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author | Jakub Kicinski <kuba@kernel.org> | 2023-06-23 06:05:25 +0300 |
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committer | Jakub Kicinski <kuba@kernel.org> | 2023-06-23 06:05:25 +0300 |
commit | 08eeccb2491a3198f4adcba63adeace6e2499ea3 (patch) | |
tree | a26d18e93bb4461dd9ccccf5ed03f88d747781fa /include | |
parent | 0ec92a8f56ff07237dbe8af7c7a72aba7f957baf (diff) | |
parent | 790ef3901f18be794f5b246f990f305bbd08ffd7 (diff) | |
download | linux-08eeccb2491a3198f4adcba63adeace6e2499ea3.tar.xz |
Merge tag 'linux-can-next-for-6.5-20230622' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next
Marc Kleine-Budde says:
====================
pull-request: can-next 2023-06-22
The first patch is by Carsten Schmidt, targets the kvaser_usb driver
and adds len8_dlc support.
Marcel Hellwig's patch for the xilinx_can driver adds support for CAN
transceivers via the PHY framework.
Frank Jungclaus contributes 6+2 patches for the esd_usb driver in
preparation for the upcoming CAN-USB/3 support.
The 2 patches by Miquel Raynal for the sja1000 driver work around
overruns stalls on the Renesas SoCs.
The next 3 patches are by me and fix the coding style in the
rx-offload helper and in the m_can and ti_hecc driver.
Vincent Mailhol contributes 3 patches to fix and update the
calculation of the length of CAN frames on the wire.
Oliver Hartkopp's patch moves the CAN_RAW_FILTER_MAX definition into
the correct header.
The remaining 14 patches are by Jimmy Assarsson, target the
kvaser_pciefd driver and bring various updates and improvements.
* tag 'linux-can-next-for-6.5-20230622' of git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next: (33 commits)
can: kvaser_pciefd: Use TX FIFO size read from CAN controller
can: kvaser_pciefd: Refactor code
can: kvaser_pciefd: Add len8_dlc support
can: kvaser_pciefd: Use FIELD_{GET,PREP} and GENMASK where appropriate
can: kvaser_pciefd: Sort register definitions
can: kvaser_pciefd: Change return type for kvaser_pciefd_{receive,transmit,set_tx}_irq()
can: kvaser_pciefd: Rename device ID defines
can: kvaser_pciefd: Sort includes in alphabetic order
can: kvaser_pciefd: Remove SPI flash parameter read functionality
can: uapi: move CAN_RAW_FILTER_MAX definition to raw.h
can: kvaser_pciefd: Define unsigned constants with type suffix 'U'
can: kvaser_pciefd: Set hardware timestamp on transmitted packets
can: kvaser_pciefd: Add function to set skb hwtstamps
can: kvaser_pciefd: Remove handler for unused KVASER_PCIEFD_PACK_TYPE_EFRAME_ACK
can: kvaser_pciefd: Remove useless write to interrupt register
can: length: refactor frame lengths definition to add size in bits
can: length: fix bitstuffing count
can: length: fix description of the RRS field
can: m_can: fix coding style
can: ti_hecc: fix coding style
...
====================
Link: https://lore.kernel.org/r/20230622082658.571150-1-mkl@pengutronix.de
Signed-off-by: Jakub Kicinski <kuba@kernel.org>
Diffstat (limited to 'include')
-rw-r--r-- | include/linux/can/length.h | 299 | ||||
-rw-r--r-- | include/uapi/linux/can.h | 1 | ||||
-rw-r--r-- | include/uapi/linux/can/raw.h | 2 |
3 files changed, 216 insertions, 86 deletions
diff --git a/include/linux/can/length.h b/include/linux/can/length.h index 69336549d24f..abc978b38f79 100644 --- a/include/linux/can/length.h +++ b/include/linux/can/length.h @@ -1,129 +1,258 @@ /* SPDX-License-Identifier: GPL-2.0 */ /* Copyright (C) 2020 Oliver Hartkopp <socketcan@hartkopp.net> * Copyright (C) 2020 Marc Kleine-Budde <kernel@pengutronix.de> + * Copyright (C) 2020, 2023 Vincent Mailhol <mailhol.vincent@wanadoo.fr> */ #ifndef _CAN_LENGTH_H #define _CAN_LENGTH_H +#include <linux/bits.h> #include <linux/can.h> #include <linux/can/netlink.h> +#include <linux/math.h> /* - * Size of a Classical CAN Standard Frame + * Size of a Classical CAN Standard Frame header in bits * - * Name of Field Bits + * Name of Field Bits * --------------------------------------------------------- - * Start-of-frame 1 - * Identifier 11 - * Remote transmission request (RTR) 1 - * Identifier extension bit (IDE) 1 - * Reserved bit (r0) 1 - * Data length code (DLC) 4 - * Data field 0...64 - * CRC 15 - * CRC delimiter 1 - * ACK slot 1 - * ACK delimiter 1 - * End-of-frame (EOF) 7 - * Inter frame spacing 3 + * Start Of Frame (SOF) 1 + * Arbitration field: + * base ID 11 + * Remote Transmission Request (RTR) 1 + * Control field: + * IDentifier Extension bit (IDE) 1 + * FD Format indicator (FDF) 1 + * Data Length Code (DLC) 4 + * + * including all fields preceding the data field, ignoring bitstuffing + */ +#define CAN_FRAME_HEADER_SFF_BITS 19 + +/* + * Size of a Classical CAN Extended Frame header in bits * - * rounded up and ignoring bitstuffing + * Name of Field Bits + * --------------------------------------------------------- + * Start Of Frame (SOF) 1 + * Arbitration field: + * base ID 11 + * Substitute Remote Request (SRR) 1 + * IDentifier Extension bit (IDE) 1 + * ID extension 18 + * Remote Transmission Request (RTR) 1 + * Control field: + * FD Format indicator (FDF) 1 + * Reserved bit (r0) 1 + * Data length code (DLC) 4 + * + * including all fields preceding the data field, ignoring bitstuffing */ -#define CAN_FRAME_OVERHEAD_SFF DIV_ROUND_UP(47, 8) +#define CAN_FRAME_HEADER_EFF_BITS 39 /* - * Size of a Classical CAN Extended Frame + * Size of a CAN-FD Standard Frame in bits + * + * Name of Field Bits + * --------------------------------------------------------- + * Start Of Frame (SOF) 1 + * Arbitration field: + * base ID 11 + * Remote Request Substitution (RRS) 1 + * Control field: + * IDentifier Extension bit (IDE) 1 + * FD Format indicator (FDF) 1 + * Reserved bit (res) 1 + * Bit Rate Switch (BRS) 1 + * Error Status Indicator (ESI) 1 + * Data length code (DLC) 4 + * + * including all fields preceding the data field, ignoring bitstuffing + */ +#define CANFD_FRAME_HEADER_SFF_BITS 22 + +/* + * Size of a CAN-FD Extended Frame in bits + * + * Name of Field Bits + * --------------------------------------------------------- + * Start Of Frame (SOF) 1 + * Arbitration field: + * base ID 11 + * Substitute Remote Request (SRR) 1 + * IDentifier Extension bit (IDE) 1 + * ID extension 18 + * Remote Request Substitution (RRS) 1 + * Control field: + * FD Format indicator (FDF) 1 + * Reserved bit (res) 1 + * Bit Rate Switch (BRS) 1 + * Error Status Indicator (ESI) 1 + * Data length code (DLC) 4 + * + * including all fields preceding the data field, ignoring bitstuffing + */ +#define CANFD_FRAME_HEADER_EFF_BITS 41 + +/* + * Size of a CAN CRC Field in bits * * Name of Field Bits * --------------------------------------------------------- - * Start-of-frame 1 - * Identifier A 11 - * Substitute remote request (SRR) 1 - * Identifier extension bit (IDE) 1 - * Identifier B 18 - * Remote transmission request (RTR) 1 - * Reserved bits (r1, r0) 2 - * Data length code (DLC) 4 - * Data field 0...64 - * CRC 15 - * CRC delimiter 1 - * ACK slot 1 - * ACK delimiter 1 - * End-of-frame (EOF) 7 - * Inter frame spacing 3 + * CRC sequence (CRC15) 15 + * CRC Delimiter 1 + * + * ignoring bitstuffing + */ +#define CAN_FRAME_CRC_FIELD_BITS 16 + +/* + * Size of a CAN-FD CRC17 Field in bits (length: 0..16) * - * rounded up and ignoring bitstuffing + * Name of Field Bits + * --------------------------------------------------------- + * Stuff Count 4 + * CRC Sequence (CRC17) 17 + * CRC Delimiter 1 + * Fixed stuff bits 6 */ -#define CAN_FRAME_OVERHEAD_EFF DIV_ROUND_UP(67, 8) +#define CANFD_FRAME_CRC17_FIELD_BITS 28 /* - * Size of a CAN-FD Standard Frame + * Size of a CAN-FD CRC21 Field in bits (length: 20..64) * * Name of Field Bits * --------------------------------------------------------- - * Start-of-frame 1 - * Identifier 11 - * Reserved bit (r1) 1 - * Identifier extension bit (IDE) 1 - * Flexible data rate format (FDF) 1 - * Reserved bit (r0) 1 - * Bit Rate Switch (BRS) 1 - * Error Status Indicator (ESI) 1 - * Data length code (DLC) 4 - * Data field 0...512 - * Stuff Bit Count (SBC) 0...16: 4 20...64:5 - * CRC 0...16: 17 20...64:21 - * CRC delimiter (CD) 1 - * ACK slot (AS) 1 - * ACK delimiter (AD) 1 - * End-of-frame (EOF) 7 - * Inter frame spacing 3 - * - * assuming CRC21, rounded up and ignoring bitstuffing - */ -#define CANFD_FRAME_OVERHEAD_SFF DIV_ROUND_UP(61, 8) + * Stuff Count 4 + * CRC sequence (CRC21) 21 + * CRC Delimiter 1 + * Fixed stuff bits 7 + */ +#define CANFD_FRAME_CRC21_FIELD_BITS 33 /* - * Size of a CAN-FD Extended Frame + * Size of a CAN(-FD) Frame footer in bits * * Name of Field Bits * --------------------------------------------------------- - * Start-of-frame 1 - * Identifier A 11 - * Substitute remote request (SRR) 1 - * Identifier extension bit (IDE) 1 - * Identifier B 18 - * Reserved bit (r1) 1 - * Flexible data rate format (FDF) 1 - * Reserved bit (r0) 1 - * Bit Rate Switch (BRS) 1 - * Error Status Indicator (ESI) 1 - * Data length code (DLC) 4 - * Data field 0...512 - * Stuff Bit Count (SBC) 0...16: 4 20...64:5 - * CRC 0...16: 17 20...64:21 - * CRC delimiter (CD) 1 - * ACK slot (AS) 1 - * ACK delimiter (AD) 1 - * End-of-frame (EOF) 7 - * Inter frame spacing 3 - * - * assuming CRC21, rounded up and ignoring bitstuffing - */ -#define CANFD_FRAME_OVERHEAD_EFF DIV_ROUND_UP(80, 8) + * ACK slot 1 + * ACK delimiter 1 + * End Of Frame (EOF) 7 + * + * including all fields following the CRC field + */ +#define CAN_FRAME_FOOTER_BITS 9 + +/* + * First part of the Inter Frame Space + * (a.k.a. IMF - intermission field) + */ +#define CAN_INTERMISSION_BITS 3 + +/** + * can_bitstuffing_len() - Calculate the maximum length with bitstuffing + * @destuffed_len: length of a destuffed bit stream + * + * The worst bit stuffing case is a sequence in which dominant and + * recessive bits alternate every four bits: + * + * Destuffed: 1 1111 0000 1111 0000 1111 + * Stuffed: 1 1111o 0000i 1111o 0000i 1111o + * + * Nomenclature + * + * - "0": dominant bit + * - "o": dominant stuff bit + * - "1": recessive bit + * - "i": recessive stuff bit + * + * Aside from the first bit, one stuff bit is added every four bits. + * + * Return: length of the stuffed bit stream in the worst case scenario. + */ +#define can_bitstuffing_len(destuffed_len) \ + (destuffed_len + (destuffed_len - 1) / 4) + +#define __can_bitstuffing_len(bitstuffing, destuffed_len) \ + (bitstuffing ? can_bitstuffing_len(destuffed_len) : \ + destuffed_len) + +#define __can_cc_frame_bits(is_eff, bitstuffing, \ + intermission, data_len) \ +( \ + __can_bitstuffing_len(bitstuffing, \ + (is_eff ? CAN_FRAME_HEADER_EFF_BITS : \ + CAN_FRAME_HEADER_SFF_BITS) + \ + (data_len) * BITS_PER_BYTE + \ + CAN_FRAME_CRC_FIELD_BITS) + \ + CAN_FRAME_FOOTER_BITS + \ + (intermission ? CAN_INTERMISSION_BITS : 0) \ +) + +#define __can_fd_frame_bits(is_eff, bitstuffing, \ + intermission, data_len) \ +( \ + __can_bitstuffing_len(bitstuffing, \ + (is_eff ? CANFD_FRAME_HEADER_EFF_BITS : \ + CANFD_FRAME_HEADER_SFF_BITS) + \ + (data_len) * BITS_PER_BYTE) + \ + ((data_len) <= 16 ? \ + CANFD_FRAME_CRC17_FIELD_BITS : \ + CANFD_FRAME_CRC21_FIELD_BITS) + \ + CAN_FRAME_FOOTER_BITS + \ + (intermission ? CAN_INTERMISSION_BITS : 0) \ +) + +/** + * can_frame_bits() - Calculate the number of bits on the wire in a + * CAN frame + * @is_fd: true: CAN-FD frame; false: Classical CAN frame. + * @is_eff: true: Extended frame; false: Standard frame. + * @bitstuffing: true: calculate the bitstuffing worst case; false: + * calculate the bitstuffing best case (no dynamic + * bitstuffing). CAN-FD's fixed stuff bits are always included. + * @intermission: if and only if true, include the inter frame space + * assuming no bus idle (i.e. only the intermission). Strictly + * speaking, the inter frame space is not part of the + * frame. However, it is needed when calculating the delay + * between the Start Of Frame of two consecutive frames. + * @data_len: length of the data field in bytes. Correspond to + * can(fd)_frame->len. Should be zero for remote frames. No + * sanitization is done on @data_len and it shall have no side + * effects. + * + * Return: the numbers of bits on the wire of a CAN frame. + */ +#define can_frame_bits(is_fd, is_eff, bitstuffing, \ + intermission, data_len) \ +( \ + is_fd ? __can_fd_frame_bits(is_eff, bitstuffing, \ + intermission, data_len) : \ + __can_cc_frame_bits(is_eff, bitstuffing, \ + intermission, data_len) \ +) + +/* + * Number of bytes in a CAN frame + * (rounded up, including intermission) + */ +#define can_frame_bytes(is_fd, is_eff, bitstuffing, data_len) \ + DIV_ROUND_UP(can_frame_bits(is_fd, is_eff, bitstuffing, \ + true, data_len), \ + BITS_PER_BYTE) /* * Maximum size of a Classical CAN frame - * (rounded up and ignoring bitstuffing) + * (rounded up, ignoring bitstuffing but including intermission) */ -#define CAN_FRAME_LEN_MAX (CAN_FRAME_OVERHEAD_EFF + CAN_MAX_DLEN) +#define CAN_FRAME_LEN_MAX can_frame_bytes(false, true, false, CAN_MAX_DLEN) /* * Maximum size of a CAN-FD frame - * (rounded up and ignoring bitstuffing) + * (rounded up, ignoring dynamic bitstuffing but including intermission) */ -#define CANFD_FRAME_LEN_MAX (CANFD_FRAME_OVERHEAD_EFF + CANFD_MAX_DLEN) +#define CANFD_FRAME_LEN_MAX can_frame_bytes(true, true, false, CANFD_MAX_DLEN) /* * can_cc_dlc2len(value) - convert a given data length code (dlc) of a diff --git a/include/uapi/linux/can.h b/include/uapi/linux/can.h index dd645ea72306..939db2388208 100644 --- a/include/uapi/linux/can.h +++ b/include/uapi/linux/can.h @@ -285,6 +285,5 @@ struct can_filter { }; #define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ -#define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ #endif /* !_UAPI_CAN_H */ diff --git a/include/uapi/linux/can/raw.h b/include/uapi/linux/can/raw.h index ff12f525c37c..31622c9b7988 100644 --- a/include/uapi/linux/can/raw.h +++ b/include/uapi/linux/can/raw.h @@ -49,6 +49,8 @@ #include <linux/can.h> #define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW) +#define CAN_RAW_FILTER_MAX 512 /* maximum number of can_filter set via setsockopt() */ + enum { SCM_CAN_RAW_ERRQUEUE = 1, }; |