On Sat. 27 Apr. 2024 at 00:23, Francesco Valla
<valla.francesco@xxxxxxxxx> wrote:
> Document basic concepts, APIs and behaviour of the ISO 15675-2 (ISO-TP)
> CAN stack.
>
> Signed-off-by: Francesco Valla <valla.francesco@xxxxxxxxx>
> Reviewed-by: Bagas Sanjaya <bagasdotme@xxxxxxxxx>
Two typos/grammar nitpicks (see below). I am giving my review tag in advance:
Reviewed-by: Vincent Mailhol <mailhol.vincent@xxxxxxxxxx>
Thank you!
> ---
> Documentation/networking/index.rst | 1 +
> Documentation/networking/iso15765-2.rst | 386 ++++++++++++++++++++++++
> MAINTAINERS | 1 +
> 3 files changed, 388 insertions(+)
> create mode 100644 Documentation/networking/iso15765-2.rst
>
> diff --git a/Documentation/networking/index.rst b/Documentation/networking/index.rst
> index 473d72c36d61..bbd9bf537793 100644
> --- a/Documentation/networking/index.rst
> +++ b/Documentation/networking/index.rst
> @@ -19,6 +19,7 @@ Contents:
> caif/index
> ethtool-netlink
> ieee802154
> + iso15765-2
> j1939
> kapi
> msg_zerocopy
> diff --git a/Documentation/networking/iso15765-2.rst b/Documentation/networking/iso15765-2.rst
> new file mode 100644
> index 000000000000..5afdc42816f4
> --- /dev/null
> +++ b/Documentation/networking/iso15765-2.rst
> @@ -0,0 +1,386 @@
> +.. SPDX-License-Identifier: (GPL-2.0 OR BSD-3-Clause)
> +
> +====================
> +ISO 15765-2 (ISO-TP)
> +====================
> +
> +Overview
> +========
> +
> +ISO 15765-2, also known as ISO-TP, is a transport protocol specifically defined
> +for diagnostic communication on CAN. It is widely used in the automotive
> +industry, for example as the transport protocol for UDSonCAN (ISO 14229-3) or
> +emission-related diagnostic services (ISO 15031-5).
> +
> +ISO-TP can be used both on CAN CC (aka Classical CAN) and CAN FD (CAN with
> +Flexible Datarate) based networks. It is also designed to be compatible with a
> +CAN network using SAE J1939 as data link layer (however, this is not a
> +requirement).
> +
> +Specifications used
> +-------------------
> +
> +* ISO 15765-2:2024 : Road vehicles - Diagnostic communication over Controller
> + Area Network (DoCAN). Part 2: Transport protocol and network layer services.
> +
> +Addressing
> +----------
> +
> +In its simplest form, ISO-TP is based on two kinds of addressing modes for the
> +nodes connected to the same network:
> +
> +* physical addressing is implemented by two node-specific addresses and is used
> + in 1-to-1 communication.
> +
> +* functional addressing is implemented by one node-specific address and is used
> + in 1-to-N communication.
> +
> +Three different addressing formats can be employed:
> +
> +* "normal" : each address is represented simply by a CAN ID.
> +
> +* "extended": each address is represented by a CAN ID plus the first byte of
> + the CAN payload; both the CAN ID and the byte inside the payload shall be
> + different between two addresses.
> +
> +* "mixed": each address is represented by a CAN ID plus the first byte of
> + the CAN payload; the CAN ID is different between two addresses, but the
> + additional byte is the same.
> +
> +Transport protocol and associated frame types
> +---------------------------------------------
> +
> +When transmitting data using the ISO-TP protocol, the payload can either fit
> +inside one single CAN message or not, also considering the overhead the protocol
> +is generating and the optional extended addressing. In the first case, the data
> +is transmitted at once using a so-called Single Frame (SF). In the second case,
> +ISO-TP defines a multi-frame protocol, in which the sender provides (through a
> +First Frame - FF) the PDU length which is to be transmitted and also asks for a
> +Flow Control (FC) frame, which provides the maximum supported size of a macro
> +data block (``blocksize``) and the minimum time between the single CAN messages
> +composing such block (``stmin``). Once this information has been received, the
> +sender starts to send frames containing fragments of the data payload (called
> +Consecutive Frames - CF), stopping after every ``blocksize``-sized block to wait
> +confirmation from the receiver which should then send another Flow Control
> +frame to inform the sender about its availability to receive more data.
> +
> +How to Use ISO-TP
> +=================
> +
> +As with others CAN protocols, the ISO-TP stack support is built into the
> +Linux network subsystem for the CAN bus, aka. Linux-CAN or SocketCAN, and
> +thus follows the same socket API.
> +
> +Creation and basic usage of an ISO-TP socket
> +--------------------------------------------
> +
> +To use the ISO-TP stack, ``#include <linux/can/isotp.h>`` shall be used. A
> +socket can then be created using the ``PF_CAN`` protocol family, the
> +``SOCK_DGRAM`` type (as the underlying protocol is datagram-based by design)
> +and the ``CAN_ISOTP`` protocol:
> +
> +.. code-block:: C
> +
> + s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP);
> +
> +After the socket has been successfully created, ``bind(2)`` shall be called to
> +bind the socket to the desired CAN interface; to do so:
> +
> +* a TX CAN ID shall be specified as part of the sockaddr supplied to the call
> + itself.
> +
> +* a RX CAN ID shall also specified, unless broadcast flags have been set
^^^^^^^^^^^^^^
shall also *be* specified
> + through socket option (explained below).
> +
> +Once bound to an interface, the socket can be read from and written to using
> +the usual ``read(2)`` and ``write(2)`` system calls, as well as ``send(2)``,
> +``sendmsg(2)``, ``recv(2)`` and ``recvmsg(2)``.
> +Unlike the CAN_RAW socket API, only the ISO-TP data field (the actual payload)
> +is sent and received by the userspace application using these calls. The address
> +information and the protocol information are automatically filled by the ISO-TP
> +stack using the configuration supplied during socket creation. In the same way,
> +the stack will use the transport mechanism when required (i.e., when the size
> +of the data payload exceeds the MTU of the underlying CAN bus).
> +
> +The sockaddr structure used for SocketCAN has extensions for use with ISO-TP,
> +as specified below:
> +
> +.. code-block:: C
> +
> + struct sockaddr_can {
> + sa_family_t can_family;
> + int can_ifindex;
> + union {
> + struct { canid_t rx_id, tx_id; } tp;
> + ...
> + } can_addr;
> + }
> +
> +* ``can_family`` and ``can_ifindex`` serve the same purpose as for other
> + SocketCAN sockets.
> +
> +* ``can_addr.tp.rx_id`` specifies the receive (RX) CAN ID and will be used as
> + a RX filter.
> +
> +* ``can_addr.tp.tx_id`` specifies the transmit (TX) CAN ID
> +
> +ISO-TP socket options
> +---------------------
> +
> +When creating an ISO-TP socket, reasonable defaults are set. Some options can
> +be modified with ``setsockopt(2)`` and/or read back with ``getsockopt(2)``.
> +
> +General options
> +~~~~~~~~~~~~~~~
> +
> +General socket options can be passed using the ``CAN_ISOTP_OPTS`` optname:
> +
> +.. code-block:: C
> +
> + struct can_isotp_options opts;
> + ret = setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts))
> +
> +where the ``can_isotp_options`` structure has the following contents:
> +
> +.. code-block:: C
> +
> + struct can_isotp_options {
> + u32 flags;
> + u32 frame_txtime;
> + u8 ext_address;
> + u8 txpad_content;
> + u8 rxpad_content;
> + u8 rx_ext_address;
> + };
> +
> +* ``flags``: modifiers to be applied to the default behaviour of the ISO-TP
> + stack. Following flags are available:
> +
> + * ``CAN_ISOTP_LISTEN_MODE``: listen only (do not send FC frames); normally
> + used as a testing feature.
> +
> + * ``CAN_ISOTP_EXTEND_ADDR``: use the byte specified in ``ext_address`` as an
> + additional address component. This enables the "mixed" addressing format if
> + used alone, or the "extended" addressing format if used in conjunction with
> + ``CAN_ISOTP_RX_EXT_ADDR``.
> +
> + * ``CAN_ISOTP_TX_PADDING``: enable padding for transmitted frames, using
> + ``txpad_content`` as value for the padding bytes.
> +
> + * ``CAN_ISOTP_RX_PADDING``: enable padding for the received frames, using
> + ``rxpad_content`` as value for the padding bytes.
> +
> + * ``CAN_ISOTP_CHK_PAD_LEN``: check for correct padding length on the received
> + frames.
> +
> + * ``CAN_ISOTP_CHK_PAD_DATA``: check padding bytes on the received frames
> + against ``rxpad_content``; if ``CAN_ISOTP_RX_PADDING`` is not specified,
> + this flag is ignored.
> +
> + * ``CAN_ISOTP_HALF_DUPLEX``: force ISO-TP socket in half duplez mode
^^^^^^
duplex
> + (that is, transport mechanism can only be incoming or outgoing at the same
> + time, not both).
> +
> + * ``CAN_ISOTP_FORCE_TXSTMIN``: ignore stmin from received FC; normally
> + used as a testing feature.
> +
> + * ``CAN_ISOTP_FORCE_RXSTMIN``: ignore CFs depending on rx stmin; normally
> + used as a testing feature.
> +
> + * ``CAN_ISOTP_RX_EXT_ADDR``: use ``rx_ext_address`` instead of ``ext_address``
> + as extended addressing byte on the reception path. If used in conjunction
> + with ``CAN_ISOTP_EXTEND_ADDR``, this flag effectively enables the "extended"
> + addressing format.
> +
> + * ``CAN_ISOTP_WAIT_TX_DONE``: wait until the frame is sent before returning
> + from ``write(2)`` and ``send(2)`` calls (i.e., blocking write operations).
> +
> + * ``CAN_ISOTP_SF_BROADCAST``: use 1-to-N functional addressing (cannot be
> + specified alongside ``CAN_ISOTP_CF_BROADCAST``).
> +
> + * ``CAN_ISOTP_CF_BROADCAST``: use 1-to-N transmission without flow control
> + (cannot be specified alongside ``CAN_ISOTP_SF_BROADCAST``).
> + NOTE: this is not covered by the ISO 15765-2 standard.
> +
> + * ``CAN_ISOTP_DYN_FC_PARMS``: enable dynamic update of flow control
> + parameters.
> +
> +* ``frame_txtime``: frame transmission time (defined as N_As/N_Ar inside the
> + ISO standard); if ``0``, the default (or the last set value) is used.
> + To set the transmission time to ``0``, the ``CAN_ISOTP_FRAME_TXTIME_ZERO``
> + macro (equal to 0xFFFFFFFF) shall be used.
> +
> +* ``ext_address``: extended addressing byte, used if the
> + ``CAN_ISOTP_EXTEND_ADDR`` flag is specified.
> +
> +* ``txpad_content``: byte used as padding value for transmitted frames.
> +
> +* ``rxpad_content``: byte used as padding value for received frames.
> +
> +* ``rx_ext_address``: extended addressing byte for the reception path, used if
> + the ``CAN_ISOTP_RX_EXT_ADDR`` flag is specified.
> +
> +Flow Control options
> +~~~~~~~~~~~~~~~~~~~~
> +
> +Flow Control (FC) options can be passed using the ``CAN_ISOTP_RECV_FC`` optname
> +to provide the communication parameters for receiving ISO-TP PDUs.
> +
> +.. code-block:: C
> +
> + struct can_isotp_fc_options fc_opts;
> + ret = setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fc_opts, sizeof(fc_opts));
> +
> +where the ``can_isotp_fc_options`` structure has the following contents:
> +
> +.. code-block:: C
> +
> + struct can_isotp_options {
> + u8 bs;
> + u8 stmin;
> + u8 wftmax;
> + };
> +
> +* ``bs``: blocksize provided in flow control frames.
> +
> +* ``stmin``: minimum separation time provided in flow control frames; can
> + have the following values (others are reserved):
> +
> + * 0x00 - 0x7F : 0 - 127 ms
> +
> + * 0xF1 - 0xF9 : 100 us - 900 us
> +
> +* ``wftmax``: maximum number of wait frames provided in flow control frames.
> +
> +Link Layer options
> +~~~~~~~~~~~~~~~~~~
> +
> +Link Layer (LL) options can be passed using the ``CAN_ISOTP_LL_OPTS`` optname:
> +
> +.. code-block:: C
> +
> + struct can_isotp_ll_options ll_opts;
> + ret = setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &ll_opts, sizeof(ll_opts));
> +
> +where the ``can_isotp_ll_options`` structure has the following contents:
> +
> +.. code-block:: C
> +
> + struct can_isotp_ll_options {
> + u8 mtu;
> + u8 tx_dl;
> + u8 tx_flags;
> + };
> +
> +* ``mtu``: generated and accepted CAN frame type, can be equal to ``CAN_MTU``
> + for classical CAN frames or ``CANFD_MTU`` for CAN FD frames.
> +
> +* ``tx_dl``: maximum payload length for transmitted frames, can have one value
> + among: 8, 12, 16, 20, 24, 32, 48, 64. Values above 8 only apply to CAN FD
> + traffic (i.e.: ``mtu = CANFD_MTU``).
> +
> +* ``tx_flags``: flags set into ``struct canfd_frame.flags`` at frame creation.
> + Only applies to CAN FD traffic (i.e.: ``mtu = CANFD_MTU``).
> +
> +Transmission stmin
> +~~~~~~~~~~~~~~~~~~
> +
> +The transmission minimum separation time (stmin) can be forced using the
> +``CAN_ISOTP_TX_STMIN`` optname and providing an stmin value in microseconds as
> +a 32bit unsigned integer; this will overwrite the value sent by the receiver in
> +flow control frames:
> +
> +.. code-block:: C
> +
> + uint32_t stmin;
> + ret = setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_TX_STMIN, &stmin, sizeof(stmin));
> +
> +Reception stmin
> +~~~~~~~~~~~~~~~
> +
> +The reception minimum separation time (stmin) can be forced using the
> +``CAN_ISOTP_RX_STMIN`` optname and providing an stmin value in microseconds as
> +a 32bit unsigned integer; received Consecutive Frames (CF) which timestamps
> +differ less than this value will be ignored:
> +
> +.. code-block:: C
> +
> + uint32_t stmin;
> + ret = setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RX_STMIN, &stmin, sizeof(stmin));
> +
> +Multi-frame transport support
> +-----------------------------
> +
> +The ISO-TP stack contained inside the Linux kernel supports the multi-frame
> +transport mechanism defined by the standard, with the following constraints:
> +
> +* the maximum size of a PDU is defined by a module parameter, with an hard
> + limit imposed at build time.
> +
> +* when a transmission is in progress, subsequent calls to ``write(2)`` will
> + block, while calls to ``send(2)`` will either block or fail depending on the
> + presence of the ``MSG_DONTWAIT`` flag.
> +
> +* no support is present for sending "wait frames": whether a PDU can be fully
> + received or not is decided when the First Frame is received.
> +
> +Errors
> +------
> +
> +Following errors are reported to userspace:
> +
> +RX path errors
> +~~~~~~~~~~~~~~
> +
> +============ ===============================================================
> +-ETIMEDOUT timeout of data reception
> +-EILSEQ sequence number mismatch during a multi-frame reception
> +-EBADMSG data reception with wrong padding
> +============ ===============================================================
> +
> +TX path errors
> +~~~~~~~~~~~~~~
> +
> +========== =================================================================
> +-ECOMM flow control reception timeout
> +-EMSGSIZE flow control reception overflow
> +-EBADMSG flow control reception with wrong layout/padding
> +========== =================================================================
> +
> +Examples
> +========
> +
> +Basic node example
> +------------------
> +
> +Following example implements a node using "normal" physical addressing, with
> +RX ID equal to 0x18DAF142 and a TX ID equal to 0x18DA42F1. All options are left
> +to their default.
> +
> +.. code-block:: C
> +
> + int s;
> + struct sockaddr_can addr;
> + int ret;
> +
> + s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP);
> + if (s < 0)
> + exit(1);
> +
> + addr.can_family = AF_CAN;
> + addr.can_ifindex = if_nametoindex("can0");
> + addr.tp.tx_id = 0x18DA42F1 | CAN_EFF_FLAG;
> + addr.tp.rx_id = 0x18DAF142 | CAN_EFF_FLAG;
> +
> + ret = bind(s, (struct sockaddr *)&addr, sizeof(addr));
> + if (ret < 0)
> + exit(1);
> +
> + /* Data can now be received using read(s, ...) and sent using write(s, ...) */
> +
> +Additional examples
> +-------------------
> +
> +More complete (and complex) examples can be found inside the ``isotp*`` userland
> +tools, distributed as part of the ``can-utils`` utilities at:
> +https://github.com/linux-can/can-utils
> diff --git a/MAINTAINERS b/MAINTAINERS
> index 62b1a16b791b..e768c4ed349d 100644
> --- a/MAINTAINERS
> +++ b/MAINTAINERS
> @@ -4695,6 +4695,7 @@ W: https://github.com/linux-can
> T: git git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can.git
> T: git git://git.kernel.org/pub/scm/linux/kernel/git/mkl/linux-can-next.git
> F: Documentation/networking/can.rst
> +F: Documentation/networking/iso15765-2.rst
> F: include/linux/can/can-ml.h
> F: include/linux/can/core.h
> F: include/linux/can/skb.h
> --
> 2.44.0
>
>
