Initial commit based on https://github.com/downwith/linux-isotp
This repository contains a rework to simplify the build of the former ISO-TP development repository at https://github.com/hartkopp/can-isotp-modules. The build and repository cleanup provided by Nathan L. Conrad was merged from https://github.com/downwith/linux-isotp . Thanks Nathan! Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>master
Oliver Hartkopp
8 years ago
commit
9f3caa6fe3
@ -0,0 +1,21 @@
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#
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||||
# This program is free software; you can redistribute it and/or modify it under
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||||
# the terms of the GNU General Public License as published by the Free Software
|
||||
# Foundation; either version 2 of the License, or (at your option) any later
|
||||
# version. This program is distributed in the hope that it will be useful, but
|
||||
# without any warranty; without even the implied warranty of mechantability or
|
||||
# fitness for a particular purpose. See the GNU General Public License for
|
||||
# more details. You should have received a copy of the GNU General Public
|
||||
# License along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
#
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||||
# Nathan L. Conrad <nathan@noreply.alt-teknik.com>
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#
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||||
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.*.cmd
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*.ko
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*.o
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*.mod.c
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modules.order
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/.tmp_versions/
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/Module.symvers
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@ -0,0 +1,31 @@
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#
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||||
# This program is free software; you can redistribute it and/or modify it under
|
||||
# the terms of the GNU General Public License as published by the Free Software
|
||||
# Foundation; either version 2 of the License, or (at your option) any later
|
||||
# version. This program is distributed in the hope that it will be useful, but
|
||||
# without any warranty; without even the implied warranty of mechantability or
|
||||
# fitness for a particular purpose. See the GNU General Public License for
|
||||
# more details. You should have received a copy of the GNU General Public
|
||||
# License along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
#
|
||||
# Nathan L. Conrad <nathan@noreply.alt-teknik.com>
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#
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||||
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ifneq ($(KERNELRELEASE),)
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obj-y := net/can/
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else
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||||
KERNELDIR ?= /lib/modules/$(shell uname -r)/build
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PWD := $(shell pwd)
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modules:
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$(MAKE) -C $(KERNELDIR) M=$(PWD) PROJECT_DIR=$(PWD) modules
|
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modules_install:
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$(MAKE) -C $(KERNELDIR) M=$(PWD) modules_install
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@depmod
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endif
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.PHONY: clean
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clean:
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@find -type f '(' -name '.*.cmd' -o -name '*.ko' -o -name '*.o' -o \
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-name '*.mod.c' -o -name 'modules.order' ')' -delete
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||||
@rm -rf .tmp_versions
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||||
@rm -f Module.symvers
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@ -0,0 +1,299 @@
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============================================================================
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README.isotp
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CREDITS
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This repository contains a rework to simplify the build of the former ISO-TP
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development repository at https://github.com/hartkopp/can-isotp-modules.
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The build and repository cleanup provided by Nathan L. Conrad was merged from
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https://github.com/downwith/linux-isotp . Thanks Nathan!
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DOWNLOAD and BUILD
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1. Download repository
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git clone https://github.com/hartkopp/can-isotp.git
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2. Build ISO-TP kernel module
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Ensure dependencies are installed. For Debian (or Ubuntu):
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sudo apt-get install build-essential linux-headers-$(uname -r)
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To build:
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make
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To install (optional):
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sudo make modules_install
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3. When the PF_CAN core module is loaded ('modprobe can') the ISO-TP module
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can be loaded into the kernel with
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insmod ./net/can/can-isotp.ko
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When the can-isotp.ko module has been installed into the Linux Kernels
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modules directory (e.g. with 'make modules_install') the module should
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load automatically when opening a CAN_ISOTP socket.
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----------------------------------------------------------------------------
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Readme file for ISO 15765-2 CAN transport protocol for protocol family CAN
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* This implementation is already widely used in automotive use-cases, e.g.
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* for UDS based OBD diagnosis. Although some small adaptions may be applied
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* to make it ready for Linux Mainline. Feedback is welcome.
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*
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* Current behaviour:
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*
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* - no ISO-TP specific return values are provided to the userspace
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* - when a transfer (tx) is on the run the next write() blocks until it's done
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* - no support for sending wait frames to the data source in the rx path
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1 What is ISO-TP for CAN
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2 Tools and Examples
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2.1 isotpsend - send PDUs from stdin to CAN
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2.2 isotprecv - print received PDU on stdout
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2.3 isotpdump - dump CAN frames with PCI decoding (using CAN_RAW socket)
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2.4 isotpsniffer - dump reassembled ISO-TP PDUs (using CAN_ISOTP socket)
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2.5 isotptun - create an IP tunnel over unreliable ISO-TP PDUs
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3 Remarks
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3.1 tx_queue_len on real CAN busses (!!!)
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3.2 State of the Socket API & Discussion
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1 What is ISO-TP for CAN
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------------------------
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CAN Transport Protocols offer support for segmented Point-to-Point
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communication between CAN nodes via two defined CAN Identifiers.
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This protocol driver implements data transfers according ISO 15765-2.
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CAN ISO-TP is an unreliable datagram protocol and is implemented like this.
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For that reason error indications, like 'dropped PDUs in the receive path due
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to wrong SequenceNumbers' are intentionally not supported.
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See discussion in section 3.2
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Code examples of how to use ISO-TP sockets can be found in the source code
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of the available tools described below. The API is still a RFC and will be
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described in detail later, when it's finalized.
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2 Tools and Examples
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--------------------
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The source code of these tools can be found in the BerliOS SVN repository
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http://developer.berlios.de/svn/?group_id=6475 in trunk/can-utils
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For the examples below we assume a test setup with two hosts:
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_______ _______
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| | | |
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| Host1 | | Host2 |
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| | | |
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| can1 | | can2 |
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|_______| |_______|
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| |
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|------------------------------| CAN bus
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2.1 isotpsend - send PDUs from stdin to CAN
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isotpsend gives this help when invoked without any parameters:
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Usage: isotpsend [options] <CAN interface>
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Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)
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-d <can_id> (destination can_id. Use 8 digits for extended IDs)
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-x <addr> (extended addressing mode. Use 'any' for all addresses)
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-p <byte> (set and enable padding byte)
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-P <mode> (check padding in FC. (l)ength (c)ontent (a)ll)
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-t <time ns> (transmit time in nanosecs)
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CAN IDs and addresses are given and expected in hexadecimal values.
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The pdu data is expected on STDIN in space separated ASCII hex values.
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Example (send ISOTP PDU from Host2 to Host1):
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echo 11 22 33 44 55 66 DE AD BE EF | isotpsend -s 321 -d 123 can2
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2.2 isotprecv - print received PDU on stdout
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||||
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||||
isotpsend gives this help when invoked without any parameters:
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Usage: isotprecv [options] <CAN interface>
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Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)
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-d <can_id> (destination can_id. Use 8 digits for extended IDs)
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-x <addr> (extended addressing mode.)
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-p <byte> (set and enable padding byte)
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-P <mode> (check padding in SF/CF. (l)ength (c)ontent (a)ll)
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||||
-b <bs> (blocksize. 0 = off)
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||||
-m <val> (STmin in ms/ns. See spec.)
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||||
-w <num> (max. wait frame transmissions.)
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||||
-l (loop: do not exit after pdu receiption.)
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CAN IDs and addresses are given and expected in hexadecimal values.
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The pdu data is written on STDOUT in space separated ASCII hex values.
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Example (receive ISOTP PDU from Host2 on Host1):
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isotprecv -s 123 -d 321 -l can1
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In this example '-l' is set which causes isotprecv to continue listening on
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the given connection after printing a received PDU.
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2.3 isotpdump - dump CAN frames with PCI decoding (using CAN_RAW socket)
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||||
isotpdump gives this help when invoked without any parameters:
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Usage: isotpdump [options] <CAN interface>
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Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)
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-d <can_id> (destination can_id. Use 8 digits for extended IDs)
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-x <addr> (extended addressing mode. Use 'any' for all addresses)
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-c (color mode)
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-a (print data also in ASCII-chars)
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-t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)
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CAN IDs and addresses are given and expected in hexadecimal values.
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Example (dump CAN Frames on Host1):
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isotpdump -s 123 -d 321 -c -ta can1
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2.4 isotpsniffer - dump reassembled ISO-TP PDUs (using CAN_ISOTP socket)
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The difference to isotpdump is, that isotpsniffer opens two CAN_ISOTP
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sockets and sets the CAN_ISOTP_LISTEN_MODE flag on both of these sockets.
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This causes the ISO-TP protocol driver to reassemble the received data but
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not send and flow control frames on the CAN bus.
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isotpsniffer gives this help when invoked without any parameters:
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Usage: isotpsniffer [options] <CAN interface>
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Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)
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-d <can_id> (destination can_id. Use 8 digits for extended IDs)
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-x <addr> (extended addressing mode.)
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-c (color mode)
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-t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)
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-f <format> (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: 3)
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-h <len> (head: print only first <len> bytes)
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CAN IDs and addresses are given and expected in hexadecimal values.
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Example (dump reassembled ISO-TP PDUs on Host1):
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isotpsniffer -s 123 -d 321 -c -ta can1
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2.5 isotptun - create an IP tunnel over unreliable ISO-TP PDUs
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The ISO-TP provides an unreliable datagram protocol with PDU sizes up to
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4095 bytes. Having Linux tunnel driver in mind creating an IP over ISO-TP
|
||||
tunnel became obvious - so here it is ;-)
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From linux/Documentation/networking/tuntap.txt:
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TUN/TAP provides packet reception and transmission for user space programs.
|
||||
It can be seen as a simple Point-to-Point or Ethernet device, which,
|
||||
instead of receiving packets from physical media, receives them from
|
||||
user space program and instead of sending packets via physical media
|
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writes them to the user space program.
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isotptun gives this help when invoked without any parameters:
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Usage: isotptun [options] <CAN interface>
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This program creates a Linux tunnel netdevice 'ctunX' and transfers the
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ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.
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Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)
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-d <can_id> (destination can_id. Use 8 digits for extended IDs)
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-x <addr> (extended addressing mode.)
|
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-p <byte> (padding byte rx path)
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-q <byte> (padding byte tx path)
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-P <mode> (check padding. (l)ength (c)ontent (a)ll)
|
||||
-t <time ns> (transmit time in nanosecs)
|
||||
-b <bs> (blocksize. 0 = off)
|
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-m <val> (STmin in ms/ns. See spec.)
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-w <num> (max. wait frame transmissions.)
|
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-h (half duplex mode.)
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-v (verbose mode. Print symbols for tunneled msgs.)
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CAN IDs and addresses are given and expected in hexadecimal values.
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Use e.g. 'ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up'
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to create a point-to-point IP connection on CAN.
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Example:
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on Host1 run as root:
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isotptun -s 123 -d 321 -v can1 (this blocks, so use a separate terminal)
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||||
ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up
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||||
on Host2 run as root:
|
||||
isotptun -s 321 -d 123 -v can2 (this blocks, so use a separate terminal)
|
||||
|
||||
ifconfig ctun0 123.123.123.2 pointopoint 123.123.123.1 up
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Have fun (like in early modem dialup days):
|
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ping 123.123.123.1
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ssh user@123.123.123.1
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scp user@123.123.123.1:myfile.tar.gz .
|
||||
|
||||
scp get's about 27kByte/s over a 500kbit/s CAN interface.
|
||||
|
||||
|
||||
3 Remarks
|
||||
---------
|
||||
|
||||
3.1 tx_queue_len on real CAN busses (!!!)
|
||||
|
||||
The blocksize (BS) splits the CAN frame stream into chunks that need to be
|
||||
acknowledged on the receiver side with a flow control frame. In the case
|
||||
the blocksize is set to zero the protocol does not wait for flow control
|
||||
frames and sends all the CAN frames for the ISO-TP PDU in one burst.
|
||||
|
||||
In the case of a 4095 bytes PDU the protocol driver must create 586(!)
|
||||
CAN frames, that are pushed into the CAN network device. This is no problem
|
||||
with virtual CAN devices (vcan) but for real CAN devices with real bus
|
||||
timings. Even though the frame_txtime (N_As/N_Ar) can be set in the ISO-TP
|
||||
socket options, it is recommended to have an appropriate tx queue available
|
||||
in the CAN driver, e.g.:
|
||||
|
||||
echo 4000 > /sys/class/net/can0/tx_queue_len
|
||||
|
||||
or with the 'ip' tool from the iproute2 package
|
||||
|
||||
ip link set can0 txqueuelen 4000
|
||||
|
||||
3.2 State of the Socket API for this Linux CAN ISO-TP implementation
|
||||
|
||||
Implementing transport protocol drivers in userspace on top of a CAN_RAW
|
||||
socket is possible but has massive drawbacks for fullfilling timing
|
||||
constrains and multi-user handling. Implementing a CAN transport protocol
|
||||
inside the Kernel brings different requirements, as ...
|
||||
|
||||
- it needs to fit into a standard socket API
|
||||
- datagram sockets should always behave similar (e.g. like UDP/IP)
|
||||
- reduce user interaction to a minimal absolutely required level
|
||||
- reduce user programming interface to a minimal absolutely required level
|
||||
|
||||
In the real world applications using unreliable datagram protocols recognize
|
||||
problems via timeouts. So do ISO-TP applications. So the questions is:
|
||||
What does it help for the application to know, that someone 'dropped a PDU
|
||||
in the receive path due to wrong SequenceNumbers'?
|
||||
|
||||
The application does not know the (so far received) content and therefore
|
||||
gets this completely useless information to do *what* with it?
|
||||
|
||||
From current applications perspective the things that have not been
|
||||
implemented have not been required so far. So this might become the
|
||||
discussion upon this implementation:
|
||||
|
||||
- what is really needed and for what use-case?
|
||||
- how does this fit into standard networking and socket philosophy?
|
||||
|
||||
Oliver Hartkopp (2017-04-22)
|
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@ -0,0 +1,134 @@
|
||||
/*
|
||||
* socketcan/can/isotp.h
|
||||
*
|
||||
* Definitions for isotp CAN sockets
|
||||
*
|
||||
* Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
|
||||
* Copyright (c) 2008 Volkswagen Group Electronic Research
|
||||
* All rights reserved.
|
||||
*
|
||||
* Send feedback to <socketcan-users@lists.berlios.de>
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef CAN_ISOTP_H
|
||||
#define CAN_ISOTP_H
|
||||
|
||||
#include <linux/can.h>
|
||||
|
||||
#define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOTP)
|
||||
|
||||
/* for socket options affecting the socket (not the global system) */
|
||||
|
||||
#define CAN_ISOTP_OPTS 1 /* pass struct can_isotp_options */
|
||||
|
||||
#define CAN_ISOTP_RECV_FC 2 /* pass struct can_isotp_fc_options */
|
||||
|
||||
/* sockopts to force stmin timer values for protocol regression tests */
|
||||
|
||||
#define CAN_ISOTP_TX_STMIN 3 /* pass __u32 value in nano secs */
|
||||
/* use this time instead of value */
|
||||
/* provided in FC from the receiver */
|
||||
|
||||
#define CAN_ISOTP_RX_STMIN 4 /* pass __u32 value in nano secs */
|
||||
/* ignore received CF frames which */
|
||||
/* timestamps differ less than val */
|
||||
|
||||
#define CAN_ISOTP_LL_OPTS 5 /* pass struct can_isotp_ll_options */
|
||||
|
||||
struct can_isotp_options {
|
||||
|
||||
__u32 flags; /* set flags for isotp behaviour. */
|
||||
/* __u32 value : flags see below */
|
||||
|
||||
__u32 frame_txtime; /* frame transmission time (N_As/N_Ar) */
|
||||
/* __u32 value : time in nano secs */
|
||||
|
||||
__u8 ext_address; /* set address for extended addressing */
|
||||
/* __u8 value : extended address */
|
||||
|
||||
__u8 txpad_content; /* set content of padding byte (tx) */
|
||||
/* __u8 value : content on tx path */
|
||||
|
||||
__u8 rxpad_content; /* set content of padding byte (rx) */
|
||||
/* __u8 value : content on rx path */
|
||||
|
||||
__u8 rx_ext_address; /* set address for extended addressing */
|
||||
/* __u8 value : extended address (rx) */
|
||||
};
|
||||
|
||||
struct can_isotp_fc_options {
|
||||
|
||||
__u8 bs; /* blocksize provided in FC frame */
|
||||
/* __u8 value : blocksize. 0 = off */
|
||||
|
||||
__u8 stmin; /* separation time provided in FC frame */
|
||||
/* __u8 value : */
|
||||
/* 0x00 - 0x7F : 0 - 127 ms */
|
||||
/* 0x80 - 0xF0 : reserved */
|
||||
/* 0xF1 - 0xF9 : 100 us - 900 us */
|
||||
/* 0xFA - 0xFF : reserved */
|
||||
|
||||
__u8 wftmax; /* max. number of wait frame transmiss. */
|
||||
/* __u8 value : 0 = omit FC N_PDU WT */
|
||||
};
|
||||
|
||||
struct can_isotp_ll_options {
|
||||
|
||||
__u8 mtu; /* generated & accepted CAN frame type */
|
||||
/* __u8 value : */
|
||||
/* CAN_MTU (16) -> standard CAN 2.0 */
|
||||
/* CANFD_MTU (72) -> CAN FD frame */
|
||||
|
||||
__u8 tx_dl; /* tx link layer data length in bytes */
|
||||
/* (configured maximum payload length) */
|
||||
/* __u8 value : 8,12,16,20,24,32,48,64 */
|
||||
/* => rx path supports all LL_DL values */
|
||||
|
||||
__u8 tx_flags; /* set into struct canfd_frame.flags */
|
||||
/* at frame creation: e.g. CANFD_BRS */
|
||||
/* Obsolete when the BRS flag is fixed */
|
||||
/* by the CAN netdriver configuration */
|
||||
};
|
||||
|
||||
/* flags for isotp behaviour */
|
||||
|
||||
#define CAN_ISOTP_LISTEN_MODE 0x001 /* listen only (do not send FC) */
|
||||
#define CAN_ISOTP_EXTEND_ADDR 0x002 /* enable extended addressing */
|
||||
#define CAN_ISOTP_TX_PADDING 0x004 /* enable CAN frame padding tx path */
|
||||
#define CAN_ISOTP_RX_PADDING 0x008 /* enable CAN frame padding rx path */
|
||||
#define CAN_ISOTP_CHK_PAD_LEN 0x010 /* check received CAN frame padding */
|
||||
#define CAN_ISOTP_CHK_PAD_DATA 0x020 /* check received CAN frame padding */
|
||||
#define CAN_ISOTP_HALF_DUPLEX 0x040 /* half duplex error state handling */
|
||||
#define CAN_ISOTP_FORCE_TXSTMIN 0x080 /* ignore stmin from received FC */
|
||||
#define CAN_ISOTP_FORCE_RXSTMIN 0x100 /* ignore CFs depending on rx stmin */
|
||||
#define CAN_ISOTP_RX_EXT_ADDR 0x200 /* different rx extended addressing */
|
||||
|
||||
|
||||
/* default values */
|
||||
|
||||
#define CAN_ISOTP_DEFAULT_FLAGS 0
|
||||
#define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00
|
||||
#define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC /* prevent bit-stuffing */
|
||||
#define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0
|
||||
#define CAN_ISOTP_DEFAULT_RECV_BS 0
|
||||
#define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00
|
||||
#define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0
|
||||
|
||||
#define CAN_ISOTP_DEFAULT_LL_MTU CAN_MTU
|
||||
#define CAN_ISOTP_DEFAULT_LL_TX_DL CAN_MAX_DLEN
|
||||
#define CAN_ISOTP_DEFAULT_LL_TX_FLAGS 0
|
||||
|
||||
/*
|
||||
* Remark on CAN_ISOTP_DEFAULT_RECV_* values:
|
||||
*
|
||||
* We can strongly assume, that the Linux Kernel implementation of
|
||||
* CAN_ISOTP is capable to run with BS=0, STmin=0 and WFTmax=0.
|
||||
* But as we like to be able to behave as a commonly available ECU,
|
||||
* these default settings can be changed via sockopts.
|
||||
* For that reason the STmin value is intentionally _not_ checked for
|
||||
* consistency and copied directly into the flow control (FC) frame.
|
||||
*
|
||||
*/
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,25 @@
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify it under
|
||||
# the terms of the GNU General Public License as published by the Free Software
|
||||
# Foundation; either version 2 of the License, or (at your option) any later
|
||||
# version. This program is distributed in the hope that it will be useful, but
|
||||
# without any warranty; without even the implied warranty of mechantability or
|
||||
# fitness for a particular purpose. See the GNU General Public License for
|
||||
# more details. You should have received a copy of the GNU General Public
|
||||
# License along with this program; if not, write to the Free Software
|
||||
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
#
|
||||
# Nathan L. Conrad <nathan@noreply.alt-teknik.com>
|
||||
#
|
||||
|
||||
ifneq ($(KERNELRELEASE),)
|
||||
ccflags-y += -I$(PROJECT_DIR)/include/uapi
|
||||
obj-m := can-isotp.o
|
||||
can-isotp-objs := isotp.o
|
||||
else
|
||||
KERNELDIR ?= /lib/modules/$(shell uname -r)/build
|
||||
modules:
|
||||
$(MAKE) -C $(KERNELDIR) M=$(shell pwd) modules
|
||||
modules_install:
|
||||
$(MAKE) -C $(KERNELDIR) M=$(shell pwd) modules_install
|
||||
endif
|
||||
File diff suppressed because it is too large
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Reference in New Issue