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author | 2023-02-21 18:24:12 -0800 | |
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committer | 2023-02-21 18:24:12 -0800 | |
commit | 5b7c4cabbb65f5c469464da6c5f614cbd7f730f2 (patch) | |
tree | cc5c2d0a898769fd59549594fedb3ee6f84e59a0 /Documentation/networking/can_ucan_protocol.rst | |
download | linux-5b7c4cabbb65f5c469464da6c5f614cbd7f730f2.tar.gz linux-5b7c4cabbb65f5c469464da6c5f614cbd7f730f2.zip |
Merge tag 'net-next-6.3' of git://git.kernel.org/pub/scm/linux/kernel/git/netdev/net-nextgrafted
Pull networking updates from Jakub Kicinski:
"Core:
- Add dedicated kmem_cache for typical/small skb->head, avoid having
to access struct page at kfree time, and improve memory use.
- Introduce sysctl to set default RPS configuration for new netdevs.
- Define Netlink protocol specification format which can be used to
describe messages used by each family and auto-generate parsers.
Add tools for generating kernel data structures and uAPI headers.
- Expose all net/core sysctls inside netns.
- Remove 4s sleep in netpoll if carrier is instantly detected on
boot.
- Add configurable limit of MDB entries per port, and port-vlan.
- Continue populating drop reasons throughout the stack.
- Retire a handful of legacy Qdiscs and classifiers.
Protocols:
- Support IPv4 big TCP (TSO frames larger than 64kB).
- Add IP_LOCAL_PORT_RANGE socket option, to control local port range
on socket by socket basis.
- Track and report in procfs number of MPTCP sockets used.
- Support mixing IPv4 and IPv6 flows in the in-kernel MPTCP path
manager.
- IPv6: don't check net.ipv6.route.max_size and rely on garbage
collection to free memory (similarly to IPv4).
- Support Penultimate Segment Pop (PSP) flavor in SRv6 (RFC8986).
- ICMP: add per-rate limit counters.
- Add support for user scanning requests in ieee802154.
- Remove static WEP support.
- Support minimal Wi-Fi 7 Extremely High Throughput (EHT) rate
reporting.
- WiFi 7 EHT channel puncturing support (client & AP).
BPF:
- Add a rbtree data structure following the "next-gen data structure"
precedent set by recently added linked list, that is, by using
kfunc + kptr instead of adding a new BPF map type.
- Expose XDP hints via kfuncs with initial support for RX hash and
timestamp metadata.
- Add BPF_F_NO_TUNNEL_KEY extension to bpf_skb_set_tunnel_key to
better support decap on GRE tunnel devices not operating in collect
metadata.
- Improve x86 JIT's codegen for PROBE_MEM runtime error checks.
- Remove the need for trace_printk_lock for bpf_trace_printk and
bpf_trace_vprintk helpers.
- Extend libbpf's bpf_tracing.h support for tracing arguments of
kprobes/uprobes and syscall as a special case.
- Significantly reduce the search time for module symbols by
livepatch and BPF.
- Enable cpumasks to be used as kptrs, which is useful for tracing
programs tracking which tasks end up running on which CPUs in
different time intervals.
- Add support for BPF trampoline on s390x and riscv64.
- Add capability to export the XDP features supported by the NIC.
- Add __bpf_kfunc tag for marking kernel functions as kfuncs.
- Add cgroup.memory=nobpf kernel parameter option to disable BPF
memory accounting for container environments.
Netfilter:
- Remove the CLUSTERIP target. It has been marked as obsolete for
years, and we still have WARN splats wrt races of the out-of-band
/proc interface installed by this target.
- Add 'destroy' commands to nf_tables. They are identical to the
existing 'delete' commands, but do not return an error if the
referenced object (set, chain, rule...) did not exist.
Driver API:
- Improve cpumask_local_spread() locality to help NICs set the right
IRQ affinity on AMD platforms.
- Separate C22 and C45 MDIO bus transactions more clearly.
- Introduce new DCB table to control DSCP rewrite on egress.
- Support configuration of Physical Layer Collision Avoidance (PLCA)
Reconciliation Sublayer (RS) (802.3cg-2019). Modern version of
shared medium Ethernet.
- Support for MAC Merge layer (IEEE 802.3-2018 clause 99). Allowing
preemption of low priority frames by high priority frames.
- Add support for controlling MACSec offload using netlink SET.
- Rework devlink instance refcounts to allow registration and
de-registration under the instance lock. Split the code into
multiple files, drop some of the unnecessarily granular locks and
factor out common parts of netlink operation handling.
- Add TX frame aggregation parameters (for USB drivers).
- Add a new attr TCA_EXT_WARN_MSG to report TC (offload) warning
messages with notifications for debug.
- Allow offloading of UDP NEW connections via act_ct.
- Add support for per action HW stats in TC.
- Support hardware miss to TC action (continue processing in SW from
a specific point in the action chain).
- Warn if old Wireless Extension user space interface is used with
modern cfg80211/mac80211 drivers. Do not support Wireless
Extensions for Wi-Fi 7 devices at all. Everyone should switch to
using nl80211 interface instead.
- Improve the CAN bit timing configuration. Use extack to return
error messages directly to user space, update the SJW handling,
including the definition of a new default value that will benefit
CAN-FD controllers, by increasing their oscillator tolerance.
New hardware / drivers:
- Ethernet:
- nVidia BlueField-3 support (control traffic driver)
- Ethernet support for imx93 SoCs
- Motorcomm yt8531 gigabit Ethernet PHY
- onsemi NCN26000 10BASE-T1S PHY (with support for PLCA)
- Microchip LAN8841 PHY (incl. cable diagnostics and PTP)
- Amlogic gxl MDIO mux
- WiFi:
- RealTek RTL8188EU (rtl8xxxu)
- Qualcomm Wi-Fi 7 devices (ath12k)
- CAN:
- Renesas R-Car V4H
Drivers:
- Bluetooth:
- Set Per Platform Antenna Gain (PPAG) for Intel controllers.
- Ethernet NICs:
- Intel (1G, igc):
- support TSN / Qbv / packet scheduling features of i226 model
- Intel (100G, ice):
- use GNSS subsystem instead of TTY
- multi-buffer XDP support
- extend support for GPIO pins to E823 devices
- nVidia/Mellanox:
- update the shared buffer configuration on PFC commands
- implement PTP adjphase function for HW offset control
- TC support for Geneve and GRE with VF tunnel offload
- more efficient crypto key management method
- multi-port eswitch support
- Netronome/Corigine:
- add DCB IEEE support
- support IPsec offloading for NFP3800
- Freescale/NXP (enetc):
- support XDP_REDIRECT for XDP non-linear buffers
- improve reconfig, avoid link flap and waiting for idle
- support MAC Merge layer
- Other NICs:
- sfc/ef100: add basic devlink support for ef100
- ionic: rx_push mode operation (writing descriptors via MMIO)
- bnxt: use the auxiliary bus abstraction for RDMA
- r8169: disable ASPM and reset bus in case of tx timeout
- cpsw: support QSGMII mode for J721e CPSW9G
- cpts: support pulse-per-second output
- ngbe: add an mdio bus driver
- usbnet: optimize usbnet_bh() by avoiding unnecessary queuing
- r8152: handle devices with FW with NCM support
- amd-xgbe: support 10Mbps, 2.5GbE speeds and rx-adaptation
- virtio-net: support multi buffer XDP
- virtio/vsock: replace virtio_vsock_pkt with sk_buff
- tsnep: XDP support
- Ethernet high-speed switches:
- nVidia/Mellanox (mlxsw):
- add support for latency TLV (in FW control messages)
- Microchip (sparx5):
- separate explicit and implicit traffic forwarding rules, make
the implicit rules always active
- add support for egress DSCP rewrite
- IS0 VCAP support (Ingress Classification)
- IS2 VCAP filters (protos, L3 addrs, L4 ports, flags, ToS
etc.)
- ES2 VCAP support (Egress Access Control)
- support for Per-Stream Filtering and Policing (802.1Q,
8.6.5.1)
- Ethernet embedded switches:
- Marvell (mv88e6xxx):
- add MAB (port auth) offload support
- enable PTP receive for mv88e6390
- NXP (ocelot):
- support MAC Merge layer
- support for the the vsc7512 internal copper phys
- Microchip:
- lan9303: convert to PHYLINK
- lan966x: support TC flower filter statistics
- lan937x: PTP support for KSZ9563/KSZ8563 and LAN937x
- lan937x: support Credit Based Shaper configuration
- ksz9477: support Energy Efficient Ethernet
- other:
- qca8k: convert to regmap read/write API, use bulk operations
- rswitch: Improve TX timestamp accuracy
- Intel WiFi (iwlwifi):
- EHT (Wi-Fi 7) rate reporting
- STEP equalizer support: transfer some STEP (connection to radio
on platforms with integrated wifi) related parameters from the
BIOS to the firmware.
- Qualcomm 802.11ax WiFi (ath11k):
- IPQ5018 support
- Fine Timing Measurement (FTM) responder role support
- channel 177 support
- MediaTek WiFi (mt76):
- per-PHY LED support
- mt7996: EHT (Wi-Fi 7) support
- Wireless Ethernet Dispatch (WED) reset support
- switch to using page pool allocator
- RealTek WiFi (rtw89):
- support new version of Bluetooth co-existance
- Mobile:
- rmnet: support TX aggregation"
* tag 'net-next-6.3' of git://git.kernel.org/pub/scm/linux/kernel/git/netdev/net-next: (1872 commits)
page_pool: add a comment explaining the fragment counter usage
net: ethtool: fix __ethtool_dev_mm_supported() implementation
ethtool: pse-pd: Fix double word in comments
xsk: add linux/vmalloc.h to xsk.c
sefltests: netdevsim: wait for devlink instance after netns removal
selftest: fib_tests: Always cleanup before exit
net/mlx5e: Align IPsec ASO result memory to be as required by hardware
net/mlx5e: TC, Set CT miss to the specific ct action instance
net/mlx5e: Rename CHAIN_TO_REG to MAPPED_OBJ_TO_REG
net/mlx5: Refactor tc miss handling to a single function
net/mlx5: Kconfig: Make tc offload depend on tc skb extension
net/sched: flower: Support hardware miss to tc action
net/sched: flower: Move filter handle initialization earlier
net/sched: cls_api: Support hardware miss to tc action
net/sched: Rename user cookie and act cookie
sfc: fix builds without CONFIG_RTC_LIB
sfc: clean up some inconsistent indentings
net/mlx4_en: Introduce flexible array to silence overflow warning
net: lan966x: Fix possible deadlock inside PTP
net/ulp: Remove redundant ->clone() test in inet_clone_ulp().
...
Diffstat (limited to 'Documentation/networking/can_ucan_protocol.rst')
-rw-r--r-- | Documentation/networking/can_ucan_protocol.rst | 332 |
1 files changed, 332 insertions, 0 deletions
diff --git a/Documentation/networking/can_ucan_protocol.rst b/Documentation/networking/can_ucan_protocol.rst new file mode 100644 index 000000000..935d872ae --- /dev/null +++ b/Documentation/networking/can_ucan_protocol.rst @@ -0,0 +1,332 @@ +================= +The UCAN Protocol +================= + +UCAN is the protocol used by the microcontroller-based USB-CAN +adapter that is integrated on System-on-Modules from Theobroma Systems +and that is also available as a standalone USB stick. + +The UCAN protocol has been designed to be hardware-independent. +It is modeled closely after how Linux represents CAN devices +internally. All multi-byte integers are encoded as Little Endian. + +All structures mentioned in this document are defined in +``drivers/net/can/usb/ucan.c``. + +USB Endpoints +============= + +UCAN devices use three USB endpoints: + +CONTROL endpoint + The driver sends device management commands on this endpoint + +IN endpoint + The device sends CAN data frames and CAN error frames + +OUT endpoint + The driver sends CAN data frames on the out endpoint + + +CONTROL Messages +================ + +UCAN devices are configured using vendor requests on the control pipe. + +To support multiple CAN interfaces in a single USB device all +configuration commands target the corresponding interface in the USB +descriptor. + +The driver uses ``ucan_ctrl_command_in/out`` and +``ucan_device_request_in`` to deliver commands to the device. + +Setup Packet +------------ + +================= ===================================================== +``bmRequestType`` Direction | Vendor | (Interface or Device) +``bRequest`` Command Number +``wValue`` Subcommand Number (16 Bit) or 0 if not used +``wIndex`` USB Interface Index (0 for device commands) +``wLength`` * Host to Device - Number of bytes to transmit + * Device to Host - Maximum Number of bytes to + receive. If the device send less. Common ZLP + semantics are used. +================= ===================================================== + +Error Handling +-------------- + +The device indicates failed control commands by stalling the +pipe. + +Device Commands +--------------- + +UCAN_DEVICE_GET_FW_STRING +~~~~~~~~~~~~~~~~~~~~~~~~~ + +*Dev2Host; optional* + +Request the device firmware string. + + +Interface Commands +------------------ + +UCAN_COMMAND_START +~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Bring the CAN interface up. + +Payload Format + ``ucan_ctl_payload_t.cmd_start`` + +==== ============================ +mode or mask of ``UCAN_MODE_*`` +==== ============================ + +UCAN_COMMAND_STOP +~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Stop the CAN interface + +Payload Format + *empty* + +UCAN_COMMAND_RESET +~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Reset the CAN controller (including error counters) + +Payload Format + *empty* + +UCAN_COMMAND_GET +~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Get Information from the Device + +Subcommands +^^^^^^^^^^^ + +UCAN_COMMAND_GET_INFO + Request the device information structure ``ucan_ctl_payload_t.device_info``. + + See the ``device_info`` field for details, and + ``uapi/linux/can/netlink.h`` for an explanation of the + ``can_bittiming fields``. + + Payload Format + ``ucan_ctl_payload_t.device_info`` + +UCAN_COMMAND_GET_PROTOCOL_VERSION + + Request the device protocol version + ``ucan_ctl_payload_t.protocol_version``. The current protocol version is 3. + + Payload Format + ``ucan_ctl_payload_t.protocol_version`` + +.. note:: Devices that do not implement this command use the old + protocol version 1 + +UCAN_COMMAND_SET_BITTIMING +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Setup bittiming by sending the structure +``ucan_ctl_payload_t.cmd_set_bittiming`` (see ``struct bittiming`` for +details) + +Payload Format + ``ucan_ctl_payload_t.cmd_set_bittiming``. + +UCAN_SLEEP/WAKE +~~~~~~~~~~~~~~~ + +*Host2Dev; optional* + +Configure sleep and wake modes. Not yet supported by the driver. + +UCAN_FILTER +~~~~~~~~~~~ + +*Host2Dev; optional* + +Setup hardware CAN filters. Not yet supported by the driver. + +Allowed interface commands +-------------------------- + +================== =================== ================== +Legal Device State Command New Device State +================== =================== ================== +stopped SET_BITTIMING stopped +stopped START started +started STOP or RESET stopped +stopped STOP or RESET stopped +started RESTART started +any GET *no change* +================== =================== ================== + +IN Message Format +================= + +A data packet on the USB IN endpoint contains one or more +``ucan_message_in`` values. If multiple messages are batched in a USB +data packet, the ``len`` field can be used to jump to the next +``ucan_message_in`` value (take care to sanity-check the ``len`` value +against the actual data size). + +.. _can_ucan_in_message_len: + +``len`` field +------------- + +Each ``ucan_message_in`` must be aligned to a 4-byte boundary (relative +to the start of the start of the data buffer). That means that there +may be padding bytes between multiple ``ucan_message_in`` values: + +.. code:: + + +----------------------------+ < 0 + | | + | struct ucan_message_in | + | | + +----------------------------+ < len + [padding] + +----------------------------+ < round_up(len, 4) + | | + | struct ucan_message_in | + | | + +----------------------------+ + [...] + +``type`` field +-------------- + +The ``type`` field specifies the type of the message. + +UCAN_IN_RX +~~~~~~~~~~ + +``subtype`` + zero + +Data received from the CAN bus (ID + payload). + +UCAN_IN_TX_COMPLETE +~~~~~~~~~~~~~~~~~~~ + +``subtype`` + zero + +The CAN device has sent a message to the CAN bus. It answers with a +list of tuples <echo-ids, flags>. + +The echo-id identifies the frame from (echos the id from a previous +UCAN_OUT_TX message). The flag indicates the result of the +transmission. Whereas a set Bit 0 indicates success. All other bits +are reserved and set to zero. + +Flow Control +------------ + +When receiving CAN messages there is no flow control on the USB +buffer. The driver has to handle inbound message quickly enough to +avoid drops. I case the device buffer overflow the condition is +reported by sending corresponding error frames (see +:ref:`can_ucan_error_handling`) + + +OUT Message Format +================== + +A data packet on the USB OUT endpoint contains one or more ``struct +ucan_message_out`` values. If multiple messages are batched into one +data packet, the device uses the ``len`` field to jump to the next +ucan_message_out value. Each ucan_message_out must be aligned to 4 +bytes (relative to the start of the data buffer). The mechanism is +same as described in :ref:`can_ucan_in_message_len`. + +.. code:: + + +----------------------------+ < 0 + | | + | struct ucan_message_out | + | | + +----------------------------+ < len + [padding] + +----------------------------+ < round_up(len, 4) + | | + | struct ucan_message_out | + | | + +----------------------------+ + [...] + +``type`` field +-------------- + +In protocol version 3 only ``UCAN_OUT_TX`` is defined, others are used +only by legacy devices (protocol version 1). + +UCAN_OUT_TX +~~~~~~~~~~~ +``subtype`` + echo id to be replied within a CAN_IN_TX_COMPLETE message + +Transmit a CAN frame. (parameters: ``id``, ``data``) + +Flow Control +------------ + +When the device outbound buffers are full it starts sending *NAKs* on +the *OUT* pipe until more buffers are available. The driver stops the +queue when a certain threshold of out packets are incomplete. + +.. _can_ucan_error_handling: + +CAN Error Handling +================== + +If error reporting is turned on the device encodes errors into CAN +error frames (see ``uapi/linux/can/error.h``) and sends it using the +IN endpoint. The driver updates its error statistics and forwards +it. + +Although UCAN devices can suppress error frames completely, in Linux +the driver is always interested. Hence, the device is always started with +the ``UCAN_MODE_BERR_REPORT`` set. Filtering those messages for the +user space is done by the driver. + +Bus OFF +------- + +- The device does not recover from bus of automatically. +- Bus OFF is indicated by an error frame (see ``uapi/linux/can/error.h``) +- Bus OFF recovery is started by ``UCAN_COMMAND_RESTART`` +- Once Bus OFF recover is completed the device sends an error frame + indicating that it is on ERROR-ACTIVE state. +- During Bus OFF no frames are sent by the device. +- During Bus OFF transmission requests from the host are completed + immediately with the success bit left unset. + +Example Conversation +==================== + +#) Device is connected to USB +#) Host sends command ``UCAN_COMMAND_RESET``, subcmd 0 +#) Host sends command ``UCAN_COMMAND_GET``, subcmd ``UCAN_COMMAND_GET_INFO`` +#) Device sends ``UCAN_IN_DEVICE_INFO`` +#) Host sends command ``UCAN_OUT_SET_BITTIMING`` +#) Host sends command ``UCAN_COMMAND_START``, subcmd 0, mode ``UCAN_MODE_BERR_REPORT`` |