *
+ * As the default for CAN FD should be to support the high data rate in the
+ * payload section of the frame (HDR) and to support up to 64 byte in the
+ * data section (EDL) the bits are only set in the non-default case.
+ * Btw. as long as there's no real implementation for CAN FD network driver
+ * these bits are only preliminary.
+ *
+ * RX: NOHDR/NOEDL - info about received CAN FD frame
+ * ESI - bit from originating CAN controller
+ * TX: NOHDR/NOEDL - control per-frame settings if supported by CAN controller
+ * ESI - bit is set by local CAN controller
+ */
+#define CANFD_NOHDR 0x01 /* frame without high data rate */
+#define CANFD_NOEDL 0x02 /* frame without extended data length */
+#define CANFD_ESI 0x04 /* error state indicator */
+
+/**
+ * struct canfd_frame - CAN flexible data rate frame structure
+ * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
+ * @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
+ * @flags: additional flags for CAN FD
+ * @__res0: reserved / padding
+ * @__res1: reserved / padding
+ * @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
+ */
+struct canfd_frame {
+ canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
+ __u8 len; /* frame payload length in byte */
+ __u8 flags; /* additional flags for CAN FD */
+ __u8 __res0; /* reserved / padding */
+ __u8 __res1; /* reserved / padding */
+ __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
+};
+
+#define CAN_MTU (sizeof(struct can_frame))
+#define CANFD_MTU (sizeof(struct canfd_frame))
+
+/* particular protocols of the protocol family PF_CAN */
+#define CAN_RAW 1 /* RAW sockets */
+#define CAN_BCM 2 /* Broadcast Manager */
+#define CAN_TP16 3 /* VAG Transport Protocol v1.6 */
+#define CAN_TP20 4 /* VAG Transport Protocol v2.0 */
+#define CAN_MCNET 5 /* Bosch MCNet */
+#define CAN_ISOTP 6 /* ISO 15765-2 Transport Protocol */
+#define CAN_NPROTO 7
+
+#define SOL_CAN_BASE 100
+
+/**
+ * struct sockaddr_can - the sockaddr structure for CAN sockets
+ * @can_family: address family number AF_CAN.
+ * @can_ifindex: CAN network interface index.
+ * @can_addr: protocol specific address information
+ */
+struct sockaddr_can {
+ __kernel_sa_family_t can_family;
+ int can_ifindex;
+ union {
+ /* transport protocol class address information (e.g. ISOTP) */
+ struct { canid_t rx_id, tx_id; } tp;
+
+ /* reserved for future CAN protocols address information */
+ } can_addr;
+};
+
+/**
+ * struct can_filter - CAN ID based filter in can_register().
+ * @can_id: relevant bits of CAN ID which are not masked out.
+ * @can_mask: CAN mask (see description)
+ *
+ * Description:
+ * A filter matches, when
+ *
+ * <received_can_id> & mask == can_id & mask
+ *
+ * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
+ * filter for error message frames (CAN_ERR_FLAG bit set in mask).
+ */
+struct can_filter {
+ canid_t can_id;
+ canid_t can_mask;
+};
+
+#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
+
+#endif /* CAN_H */
--
1.7.10.4
^ permalink raw reply related [flat|nested] 3+ messages in thread
* [PATCH iproute2 2/2] em_canid: Ematch used to classify CAN frames according to their identifiers
2012-07-31 14:46 [PATCH iproute2 1/2] Add missing can.h Rostislav Lisovy
@ 2012-07-31 14:46 ` Rostislav Lisovy
2012-08-20 20:13 ` Stephen Hemminger
0 siblings, 1 reply; 3+ messages in thread
From: Rostislav Lisovy @ 2012-07-31 14:46 UTC (permalink / raw)
To: netdev; +Cc: linux-can, pisa, sojkam1, Rostislav Lisovy
This ematch enables effective filtering of CAN frames (AF_CAN) based
on CAN identifiers with masking of compared bits. Implementation
utilizes bitmap based classification for standard frame format (SFF)
which is optimized for minimal overhead.
Signed-off-by: Rostislav Lisovy <lisovy@gmail.com>
---
etc/iproute2/ematch_map | 1 +
include/linux/pkt_cls.h | 6 +-
tc/Makefile | 1 +
tc/em_canid.c | 191 +++++++++++++++++++++++++++++++++++++++++++++++
4 files changed, 197 insertions(+), 2 deletions(-)
create mode 100644 tc/em_canid.c
diff --git a/etc/iproute2/ematch_map b/etc/iproute2/ematch_map
index 7c6a281..8d08613 100644
--- a/etc/iproute2/ematch_map
+++ b/etc/iproute2/ematch_map
@@ -3,3 +3,4 @@
2 nbyte
3 u32
4 meta
+7 canid
diff --git a/include/linux/pkt_cls.h b/include/linux/pkt_cls.h
index defbde2..082eafa 100644
--- a/include/linux/pkt_cls.h
+++ b/include/linux/pkt_cls.h
@@ -451,8 +451,10 @@ enum {
#define TCF_EM_U32 3
#define TCF_EM_META 4
#define TCF_EM_TEXT 5
-#define TCF_EM_VLAN 6
-#define TCF_EM_MAX 6
+#define TCF_EM_VLAN 6
+#define TCF_EM_CANID 7
+#define TCF_EM_IPSET 8
+#define TCF_EM_MAX 8
enum {
TCF_EM_PROG_TC
diff --git a/tc/Makefile b/tc/Makefile
index 64d93ad..bfdcf9f 100644
--- a/tc/Makefile
+++ b/tc/Makefile
@@ -45,6 +45,7 @@ TCMODULES += p_udp.o
TCMODULES += em_nbyte.o
TCMODULES += em_cmp.o
TCMODULES += em_u32.o
+TCMODULES += em_canid.o
TCMODULES += em_meta.o
TCMODULES += q_mqprio.o
TCMODULES += q_codel.o
diff --git a/tc/em_canid.c b/tc/em_canid.c
new file mode 100644
index 0000000..16f6ed5
--- /dev/null
+++ b/tc/em_canid.c
@@ -0,0 +1,191 @@
+/*
+ * em_canid.c Ematch rule to match CAN frames according to their CAN identifiers
+ *
+ * This program is free software; you can distribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version
+ * 2 of the License, or (at your option) any later version.
+ *
+ * Idea: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
+ * Copyright: (c) 2011 Czech Technical University in Prague
+ * (c) 2011 Volkswagen Group Research
+ * Authors: Michal Sojka <sojkam1@fel.cvut.cz>
+ * Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ * Rostislav Lisovy <lisovy@gmail.cz>
+ * Funded by: Volkswagen Group Research
+ *
+ * Documentation: http://rtime.felk.cvut.cz/can/socketcan-qdisc-final.pdf
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <syslog.h>
+#include <fcntl.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <string.h>
+#include <errno.h>
+#include <linux/can.h>
+#include <inttypes.h>
+#include "m_ematch.h"
+
+#define EM_CANID_RULES_MAX 400 /* Main reason for this number is Nelink
+ message size limit equal to Single memory page size. When dump()
+ is invoked, there are even some ematch related headers sent from
+ kernel to userspace together with em_canid configuration --
+ 400*sizeof(struct can_filter) should fit without any problems */
+
+extern struct ematch_util canid_ematch_util;
+struct rules {
+ struct can_filter *rules_raw;
+ int rules_capacity; /* Size of array allocated for rules_raw */
+ int rules_cnt; /* Actual number of rules stored in rules_raw */
+};
+
+static void canid_print_usage(FILE *fd)
+{
+ fprintf(fd,
+ "Usage: canid(IDLIST)\n" \
+ "where: IDLIST := IDSPEC [ IDLIST ]\n" \
+ " IDSPEC := { ’sff’ CANID | ’eff’ CANID }\n" \
+ " CANID := ID[:MASK]\n" \
+ " ID, MASK := hexadecimal number (i.e. 0x123)\n" \
+ "Example: canid(sff 0x123 sff 0x124 sff 0x125:0xf)\n");
+}
+
+static int canid_parse_rule(struct rules *rules, struct bstr *a, int iseff)
+{
+ unsigned int can_id = 0;
+ unsigned int can_mask = 0;
+
+ if (sscanf(a->data, "%"SCNx32 ":" "%"SCNx32, &can_id, &can_mask) != 2) {
+ if (sscanf(a->data, "%"SCNx32, &can_id) != 1) {
+ return -1;
+ } else {
+ can_mask = (iseff) ? CAN_EFF_MASK : CAN_SFF_MASK;
+ }
+ }
+
+ /* Stretch rules array up to EM_CANID_RULES_MAX if necessary */
+ if (rules->rules_cnt == rules->rules_capacity) {
+ if (rules->rules_capacity <= EM_CANID_RULES_MAX/2) {
+ rules->rules_capacity *= 2;
+ rules->rules_raw = realloc(rules->rules_raw,
+ sizeof(struct can_filter) * rules->rules_capacity);
+ } else {
+ return -2;
+ }
+ }
+
+ rules->rules_raw[rules->rules_cnt].can_id =
+ can_id | ((iseff) ? CAN_EFF_FLAG : 0);
+ rules->rules_raw[rules->rules_cnt].can_mask =
+ can_mask | CAN_EFF_FLAG;
+
+ rules->rules_cnt++;
+
+ return 0;
+}
+
+static int canid_parse_eopt(struct nlmsghdr *n, struct tcf_ematch_hdr *hdr,
+ struct bstr *args)
+{
+ int iseff = 0;
+ int ret = 0;
+ struct rules rules = {
+ .rules_capacity = 25, /* Denominator of EM_CANID_RULES_MAX
+ Will be multiplied by 2 to calculate the size for realloc() */
+ .rules_cnt = 0
+ };
+
+#define PARSE_ERR(CARG, FMT, ARGS...) \
+ em_parse_error(EINVAL, args, CARG, &canid_ematch_util, FMT, ##ARGS)
+
+ if (args == NULL)
+ return PARSE_ERR(args, "canid: missing arguments");
+
+ rules.rules_raw = malloc(sizeof(struct can_filter) * rules.rules_capacity);
+ memset(rules.rules_raw, 0, sizeof(struct can_filter) * rules.rules_capacity);
+
+ do {
+ if (!bstrcmp(args, "sff")) {
+ iseff = 0;
+ } else if (!bstrcmp(args, "eff")) {
+ iseff = 1;
+ } else {
+ ret = PARSE_ERR(args, "canid: invalid key");
+ goto exit;
+ }
+
+ args = bstr_next(args);
+ if (args == NULL) {
+ ret = PARSE_ERR(args, "canid: missing argument");
+ goto exit;
+ }
+
+ ret = canid_parse_rule(&rules, args, iseff);
+ if (ret == -1) {
+ ret = PARSE_ERR(args, "canid: Improperly formed CAN ID & mask\n");
+ goto exit;
+ } else if (ret == -2) {
+ ret = PARSE_ERR(args, "canid: Too many arguments on input\n");
+ goto exit;
+ }
+ } while ((args = bstr_next(args)) != NULL);
+
+ addraw_l(n, MAX_MSG, hdr, sizeof(*hdr));
+ addraw_l(n, MAX_MSG, rules.rules_raw,
+ sizeof(struct can_filter) * rules.rules_cnt);
+
+#undef PARSE_ERR
+exit:
+ free(rules.rules_raw);
+ return ret;
+}
+
+static int canid_print_eopt(FILE *fd, struct tcf_ematch_hdr *hdr, void *data,
+ int data_len)
+{
+ struct can_filter *conf = data; /* Array with rules */
+ int rules_count;
+ int i;
+
+ rules_count = data_len / sizeof(struct can_filter);
+
+ for (i = 0; i < rules_count; i++) {
+ struct can_filter *pcfltr = &conf[i];
+
+ if (pcfltr->can_id & CAN_EFF_FLAG) {
+ if (pcfltr->can_mask == (CAN_EFF_FLAG | CAN_EFF_MASK))
+ fprintf(fd, "eff 0x%"PRIX32,
+ pcfltr->can_id & CAN_EFF_MASK);
+ else
+ fprintf(fd, "eff 0x%"PRIX32":0x%"PRIX32,
+ pcfltr->can_id & CAN_EFF_MASK,
+ pcfltr->can_mask & CAN_EFF_MASK);
+ } else {
+ if (pcfltr->can_mask == (CAN_EFF_FLAG | CAN_SFF_MASK))
+ fprintf(fd, "sff 0x%"PRIX32,
+ pcfltr->can_id & CAN_SFF_MASK);
+ else
+ fprintf(fd, "sff 0x%"PRIX32":0x%"PRIX32,
+ pcfltr->can_id & CAN_SFF_MASK,
+ pcfltr->can_mask & CAN_SFF_MASK);
+ }
+
+ if ((i + 1) < rules_count)
+ fprintf(fd, " ");
+ }
+
+ return 0;
+}
+
+struct ematch_util canid_ematch_util = {
+ .kind = "canid",
+ .kind_num = TCF_EM_CANID,
+ .parse_eopt = canid_parse_eopt,
+ .print_eopt = canid_print_eopt,
+ .print_usage = canid_print_usage
+};
--
1.7.10.4
^ permalink raw reply related [flat|nested] 3+ messages in thread
* Re: [PATCH iproute2 2/2] em_canid: Ematch used to classify CAN frames according to their identifiers
2012-07-31 14:46 ` [PATCH iproute2 2/2] em_canid: Ematch used to classify CAN frames according to their identifiers Rostislav Lisovy
@ 2012-08-20 20:13 ` Stephen Hemminger
0 siblings, 0 replies; 3+ messages in thread
From: Stephen Hemminger @ 2012-08-20 20:13 UTC (permalink / raw)
To: Rostislav Lisovy; +Cc: netdev, linux-can, pisa, sojkam1
On Tue, 31 Jul 2012 16:46:21 +0200
Rostislav Lisovy <lisovy@gmail.com> wrote:
> This ematch enables effective filtering of CAN frames (AF_CAN) based
> on CAN identifiers with masking of compared bits. Implementation
> utilizes bitmap based classification for standard frame format (SFF)
> which is optimized for minimal overhead.
>
> Signed-off-by: Rostislav Lisovy <lisovy@gmail.com>
Since this doesn't have any conflicts (unlike other CAN filtering),
I applied it for 3.6 version.
^ permalink raw reply [flat|nested] 3+ messages in thread
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2012-07-31 14:46 [PATCH iproute2 1/2] Add missing can.h Rostislav Lisovy
2012-07-31 14:46 ` [PATCH iproute2 2/2] em_canid: Ematch used to classify CAN frames according to their identifiers Rostislav Lisovy
2012-08-20 20:13 ` Stephen Hemminger
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