文章目录
数据结构
CAN数据接收链表dev_rcv_lists
CAN核心为每个CAN类型网络设备都关联一个该链表对象(表头为can_rx_dev_list),用于保存所有对该CAN网络设备数据感兴趣的接收者。
enum { RX_ERR, RX_ALL, RX_FIL, RX_INV, RX_EFF, RX_MAX };
struct dev_rcv_lists {
struct hlist_node list; // 将本对象放入can_rx_dev_list中
struct rcu_head rcu;
struct net_device *dev; // 关联网络设备
struct hlist_head rx[RX_MAX]; // 两个接收者链表
struct hlist_head rx_sff[0x800];
int remove_on_zero_entries; // 链表清理标记
int entries;
};
CAN数据接收者receiver
struct receiver {
struct hlist_node list;
struct rcu_head rcu;
canid_t can_id; // filter信息
canid_t mask;
unsigned long matches; // 统计有多少数据包匹配了该接收者
// skb接收函数&参数
void (*func)(struct sk_buff *, void *);
void *data;
char *ident; // 标识接收者的字符串
};
CAN帧结构
/* special address description flags for the CAN_ID */
#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
#define CAN_ERR_FLAG 0x20000000U /* error frame */
/* valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
/*
* Controller Area Network Identifier structure
*
* bit 0-28 : CAN identifier (11/29 bit)
* bit 29 : error frame flag (0 = data frame, 1 = error frame)
* bit 30 : remote transmission request flag (1 = rtr frame)
* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
*/
// 低29bit对应CAN帧中的标识符字段,linux利用后3bit表示了其它帧信息
typedef __u32 canid_t;
/**
* struct can_frame - basic CAN frame structure
* @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above.
* @can_dlc: the data length field of the CAN frame
* @data: the CAN frame payload.
*/
struct can_frame {
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
__u8 can_dlc; /* data length code: 0 .. 8 */
__u8 data[8] __attribute__((aligned(8)));
};
对于canid_t的使用主要是在接收过滤器设置和数据接收两个流程中,这里linux做的是比较混乱的,bit0~bit28没有疑问,对应的就是CAN帧中的标识符字段,但是高3bit的使用需要分情况梳理。
接收过滤器设置(can_id和mask两个参数):
- mask参数中这是bit29(CAN_ERR_FLAG)代表要监听错误帧;
- can_id参数中设置bit29(CAN_INV_FILTER)代表匹配结果要取反;
- mask的bit0~bit28都为0,表示不做过滤全匹配;
接收流程
接收者列表维护
CAN核心仅仅对接收到的CAN帧进行分发,分发过程就是围绕上面提到的can_rx_dev_list链表进行的。
在模块初始化时,CAN核心向网络设备管理层注册了notifier,对应的接收函数为can_notifier()。
/*
* af_can notifier to create/remove CAN netdevice specific structs
*/
static int can_notifier(struct notifier_block *nb, unsigned long msg, void *data)
{
struct net_device *dev = (struct net_device *)data;
struct dev_rcv_lists *d;
// 只处理CAN类型的网络设备事件
if (!net_eq(dev_net(dev), &init_net))
return NOTIFY_DONE;
if (dev->type != ARPHRD_CAN)
return NOTIFY_DONE;
// 只处理网络设备注册和去注册事件
switch (msg) {
case NETDEV_REGISTER:
// 为网络设备分配一个dev_rcv_lists对象,并将该链表加入接收列表can_rx_dev_list中
/*
* create new dev_rcv_lists for this device
*
* N.B. zeroing the struct is the correct initialization
* for the embedded hlist_head structs.
* Another list type, e.g. list_head, would require
* explicit initialization.
*/
d = kzalloc(sizeof(*d), GFP_KERNEL);
if (!d) {
printk(KERN_ERR
"can: allocation of receive list failed\n");
return NOTIFY_DONE;
}
d->dev = dev; // 链表和网络设备进行了关联
spin_lock(&can_rcvlists_lock);
hlist_add_head_rcu(&d->list, &can_rx_dev_list);
spin_unlock(&can_rcvlists_lock);
break;
case NETDEV_UNREGISTER:
// 网络设备去注册时将其对应的dev_rcv_lists对象从can_rx_dev_list链表中移除
spin_lock(&can_rcvlists_lock);
d = find_dev_rcv_lists(dev);
if (d) {
if (d->entries) {
d->remove_on_zero_entries = 1;
d = NULL;
} else
hlist_del_rcu(&d->list);
} else
printk(KERN_ERR "can: notifier: receive list not "
"found for dev %s\n", dev->name);
spin_unlock(&can_rcvlists_lock);
if (d)
call_rcu(&d->rcu, can_rx_delete_device);
break;
}
return NOTIFY_DONE;
}
CAN核心为每个CAN类型的网络设备都维护了一个dev_rcv_lists链表对象。有了链表对象,需要向链表对象中注册接收者才能完成数据包的分发,注册接口为can_rx_register(),当然对应的也有can_rx_unregister()接口。
/**
* can_rx_register - subscribe CAN frames from a specific interface
* @dev: pointer to netdevice (NULL => subcribe from 'all' CAN devices list)
* @can_id: CAN identifier (see description)
* @mask: CAN mask (see description)
* @func: callback function on filter match
* @data: returned parameter for callback function
* @ident: string for calling module indentification
*
* Description:
* Invokes the callback function with the received sk_buff and the given
* parameter 'data' on a matching receive filter. A filter matches, when
*
* <received_can_id> & mask == can_id & mask
*
* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
* filter for error frames (CAN_ERR_FLAG bit set in mask).
*
* The provided pointer to the sk_buff is guaranteed to be valid as long as
* the callback function is running. The callback function must *not* free
* the given sk_buff while processing it's task. When the given sk_buff is
* needed after the end of the callback function it must be cloned inside
* the callback function with skb_clone().
*
* Return:
* 0 on success
* -ENOMEM on missing cache mem to create subscription entry
* -ENODEV unknown device
*/
int can_rx_register(struct net_device *dev, canid_t can_id, canid_t mask,
void (*func)(struct sk_buff *, void *), void *data, char *ident)
{
struct receiver *r;
struct hlist_head *rl;
struct dev_rcv_lists *d;
int err = 0;
/* insert new receiver (dev,canid,mask) -> (func,data) */
// 分配receiver对象
r = kmem_cache_alloc(rcv_cache, GFP_KERNEL);
if (!r)
return -ENOMEM;
spin_lock(&can_rcvlists_lock);
// 找到网络设备对应的dev_rcv_lists对象
d = find_dev_rcv_lists(dev);
if (d) {
// 根据参数决定将接收者放入哪个接收者链表
rl = find_rcv_list(&can_id, &mask, d);
r->can_id = can_id;
r->mask = mask;
r->matches = 0;
r->func = func;
r->data = data;
r->ident = ident;
// 将接收者加入链表
hlist_add_head_rcu(&r->list, rl);
d->entries++;
can_pstats.rcv_entries++;
if (can_pstats.rcv_entries_max < can_pstats.rcv_entries)
can_pstats.rcv_entries_max = can_pstats.rcv_entries;
} else {
kmem_cache_free(rcv_cache, r);
err = -ENODEV;
}
spin_unlock(&can_rcvlists_lock);
return err;
}
find_rcv_list()
/**
* find_rcv_list - determine optimal filterlist inside device filter struct
* @can_id: pointer to CAN identifier of a given can_filter
* @mask: pointer to CAN mask of a given can_filter
* @d: pointer to the device filter struct
*
* Description:
* Returns the optimal filterlist to reduce the filter handling in the
* receive path. This function is called by service functions that need
* to register or unregister a can_filter in the filter lists.
*
* A filter matches in general, when
*
* <received_can_id> & mask == can_id & mask
*
* so every bit set in the mask (even CAN_EFF_FLAG, CAN_RTR_FLAG) describe
* relevant bits for the filter.
*
* The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
* filter for error frames (CAN_ERR_FLAG bit set in mask). For error frames
* there is a special filterlist and a special rx path filter handling.
*
* Return:
* Pointer to optimal filterlist for the given can_id/mask pair.
* Constistency checked mask.
* Reduced can_id to have a preprocessed filter compare value.
*/
static struct hlist_head *find_rcv_list(canid_t *can_id, canid_t *mask,
struct dev_rcv_lists *d)
{
canid_t inv = *can_id & CAN_INV_FILTER; /* save flag before masking */
// 调用者通过在mask中设置CAN_ERR_FLAG可以实现对错误帧的监听
if (*mask & CAN_ERR_FLAG) {
/* clear CAN_ERR_FLAG in filter entry */
*mask &= CAN_ERR_MASK; // 最终在receiver->mask中保存的又去掉了CAN_ERR_FLAG
return &d->rx[RX_ERR];
}
/* with cleared CAN_ERR_FLAG we have a simple mask/value filterpair */
#define CAN_EFF_RTR_FLAGS (CAN_EFF_FLAG | CAN_RTR_FLAG)
// mask指定要接收扩展帧,但是can_id却没有指定要接收扩展帧,那么mask非法,将其修正为接收标准帧
/* ensure valid values in can_mask for 'SFF only' frame filtering */
if ((*mask & CAN_EFF_FLAG) && !(*can_id & CAN_EFF_FLAG))
*mask &= (CAN_SFF_MASK | CAN_EFF_RTR_FLAGS);
// can_id保存的已经是和mask相与的结果了,这样在接收路径匹配时可以减少计算
*can_id &= *mask;
// 将监听者放入取反匹配列表
if (inv)
return &d->rx[RX_INV];
// mask的bit0~bit28都为0,那么放入全匹配列表
if (!(*mask))
return &d->rx[RX_ALL];
/* extra filterlists for the subscription of a single non-RTR can_id */
if (((*mask & CAN_EFF_RTR_FLAGS) == CAN_EFF_RTR_FLAGS) && !(*can_id & CAN_RTR_FLAG)) {
if (*can_id & CAN_EFF_FLAG) {
if (*mask == (CAN_EFF_MASK | CAN_EFF_RTR_FLAGS)) {
/* RFC: a future use-case for hash-tables? */
return &d->rx[RX_EFF];
}
} else {
if (*mask == (CAN_SFF_MASK | CAN_EFF_RTR_FLAGS))
return &d->rx_sff[*can_id];
}
}
/* default: filter via can_id/can_mask */
return &d->rx[RX_FIL];
}
CAN核心收到数据can_rcv()
在模块初始化时,CAN核心向网络设备接口层注册了数据包接收接口can_rcv()。can_rcv()就是根据网络设备找到其对应的dev_rcv_lists链表,然后根据匹配规则,将skb分发给接收者。
static struct packet_type can_packet __read_mostly = {
.type = __constant_htons(ETH_P_CAN),
.dev = NULL,
.func = can_rcv,
};
static int can_rcv(struct sk_buff *skb, struct net_device *dev,
struct packet_type *pt, struct net_device *orig_dev)
{
struct dev_rcv_lists *d;
struct can_frame *cf = (struct can_frame *)skb->data;
int matches;
if (dev->type != ARPHRD_CAN || !net_eq(dev_net(dev), &init_net)) {
kfree_skb(skb);
return 0;
}
BUG_ON(skb->len != sizeof(struct can_frame) || cf->can_dlc > 8);
/* update statistics */
can_stats.rx_frames++;
can_stats.rx_frames_delta++;
rcu_read_lock();
/* deliver the packet to sockets listening on all devices */
matches = can_rcv_filter(&can_rx_alldev_list, skb);
// 找到网络设备对象的dev_rcv_lists链表
d = find_dev_rcv_lists(dev);
if (d)
matches += can_rcv_filter(d, skb);
rcu_read_unlock();
/* free the skbuff allocated by the netdevice driver */
kfree_skb(skb);
if (matches > 0) {
can_stats.matches++;
can_stats.matches_delta++;
}
return 0;
}
CAN核心分发接收数据: can_rcv_filter()
// 将数据包分发给接收者
static inline void deliver(struct sk_buff *skb, struct receiver *r)
{
r->func(skb, r->data);
r->matches++;
}
// 根据过滤规则分发数据
static int can_rcv_filter(struct dev_rcv_lists *d, struct sk_buff *skb)
{
struct receiver *r;
struct hlist_node *n;
int matches = 0;
struct can_frame *cf = (struct can_frame *)skb->data;
canid_t can_id = cf->can_id;
if (d->entries == 0)
return 0;
// 接收到1个错误帧,分发给对错误帧感兴趣的接收者
if (can_id & CAN_ERR_FLAG) {
/* check for error frame entries only */
hlist_for_each_entry_rcu(r, n, &d->rx[RX_ERR], list) {
if (can_id & r->mask) {
deliver(skb, r);
matches++;
}
}
return matches;
}
// 将帧分发给未设置filter的接收者
hlist_for_each_entry_rcu(r, n, &d->rx[RX_ALL], list) {
deliver(skb, r);
matches++;
}
// <received_can_id> & mask == can_id & mask
hlist_for_each_entry_rcu(r, n, &d->rx[RX_FIL], list) {
if ((can_id & r->mask) == r->can_id) {
deliver(skb, r);
matches++;
}
}
// 取反过滤器: <received_can_id> & mask != can_id & mask
hlist_for_each_entry_rcu(r, n, &d->rx[RX_INV], list) {
if ((can_id & r->mask) != r->can_id) {
deliver(skb, r);
matches++;
}
}
/* check filterlists for single non-RTR can_ids */
if (can_id & CAN_RTR_FLAG)
return matches;
// 扩展帧和标准帧
if (can_id & CAN_EFF_FLAG) {
hlist_for_each_entry_rcu(r, n, &d->rx[RX_EFF], list) {
if (r->can_id == can_id) {
deliver(skb, r);
matches++;
}
}
} else {
can_id &= CAN_SFF_MASK;
hlist_for_each_entry_rcu(r, n, &d->rx_sff[can_id], list) {
deliver(skb, r);
matches++;
}
}
return matches;
}
至此数据就交给了BCM等传输协议了。
发送流程
上层协议组织好CAN帧后,调用CAN核心的can_send()将数据包发送出去。
/**
* can_send - transmit a CAN frame (optional with local loopback)
* @skb: pointer to socket buffer with CAN frame in data section
* @loop: loopback for listeners on local CAN sockets (recommended default!)
*
* Return:
* 0 on success
* -ENETDOWN when the selected interface is down
* -ENOBUFS on full driver queue (see net_xmit_errno())
* -ENOMEM when local loopback failed at calling skb_clone()
* -EPERM when trying to send on a non-CAN interface
* -EINVAL when the skb->data does not contain a valid CAN frame
*/
int can_send(struct sk_buff *skb, int loop)
{
struct sk_buff *newskb = NULL;
struct can_frame *cf = (struct can_frame *)skb->data;
int err;
// 校验CAN帧长度
if (skb->len != sizeof(struct can_frame) || cf->can_dlc > 8) {
kfree_skb(skb);
return -EINVAL;
}
// 校验出口网络设备必须是CAN类型网络设备
if (skb->dev->type != ARPHRD_CAN) {
kfree_skb(skb);
return -EPERM;
}
// 网络设备已UP
if (!(skb->dev->flags & IFF_UP)) {
kfree_skb(skb);
return -ENETDOWN;
}
// 设置数据包为CAN类型
skb->protocol = htons(ETH_P_CAN);
skb_reset_network_header(skb);
skb_reset_transport_header(skb);
if (loop) { // 发送者指示该数据包需要环回
/* indication for the CAN driver: do loopback */
skb->pkt_type = PACKET_LOOPBACK;
/*
* The reference to the originating sock may be required
* by the receiving socket to check whether the frame is
* its own. Example: can_raw sockopt CAN_RAW_RECV_OWN_MSGS
* Therefore we have to ensure that skb->sk remains the
* reference to the originating sock by restoring skb->sk
* after each skb_clone() or skb_orphan() usage.
*/
if (!(skb->dev->flags & IFF_ECHO)) {
// 驱动不支持环回,这里软件来模拟:将skb复制一份,直接走netif_rx()接收流程
newskb = skb_clone(skb, GFP_ATOMIC);
if (!newskb) {
kfree_skb(skb);
return -ENOMEM;
}
newskb->sk = skb->sk;
newskb->ip_summed = CHECKSUM_UNNECESSARY;
newskb->pkt_type = PACKET_BROADCAST;
}
} else {
/* indication for the CAN driver: no loopback required */
skb->pkt_type = PACKET_HOST;
}
// 发送数据包给网络设备接口层
err = dev_queue_xmit(skb);
if (err > 0)
err = net_xmit_errno(err);
if (err) {
if (newskb)
kfree_skb(newskb);
return err;
}
if (newskb)
netif_rx(newskb);
/* update statistics */
can_stats.tx_frames++;
can_stats.tx_frames_delta++;
return 0;
}