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diff --git a/Documentation/networking/iso15765-2.rst b/Documentation/networking/iso15765-2.rst new file mode 100644 index 000000000000..0e9d96074178 --- /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 be specified, unless broadcast flags have been set + 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 duplex mode + (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 |