[PATCH 1/1] Documentation: networking: document CAN ISO-TP

Francesco Valla
2024-03-13T22:36:51Z

Document basic concepts, APIs and behaviour of the CAN ISO-TP (ISO
15765-2) stack.

Signed-off-by: Francesco Valla <valla.francesco@gmail.com>
---
Documentation/networking/index.rst | 1 +
Documentation/networking/isotp.rst | 347 +++++++++++++++++++++++++++++
2 files changed, 348 insertions(+)
create mode 100644 Documentation/networking/isotp.rst

diff --git a/Documentation/networking/index.rst b/Documentation/networking/index.rst
index 473d72c36d61..ba22acfae389 100644
--- a/Documentation/networking/index.rst
+++ b/Documentation/networking/index.rst
@@ -19,6 +19,7 @@ Contents:
caif/index
ethtool-netlink
ieee802154
+ isotp
j1939
kapi
msg_zerocopy
diff --git a/Documentation/networking/isotp.rst b/Documentation/networking/isotp.rst
new file mode 100644
index 000000000000..d0c49fd1f5c9
--- /dev/null
+++ b/Documentation/networking/isotp.rst
@@ -0,0 +1,347 @@
+.. SPDX-License-Identifier: (GPL-2.0 OR BSD-3-Clause)
+
+====================
+ISO-TP (ISO 15765-2) Transport Protocol
+====================
+
+Overview
+=========================
+
+ISO-TP, also known as ISO 15765-2 from the ISO standard it is defined in, 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 classical (2.0B) CAN and CAN-FD 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).
+
+Addressing
+----------
+
+In its simplest form, ISO-TP is based on two kinds of addresses for the nodes
+connected to the same network:
+
+- a physical address, which identifies a single node and is used in 1-to-1
+ communication
+- a functional addess, which identifies a group of nodes and is used in 1-to-N
+ communication
+
+In a so-called "normal" addressing scenario, both these addresses are
+represented by a single byte and can be inserted inside the 29-bit version of
+the CAN ID. However, in order to support larger networks, an "extended"
+addressing scheme can be adopted; in this case, the first byte of the data
+payload is used as an additional component of the address (both for the
+physical and functional cases).
+
+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 asks (through a First
+Frame - FF) to the receiver the maximum supported size of a macro data block
+(``blocksize``) and the minimum time time between the single CAN messages
+composing such block (``stmin``). Once these informations have 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 a Flow Control
+frame - FC - to inform the sender about its availability to receive more data).
+
+Specifications used
+-------------------
+
+* ISO 15765-2 : Road vehicles - Diagnostic communication over Controller Area
+ Network (DoCAN). Part 2: Transport protocol and network layer services.
+
+How to Use ISO-TP
+=================
+
+As with others CAN protocols, the ISO-TP stack support is built as a variant of
+the SocketCAN communication, and thus uses the socket APIs.
+
+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, either:
+
+* specifying at least one RX or TX address, as part of the sockaddr supplied
+ to the call itself, or
+* after specifying broadcast flags 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 raw SocketCAN sockets, only the data payload shall be specified in all
+these calls, as the CAN header is automatically filled by the ISO-TP stack
+using information 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)
+ - ``CAN_ISOTP_EXTEND_ADDR``: enable extended addressing, using the byte
+ specified in ``ext_address`` as additional address byte.
+ - ``CAN_ISOTP_TX_PADDING``: enable padding for tranmsitted 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 duples 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
+ - ``CAN_ISOTP_FORCE_RXSTMIN``: ignore CFs depending on rx stmin
+ - ``CAN_ISOTP_RX_EXT_ADDR``: use ``rx_ext_address`` instead of ``ext_address``
+ as extended addressing byte on the reception path.
+ - ``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``)
+ - ``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:
+
+.. 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.
+
+* ``tx_flags``: flags set set into ``struct canfd_frame.flags`` at frame
+ creation.
+
+Transmission stmin
+~~~~~~~~~~~~~~~~~~
+
+The transmission minimum separaton 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 separaton 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 contraints:
+
+* 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": wheter 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;
+ addr.tp.rx_id = 0x18DAF142;
+
+ 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
--
2.44.0