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diff --git a/Documentation/networking/can_ucan_protocol.rst b/Documentation/networking/can_ucan_protocol.rst new file mode 100644 index 000000000..4cef88d24 --- /dev/null +++ b/Documentation/networking/can_ucan_protocol.rst @@ -0,0 +1,332 @@ +================= +The UCAN Protocol +================= + +UCAN is the protocol used by the microcontroller-based USB-CAN +adapter that is integrated on System-on-Modules from Theobroma Systems +and that is also available as a standalone USB stick. + +The UCAN protocol has been designed to be hardware-independent. +It is modeled closely after how Linux represents CAN devices +internally. All multi-byte integers are encoded as Little Endian. + +All structures mentioned in this document are defined in +``drivers/net/can/usb/ucan.c``. + +USB Endpoints +============= + +UCAN devices use three USB endpoints: + +CONTROL endpoint + The driver sends device management commands on this endpoint + +IN endpoint + The device sends CAN data frames and CAN error frames + +OUT endpoint + The driver sends CAN data frames on the out endpoint + + +CONTROL Messages +================ + +UCAN devices are configured using vendor requests on the control pipe. + +To support multiple CAN interfaces in a single USB device all +configuration commands target the corresponding interface in the USB +descriptor. + +The driver uses ``ucan_ctrl_command_in/out`` and +``ucan_device_request_in`` to deliver commands to the device. + +Setup Packet +------------ + +================= ===================================================== +``bmRequestType`` Direction | Vendor | (Interface or Device) +``bRequest`` Command Number +``wValue`` Subcommand Number (16 Bit) or 0 if not used +``wIndex`` USB Interface Index (0 for device commands) +``wLength`` * Host to Device - Number of bytes to transmit + * Device to Host - Maximum Number of bytes to + receive. If the device send less. Commom ZLP + semantics are used. +================= ===================================================== + +Error Handling +-------------- + +The device indicates failed control commands by stalling the +pipe. + +Device Commands +--------------- + +UCAN_DEVICE_GET_FW_STRING +~~~~~~~~~~~~~~~~~~~~~~~~~ + +*Dev2Host; optional* + +Request the device firmware string. + + +Interface Commands +------------------ + +UCAN_COMMAND_START +~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Bring the CAN interface up. + +Payload Format + ``ucan_ctl_payload_t.cmd_start`` + +==== ============================ +mode or mask of ``UCAN_MODE_*`` +==== ============================ + +UCAN_COMMAND_STOP +~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Stop the CAN interface + +Payload Format + *empty* + +UCAN_COMMAND_RESET +~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Reset the CAN controller (including error counters) + +Payload Format + *empty* + +UCAN_COMMAND_GET +~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Get Information from the Device + +Subcommands +^^^^^^^^^^^ + +UCAN_COMMAND_GET_INFO + Request the device information structure ``ucan_ctl_payload_t.device_info``. + + See the ``device_info`` field for details, and + ``uapi/linux/can/netlink.h`` for an explanation of the + ``can_bittiming fields``. + + Payload Format + ``ucan_ctl_payload_t.device_info`` + +UCAN_COMMAND_GET_PROTOCOL_VERSION + + Request the device protocol version + ``ucan_ctl_payload_t.protocol_version``. The current protocol version is 3. + + Payload Format + ``ucan_ctl_payload_t.protocol_version`` + +.. note:: Devices that do not implement this command use the old + protocol version 1 + +UCAN_COMMAND_SET_BITTIMING +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +*Host2Dev; mandatory* + +Setup bittiming by sending the the structure +``ucan_ctl_payload_t.cmd_set_bittiming`` (see ``struct bittiming`` for +details) + +Payload Format + ``ucan_ctl_payload_t.cmd_set_bittiming``. + +UCAN_SLEEP/WAKE +~~~~~~~~~~~~~~~ + +*Host2Dev; optional* + +Configure sleep and wake modes. Not yet supported by the driver. + +UCAN_FILTER +~~~~~~~~~~~ + +*Host2Dev; optional* + +Setup hardware CAN filters. Not yet supported by the driver. + +Allowed interface commands +-------------------------- + +================== =================== ================== +Legal Device State Command New Device State +================== =================== ================== +stopped SET_BITTIMING stopped +stopped START started +started STOP or RESET stopped +stopped STOP or RESET stopped +started RESTART started +any GET *no change* +================== =================== ================== + +IN Message Format +================= + +A data packet on the USB IN endpoint contains one or more +``ucan_message_in`` values. If multiple messages are batched in a USB +data packet, the ``len`` field can be used to jump to the next +``ucan_message_in`` value (take care to sanity-check the ``len`` value +against the actual data size). + +.. _can_ucan_in_message_len: + +``len`` field +------------- + +Each ``ucan_message_in`` must be aligned to a 4-byte boundary (relative +to the start of the start of the data buffer). That means that there +may be padding bytes between multiple ``ucan_message_in`` values: + +.. code:: + + +----------------------------+ < 0 + | | + | struct ucan_message_in | + | | + +----------------------------+ < len + [padding] + +----------------------------+ < round_up(len, 4) + | | + | struct ucan_message_in | + | | + +----------------------------+ + [...] + +``type`` field +-------------- + +The ``type`` field specifies the type of the message. + +UCAN_IN_RX +~~~~~~~~~~ + +``subtype`` + zero + +Data received from the CAN bus (ID + payload). + +UCAN_IN_TX_COMPLETE +~~~~~~~~~~~~~~~~~~~ + +``subtype`` + zero + +The CAN device has sent a message to the CAN bus. It answers with a +list of of tuples <echo-ids, flags>. + +The echo-id identifies the frame from (echos the id from a previous +UCAN_OUT_TX message). The flag indicates the result of the +transmission. Whereas a set Bit 0 indicates success. All other bits +are reserved and set to zero. + +Flow Control +------------ + +When receiving CAN messages there is no flow control on the USB +buffer. The driver has to handle inbound message quickly enough to +avoid drops. I case the device buffer overflow the condition is +reported by sending corresponding error frames (see +:ref:`can_ucan_error_handling`) + + +OUT Message Format +================== + +A data packet on the USB OUT endpoint contains one or more ``struct +ucan_message_out`` values. If multiple messages are batched into one +data packet, the device uses the ``len`` field to jump to the next +ucan_message_out value. Each ucan_message_out must be aligned to 4 +bytes (relative to the start of the data buffer). The mechanism is +same as described in :ref:`can_ucan_in_message_len`. + +.. code:: + + +----------------------------+ < 0 + | | + | struct ucan_message_out | + | | + +----------------------------+ < len + [padding] + +----------------------------+ < round_up(len, 4) + | | + | struct ucan_message_out | + | | + +----------------------------+ + [...] + +``type`` field +-------------- + +In protocol version 3 only ``UCAN_OUT_TX`` is defined, others are used +only by legacy devices (protocol version 1). + +UCAN_OUT_TX +~~~~~~~~~~~ +``subtype`` + echo id to be replied within a CAN_IN_TX_COMPLETE message + +Transmit a CAN frame. (parameters: ``id``, ``data``) + +Flow Control +------------ + +When the device outbound buffers are full it starts sending *NAKs* on +the *OUT* pipe until more buffers are available. The driver stops the +queue when a certain threshold of out packets are incomplete. + +.. _can_ucan_error_handling: + +CAN Error Handling +================== + +If error reporting is turned on the device encodes errors into CAN +error frames (see ``uapi/linux/can/error.h``) and sends it using the +IN endpoint. The driver updates its error statistics and forwards +it. + +Although UCAN devices can suppress error frames completely, in Linux +the driver is always interested. Hence, the device is always started with +the ``UCAN_MODE_BERR_REPORT`` set. Filtering those messages for the +user space is done by the driver. + +Bus OFF +------- + +- The device does not recover from bus of automatically. +- Bus OFF is indicated by an error frame (see ``uapi/linux/can/error.h``) +- Bus OFF recovery is started by ``UCAN_COMMAND_RESTART`` +- Once Bus OFF recover is completed the device sends an error frame + indicating that it is on ERROR-ACTIVE state. +- During Bus OFF no frames are sent by the device. +- During Bus OFF transmission requests from the host are completed + immediately with the success bit left unset. + +Example Conversation +==================== + +#) Device is connected to USB +#) Host sends command ``UCAN_COMMAND_RESET``, subcmd 0 +#) Host sends command ``UCAN_COMMAND_GET``, subcmd ``UCAN_COMMAND_GET_INFO`` +#) Device sends ``UCAN_IN_DEVICE_INFO`` +#) Host sends command ``UCAN_OUT_SET_BITTIMING`` +#) Host sends command ``UCAN_COMMAND_START``, subcmd 0, mode ``UCAN_MODE_BERR_REPORT`` |