Merge branch 'for-davem' of git://gitorious.org/linux-can/linux-can-next
Marc Kleine-Budde says: ==================== here's a pull request for net-next. It includes a patch by Oliver Hartkopp et al. that adds documentation for the broadcast manager to Documentation/networking/can.txt. Three patches by me that clean up the netlink handling code in the CAN core. And another patch that removes a not needed function from the ti_hecc driver. ==================== Signed-off-by: David S. Miller <davem@davemloft.net>
This commit is contained in:
David S. Miller
commit
13521a5797
3 changed files with 249 additions and 45 deletions
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@ -25,6 +25,12 @@ This file contains
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4.1.5 RAW socket option CAN_RAW_FD_FRAMES
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4.1.6 RAW socket returned message flags
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4.2 Broadcast Manager protocol sockets (SOCK_DGRAM)
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4.2.1 Broadcast Manager operations
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4.2.2 Broadcast Manager message flags
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4.2.3 Broadcast Manager transmission timers
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4.2.4 Broadcast Manager message sequence transmission
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4.2.5 Broadcast Manager receive filter timers
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4.2.6 Broadcast Manager multiplex message receive filter
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4.3 connected transport protocols (SOCK_SEQPACKET)
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4.4 unconnected transport protocols (SOCK_DGRAM)
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@ -593,6 +599,217 @@ solution for a couple of reasons:
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In order to receive such messages, CAN_RAW_RECV_OWN_MSGS must be set.
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4.2 Broadcast Manager protocol sockets (SOCK_DGRAM)
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The Broadcast Manager protocol provides a command based configuration
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interface to filter and send (e.g. cyclic) CAN messages in kernel space.
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Receive filters can be used to down sample frequent messages; detect events
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such as message contents changes, packet length changes, and do time-out
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monitoring of received messages.
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Periodic transmission tasks of CAN frames or a sequence of CAN frames can be
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created and modified at runtime; both the message content and the two
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possible transmit intervals can be altered.
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A BCM socket is not intended for sending individual CAN frames using the
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struct can_frame as known from the CAN_RAW socket. Instead a special BCM
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configuration message is defined. The basic BCM configuration message used
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to communicate with the broadcast manager and the available operations are
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defined in the linux/can/bcm.h include. The BCM message consists of a
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message header with a command ('opcode') followed by zero or more CAN frames.
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The broadcast manager sends responses to user space in the same form:
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struct bcm_msg_head {
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__u32 opcode; /* command */
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__u32 flags; /* special flags */
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__u32 count; /* run 'count' times with ival1 */
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struct timeval ival1, ival2; /* count and subsequent interval */
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canid_t can_id; /* unique can_id for task */
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__u32 nframes; /* number of can_frames following */
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struct can_frame frames[0];
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};
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The aligned payload 'frames' uses the same basic CAN frame structure defined
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at the beginning of section 4 and in the include/linux/can.h include. All
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messages to the broadcast manager from user space have this structure.
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Note a CAN_BCM socket must be connected instead of bound after socket
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creation (example without error checking):
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int s;
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struct sockaddr_can addr;
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struct ifreq ifr;
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s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
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strcpy(ifr.ifr_name, "can0");
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ioctl(s, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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connect(s, (struct sockaddr *)&addr, sizeof(addr))
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(..)
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The broadcast manager socket is able to handle any number of in flight
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transmissions or receive filters concurrently. The different RX/TX jobs are
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distinguished by the unique can_id in each BCM message. However additional
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CAN_BCM sockets are recommended to communicate on multiple CAN interfaces.
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When the broadcast manager socket is bound to 'any' CAN interface (=> the
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interface index is set to zero) the configured receive filters apply to any
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CAN interface unless the sendto() syscall is used to overrule the 'any' CAN
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interface index. When using recvfrom() instead of read() to retrieve BCM
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socket messages the originating CAN interface is provided in can_ifindex.
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4.2.1 Broadcast Manager operations
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The opcode defines the operation for the broadcast manager to carry out,
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or details the broadcast managers response to several events, including
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user requests.
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Transmit Operations (user space to broadcast manager):
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TX_SETUP: Create (cyclic) transmission task.
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TX_DELETE: Remove (cyclic) transmission task, requires only can_id.
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TX_READ: Read properties of (cyclic) transmission task for can_id.
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TX_SEND: Send one CAN frame.
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Transmit Responses (broadcast manager to user space):
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TX_STATUS: Reply to TX_READ request (transmission task configuration).
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TX_EXPIRED: Notification when counter finishes sending at initial interval
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'ival1'. Requires the TX_COUNTEVT flag to be set at TX_SETUP.
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Receive Operations (user space to broadcast manager):
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RX_SETUP: Create RX content filter subscription.
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RX_DELETE: Remove RX content filter subscription, requires only can_id.
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RX_READ: Read properties of RX content filter subscription for can_id.
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Receive Responses (broadcast manager to user space):
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RX_STATUS: Reply to RX_READ request (filter task configuration).
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RX_TIMEOUT: Cyclic message is detected to be absent (timer ival1 expired).
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RX_CHANGED: BCM message with updated CAN frame (detected content change).
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Sent on first message received or on receipt of revised CAN messages.
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4.2.2 Broadcast Manager message flags
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When sending a message to the broadcast manager the 'flags' element may
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contain the following flag definitions which influence the behaviour:
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SETTIMER: Set the values of ival1, ival2 and count
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STARTTIMER: Start the timer with the actual values of ival1, ival2
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and count. Starting the timer leads simultaneously to emit a CAN frame.
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TX_COUNTEVT: Create the message TX_EXPIRED when count expires
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TX_ANNOUNCE: A change of data by the process is emitted immediately.
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TX_CP_CAN_ID: Copies the can_id from the message header to each
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subsequent frame in frames. This is intended as usage simplification. For
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TX tasks the unique can_id from the message header may differ from the
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can_id(s) stored for transmission in the subsequent struct can_frame(s).
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RX_FILTER_ID: Filter by can_id alone, no frames required (nframes=0).
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RX_CHECK_DLC: A change of the DLC leads to an RX_CHANGED.
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RX_NO_AUTOTIMER: Prevent automatically starting the timeout monitor.
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RX_ANNOUNCE_RESUME: If passed at RX_SETUP and a receive timeout occured, a
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RX_CHANGED message will be generated when the (cyclic) receive restarts.
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TX_RESET_MULTI_IDX: Reset the index for the multiple frame transmission.
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RX_RTR_FRAME: Send reply for RTR-request (placed in op->frames[0]).
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4.2.3 Broadcast Manager transmission timers
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Periodic transmission configurations may use up to two interval timers.
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In this case the BCM sends a number of messages ('count') at an interval
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'ival1', then continuing to send at another given interval 'ival2'. When
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only one timer is needed 'count' is set to zero and only 'ival2' is used.
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When SET_TIMER and START_TIMER flag were set the timers are activated.
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The timer values can be altered at runtime when only SET_TIMER is set.
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4.2.4 Broadcast Manager message sequence transmission
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Up to 256 CAN frames can be transmitted in a sequence in the case of a cyclic
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TX task configuration. The number of CAN frames is provided in the 'nframes'
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element of the BCM message head. The defined number of CAN frames are added
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as array to the TX_SETUP BCM configuration message.
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/* create a struct to set up a sequence of four CAN frames */
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struct {
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struct bcm_msg_head msg_head;
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struct can_frame frame[4];
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} mytxmsg;
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(..)
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mytxmsg.nframes = 4;
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(..)
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write(s, &mytxmsg, sizeof(mytxmsg));
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With every transmission the index in the array of CAN frames is increased
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and set to zero at index overflow.
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4.2.5 Broadcast Manager receive filter timers
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The timer values ival1 or ival2 may be set to non-zero values at RX_SETUP.
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When the SET_TIMER flag is set the timers are enabled:
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ival1: Send RX_TIMEOUT when a received message is not received again within
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the given time. When START_TIMER is set at RX_SETUP the timeout detection
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is activated directly - even without a former CAN frame reception.
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ival2: Throttle the received message rate down to the value of ival2. This
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is useful to reduce messages for the application when the signal inside the
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CAN frame is stateless as state changes within the ival2 periode may get
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lost.
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4.2.6 Broadcast Manager multiplex message receive filter
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To filter for content changes in multiplex message sequences an array of more
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than one CAN frames can be passed in a RX_SETUP configuration message. The
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data bytes of the first CAN frame contain the mask of relevant bits that
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have to match in the subsequent CAN frames with the received CAN frame.
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If one of the subsequent CAN frames is matching the bits in that frame data
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mark the relevant content to be compared with the previous received content.
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Up to 257 CAN frames (multiplex filter bit mask CAN frame plus 256 CAN
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filters) can be added as array to the TX_SETUP BCM configuration message.
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/* usually used to clear CAN frame data[] - beware of endian problems! */
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#define U64_DATA(p) (*(unsigned long long*)(p)->data)
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struct {
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struct bcm_msg_head msg_head;
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struct can_frame frame[5];
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} msg;
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msg.msg_head.opcode = RX_SETUP;
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msg.msg_head.can_id = 0x42;
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msg.msg_head.flags = 0;
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msg.msg_head.nframes = 5;
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U64_DATA(&msg.frame[0]) = 0xFF00000000000000ULL; /* MUX mask */
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U64_DATA(&msg.frame[1]) = 0x01000000000000FFULL; /* data mask (MUX 0x01) */
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U64_DATA(&msg.frame[2]) = 0x0200FFFF000000FFULL; /* data mask (MUX 0x02) */
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U64_DATA(&msg.frame[3]) = 0x330000FFFFFF0003ULL; /* data mask (MUX 0x33) */
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U64_DATA(&msg.frame[4]) = 0x4F07FC0FF0000000ULL; /* data mask (MUX 0x4F) */
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write(s, &msg, sizeof(msg));
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4.3 connected transport protocols (SOCK_SEQPACKET)
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4.4 unconnected transport protocols (SOCK_DGRAM)
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@ -645,19 +645,6 @@ static int can_changelink(struct net_device *dev,
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/* We need synchronization with dev->stop() */
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ASSERT_RTNL();
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if (data[IFLA_CAN_CTRLMODE]) {
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struct can_ctrlmode *cm;
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/* Do not allow changing controller mode while running */
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if (dev->flags & IFF_UP)
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return -EBUSY;
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cm = nla_data(data[IFLA_CAN_CTRLMODE]);
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if (cm->flags & ~priv->ctrlmode_supported)
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return -EOPNOTSUPP;
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priv->ctrlmode &= ~cm->mask;
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priv->ctrlmode |= cm->flags;
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}
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if (data[IFLA_CAN_BITTIMING]) {
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struct can_bittiming bt;
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@ -680,6 +667,19 @@ static int can_changelink(struct net_device *dev,
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}
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}
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if (data[IFLA_CAN_CTRLMODE]) {
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struct can_ctrlmode *cm;
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/* Do not allow changing controller mode while running */
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if (dev->flags & IFF_UP)
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return -EBUSY;
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cm = nla_data(data[IFLA_CAN_CTRLMODE]);
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if (cm->flags & ~priv->ctrlmode_supported)
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return -EOPNOTSUPP;
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priv->ctrlmode &= ~cm->mask;
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priv->ctrlmode |= cm->flags;
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}
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if (data[IFLA_CAN_RESTART_MS]) {
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/* Do not allow changing restart delay while running */
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if (dev->flags & IFF_UP)
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@ -702,17 +702,17 @@ static int can_changelink(struct net_device *dev,
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static size_t can_get_size(const struct net_device *dev)
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{
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struct can_priv *priv = netdev_priv(dev);
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size_t size;
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size_t size = 0;
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size = nla_total_size(sizeof(u32)); /* IFLA_CAN_STATE */
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size += nla_total_size(sizeof(struct can_ctrlmode)); /* IFLA_CAN_CTRLMODE */
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size += nla_total_size(sizeof(u32)); /* IFLA_CAN_RESTART_MS */
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size += nla_total_size(sizeof(struct can_bittiming)); /* IFLA_CAN_BITTIMING */
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size += nla_total_size(sizeof(struct can_clock)); /* IFLA_CAN_CLOCK */
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if (priv->do_get_berr_counter) /* IFLA_CAN_BERR_COUNTER */
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size += nla_total_size(sizeof(struct can_berr_counter));
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if (priv->bittiming_const) /* IFLA_CAN_BITTIMING_CONST */
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size += nla_total_size(sizeof(struct can_bittiming)); /* IFLA_CAN_BITTIMING */
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if (priv->bittiming_const) /* IFLA_CAN_BITTIMING_CONST */
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size += nla_total_size(sizeof(struct can_bittiming_const));
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size += nla_total_size(sizeof(struct can_clock)); /* IFLA_CAN_CLOCK */
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size += nla_total_size(sizeof(u32)); /* IFLA_CAN_STATE */
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size += nla_total_size(sizeof(struct can_ctrlmode)); /* IFLA_CAN_CTRLMODE */
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size += nla_total_size(sizeof(u32)); /* IFLA_CAN_RESTART_MS */
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if (priv->do_get_berr_counter) /* IFLA_CAN_BERR_COUNTER */
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size += nla_total_size(sizeof(struct can_berr_counter));
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return size;
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}
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@ -726,23 +726,20 @@ static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
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if (priv->do_get_state)
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priv->do_get_state(dev, &state);
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if (nla_put_u32(skb, IFLA_CAN_STATE, state) ||
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nla_put(skb, IFLA_CAN_CTRLMODE, sizeof(cm), &cm) ||
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nla_put_u32(skb, IFLA_CAN_RESTART_MS, priv->restart_ms) ||
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nla_put(skb, IFLA_CAN_BITTIMING,
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if (nla_put(skb, IFLA_CAN_BITTIMING,
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sizeof(priv->bittiming), &priv->bittiming) ||
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nla_put(skb, IFLA_CAN_CLOCK, sizeof(cm), &priv->clock) ||
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(priv->do_get_berr_counter &&
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!priv->do_get_berr_counter(dev, &bec) &&
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nla_put(skb, IFLA_CAN_BERR_COUNTER, sizeof(bec), &bec)) ||
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(priv->bittiming_const &&
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nla_put(skb, IFLA_CAN_BITTIMING_CONST,
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sizeof(*priv->bittiming_const), priv->bittiming_const)))
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goto nla_put_failure;
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sizeof(*priv->bittiming_const), priv->bittiming_const)) ||
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nla_put(skb, IFLA_CAN_CLOCK, sizeof(cm), &priv->clock) ||
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nla_put_u32(skb, IFLA_CAN_STATE, state) ||
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nla_put(skb, IFLA_CAN_CTRLMODE, sizeof(cm), &cm) ||
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nla_put_u32(skb, IFLA_CAN_RESTART_MS, priv->restart_ms) ||
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(priv->do_get_berr_counter &&
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!priv->do_get_berr_counter(dev, &bec) &&
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nla_put(skb, IFLA_CAN_BERR_COUNTER, sizeof(bec), &bec)))
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return -EMSGSIZE;
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return 0;
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nla_put_failure:
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return -EMSGSIZE;
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}
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static size_t can_get_xstats_size(const struct net_device *dev)
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@ -286,15 +286,6 @@ static inline u32 hecc_get_bit(struct ti_hecc_priv *priv, int reg, u32 bit_mask)
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return (hecc_read(priv, reg) & bit_mask) ? 1 : 0;
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}
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static int ti_hecc_get_state(const struct net_device *ndev,
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enum can_state *state)
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{
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struct ti_hecc_priv *priv = netdev_priv(ndev);
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*state = priv->can.state;
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return 0;
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}
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static int ti_hecc_set_btc(struct ti_hecc_priv *priv)
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{
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struct can_bittiming *bit_timing = &priv->can.bittiming;
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@ -940,7 +931,6 @@ static int ti_hecc_probe(struct platform_device *pdev)
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priv->can.bittiming_const = &ti_hecc_bittiming_const;
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priv->can.do_set_mode = ti_hecc_do_set_mode;
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priv->can.do_get_state = ti_hecc_get_state;
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priv->can.do_get_berr_counter = ti_hecc_get_berr_counter;
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priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES;
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