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iplink_can: add CAN XL support RFC based on Vincent cleanups

PATCH New Oliver Hartkopp 1 participant 5 messages May 27, 2025 CAN network drivers

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Oliver Hartkopp

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PATCH 1/5 iplink_can: add CAN XL support RFC based on Vincent cleanups

Fixes from Oliver:
- remove newline before tdc information to increase readability
- fix copy/paste issue in CAN_CTRLMODE_XL_TDC_ definitions

Based on the iproute2 CAN XL preparations patch set at
https://lore.kernel.org/linux-can/173194923075.4109060.18408610499610779344.git-patchwork-notify@kernel.org/T/#t
which was already merged into iproute2-next tree:
https://git.kernel.org/pub/scm/network/iproute2/iproute2-next.git/commit/?id=7b4d64895f7c58a12c01d2f394f75b0d1938eb9c

Signed-off-by Oliver Hartkopp <[email protected]>
---
 include/uapi/linux/can/netlink.h |  21 ++-
 ip/iplink_can.c                  | 223 ++++++++++++++++++++++++++++---
 2 files changed, 216 insertions(+), 28 deletions(-)
include/uapi/linux/can/netlink.h +14 -7
index 8ec98c21..416e2feb 100644
@@ -99,12 +99,15 @@ struct can_ctrlmode {
 #define CAN_CTRLMODE_BERR_REPORTING	0x10	/* Bus-error reporting */
 #define CAN_CTRLMODE_FD			0x20	/* CAN FD mode */
 #define CAN_CTRLMODE_PRESUME_ACK	0x40	/* Ignore missing CAN ACKs */
 #define CAN_CTRLMODE_FD_NON_ISO		0x80	/* CAN FD in non-ISO mode */
 #define CAN_CTRLMODE_CC_LEN8_DLC	0x100	/* Classic CAN DLC option */
-#define CAN_CTRLMODE_TDC_AUTO		0x200	/* CAN transiver automatically calculates TDCV */
-#define CAN_CTRLMODE_TDC_MANUAL		0x400	/* TDCV is manually set up by user */
+#define CAN_CTRLMODE_TDC_AUTO		0x200	/* FD transceiver automatically calculates TDCV */
+#define CAN_CTRLMODE_TDC_MANUAL		0x400	/* FD TDCV is manually set up by user */
+#define CAN_CTRLMODE_XL			0x800	/* CAN XL mode */
+#define CAN_CTRLMODE_XL_TDC_AUTO	0x1000	/* XL transceiver automatically calculates TDCV */
+#define CAN_CTRLMODE_XL_TDC_MANUAL	0x2000	/* XL TDCV is manually set up by user */
 
 /*
  * CAN device statistics
  */
 struct can_device_stats {

@@ -127,27 +130,31 @@ enum {
 	IFLA_CAN_STATE,
 	IFLA_CAN_CTRLMODE,
 	IFLA_CAN_RESTART_MS,
 	IFLA_CAN_RESTART,
 	IFLA_CAN_BERR_COUNTER,
-	IFLA_CAN_DATA_BITTIMING,
-	IFLA_CAN_DATA_BITTIMING_CONST,
+	IFLA_CAN_DATA_BITTIMING, /* FD */
+	IFLA_CAN_DATA_BITTIMING_CONST, /* FD */
 	IFLA_CAN_TERMINATION,
 	IFLA_CAN_TERMINATION_CONST,
 	IFLA_CAN_BITRATE_CONST,
-	IFLA_CAN_DATA_BITRATE_CONST,
+	IFLA_CAN_DATA_BITRATE_CONST, /* FD */
 	IFLA_CAN_BITRATE_MAX,
-	IFLA_CAN_TDC,
+	IFLA_CAN_TDC, /* FD */
 	IFLA_CAN_CTRLMODE_EXT,
+	IFLA_CAN_XL_DATA_BITTIMING,
+	IFLA_CAN_XL_DATA_BITTIMING_CONST,
+	IFLA_CAN_XL_DATA_BITRATE_CONST,
+	IFLA_CAN_XL_TDC,
 
 	/* add new constants above here */
 	__IFLA_CAN_MAX,
 	IFLA_CAN_MAX = __IFLA_CAN_MAX - 1
 };
 
 /*
- * CAN FD Transmitter Delay Compensation (TDC)
+ * CAN FD/XL Transmitter Delay Compensation (TDC)
  *
  * Please refer to struct can_tdc_const and can_tdc in
  * include/linux/can/bittiming.h for further details.
  */
 enum {
ip/iplink_can.c +202 -21

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#1 lore raw

PATCH 2/5 iplink_can: canxl: support Remote Request Substitution bit access

The Remote Request Substitution bit is a dominant bit ("0") in the CAN XL frame. As some CAN XL controllers support to access this bit a new CANXL_RRS value has been defined for the canxl_frame.flags element.

To read/write the Remote Request Substitution (RRS) bit in the CAN XL frame the CAN_CTRLMODE_XL_RRS has to be enabled in CAN driver.

Signed-off-by Oliver Hartkopp <[email protected]>
---
 include/uapi/linux/can/netlink.h | 1 +
 ip/iplink_can.c                  | 6 ++++++
 2 files changed, 7 insertions(+)
include/uapi/linux/can/netlink.h +1 -0
index 416e2feb..19267678 100644
@@ -104,10 +104,11 @@ struct can_ctrlmode {
 #define CAN_CTRLMODE_TDC_AUTO		0x200	/* FD transceiver automatically calculates TDCV */
 #define CAN_CTRLMODE_TDC_MANUAL		0x400	/* FD TDCV is manually set up by user */
 #define CAN_CTRLMODE_XL			0x800	/* CAN XL mode */
 #define CAN_CTRLMODE_XL_TDC_AUTO	0x1000	/* XL transceiver automatically calculates TDCV */
 #define CAN_CTRLMODE_XL_TDC_MANUAL	0x2000	/* XL TDCV is manually set up by user */
+#define CAN_CTRLMODE_XL_RRS		0x4000	/* XL enable RRS bit access */
 
 /*
  * CAN device statistics
  */
 struct can_device_stats {
ip/iplink_can.c +6 -0
index 8dc9229b..9fe9ae6c 100644
@@ -40,10 +40,11 @@ static void print_usage(FILE *f)
 		"\t[ presume-ack { on | off } ]\n"
 		"\t[ cc-len8-dlc { on | off } ]\n"
 		"\t[ tdc-mode { auto | manual | off } ]\n"
 		"\t[ xl { on | off } ]\n"
 		"\t[ xtdc-mode { auto | manual | off } ]\n"
+		"\t[ xlrrs { on | off } ]\n"
 		"\n"
 		"\t[ restart-ms TIME-MS ]\n"
 		"\t[ restart ]\n"
 		"\n"
 		"\t[ termination { 0..65535 } ]\n"

@@ -123,10 +124,11 @@ static void print_ctrlmode(enum output_type t, __u32 flags, const char* key)
 	print_flag(t, &flags, CAN_CTRLMODE_TDC_AUTO, "TDC-AUTO");
 	print_flag(t, &flags, CAN_CTRLMODE_TDC_MANUAL, "TDC-MANUAL");
 	print_flag(t, &flags, CAN_CTRLMODE_XL, "XL");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_TDC_AUTO, "XL-TDC-AUTO");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_TDC_MANUAL, "XL-TDC-MANUAL");
+	print_flag(t, &flags, CAN_CTRLMODE_XL_RRS, "XL-RRS");
 
 	if (flags)
 		print_hex(t, NULL, "%x", flags);
 
 	close_json_array(t, "> ");

@@ -333,10 +335,14 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 					   CAN_CTRLMODE_XL_TDC_MANUAL;
 			} else {
 				invarg("\"xtdc-mode\" must be either of \"auto\", \"manual\" or \"off\"",
 					*argv);
 			}
+		} else if (matches(*argv, "xlrrs") == 0) {
+			NEXT_ARG();
+			set_ctrlmode("xlrrs", *argv, &cm,
+				     CAN_CTRLMODE_XL_RRS);
 		} else if (matches(*argv, "restart") == 0) {
 			__u32 val = 1;
 
 			addattr32(n, 1024, IFLA_CAN_RESTART, val);
 		} else if (matches(*argv, "restart-ms") == 0) {
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#2 lore raw

PATCH 3/5 iplink_can: canxl: support CAN XL transceiver switching in data phase

In reply to Oliver Hartkopp

In the CAN XL data phase the CAN XL controller can advise the CAN XL transceiver to switch the physical layer.
To enable this feature the CAN_CTRLMODE_XL_TRX has to be set in the driver control mode.

Signed-off-by Oliver Hartkopp <[email protected]>
---
 include/uapi/linux/can/netlink.h | 1 +
 ip/iplink_can.c                  | 6 ++++++
 2 files changed, 7 insertions(+)
include/uapi/linux/can/netlink.h +1 -0
index 19267678..bea58373 100644
@@ -105,10 +105,11 @@ struct can_ctrlmode {
 #define CAN_CTRLMODE_TDC_MANUAL		0x400	/* FD TDCV is manually set up by user */
 #define CAN_CTRLMODE_XL			0x800	/* CAN XL mode */
 #define CAN_CTRLMODE_XL_TDC_AUTO	0x1000	/* XL transceiver automatically calculates TDCV */
 #define CAN_CTRLMODE_XL_TDC_MANUAL	0x2000	/* XL TDCV is manually set up by user */
 #define CAN_CTRLMODE_XL_RRS		0x4000	/* XL enable RRS bit access */
+#define CAN_CTRLMODE_XL_TRX		0x8000	/* XL switch trx in data phase */
 
 /*
  * CAN device statistics
  */
 struct can_device_stats {
ip/iplink_can.c +6 -0
index 9fe9ae6c..18854c2b 100644
@@ -41,10 +41,11 @@ static void print_usage(FILE *f)
 		"\t[ cc-len8-dlc { on | off } ]\n"
 		"\t[ tdc-mode { auto | manual | off } ]\n"
 		"\t[ xl { on | off } ]\n"
 		"\t[ xtdc-mode { auto | manual | off } ]\n"
 		"\t[ xlrrs { on | off } ]\n"
+		"\t[ xltrx { on | off } ]\n"
 		"\n"
 		"\t[ restart-ms TIME-MS ]\n"
 		"\t[ restart ]\n"
 		"\n"
 		"\t[ termination { 0..65535 } ]\n"

@@ -125,10 +126,11 @@ static void print_ctrlmode(enum output_type t, __u32 flags, const char* key)
 	print_flag(t, &flags, CAN_CTRLMODE_TDC_MANUAL, "TDC-MANUAL");
 	print_flag(t, &flags, CAN_CTRLMODE_XL, "XL");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_TDC_AUTO, "XL-TDC-AUTO");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_TDC_MANUAL, "XL-TDC-MANUAL");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_RRS, "XL-RRS");
+	print_flag(t, &flags, CAN_CTRLMODE_XL_TRX, "XL-TRX");
 
 	if (flags)
 		print_hex(t, NULL, "%x", flags);
 
 	close_json_array(t, "> ");

@@ -339,10 +341,14 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 			}
 		} else if (matches(*argv, "xlrrs") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("xlrrs", *argv, &cm,
 				     CAN_CTRLMODE_XL_RRS);
+		} else if (matches(*argv, "xltrx") == 0) {
+			NEXT_ARG();
+			set_ctrlmode("xltrx", *argv, &cm,
+				     CAN_CTRLMODE_XL_TRX);
 		} else if (matches(*argv, "restart") == 0) {
 			__u32 val = 1;
 
 			addattr32(n, 1024, IFLA_CAN_RESTART, val);
 		} else if (matches(*argv, "restart-ms") == 0) {
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#3 lore raw

PATCH 4/5 iplink_can: canxl: support CAN XL error signalling switching

In reply to Oliver Hartkopp

For CAN CC and CAN FD the generation of error frames on the CAN bus in the case of detected protocol violations is a mandatory feature. With CAN XL utilizing a switchable CAN XL transceiver with a different physical layer the error signalling is not possible when the transceiver is switched into the new data mode physical layer.
When operating a CAN controller in CAN CC/FD/XL mode (XL = enabled!) with a 'normal' CAN (FD) transceiver that does not switch the physical layer in the data section the user can decide whether the error signalling is enabled/disabled for all CAN protocols.

Signed-off-by Oliver Hartkopp <[email protected]>
---
 include/uapi/linux/can/netlink.h | 1 +
 ip/iplink_can.c                  | 6 ++++++
 2 files changed, 7 insertions(+)
include/uapi/linux/can/netlink.h +1 -0
index bea58373..903d7f2f 100644
@@ -106,10 +106,11 @@ struct can_ctrlmode {
 #define CAN_CTRLMODE_XL			0x800	/* CAN XL mode */
 #define CAN_CTRLMODE_XL_TDC_AUTO	0x1000	/* XL transceiver automatically calculates TDCV */
 #define CAN_CTRLMODE_XL_TDC_MANUAL	0x2000	/* XL TDCV is manually set up by user */
 #define CAN_CTRLMODE_XL_RRS		0x4000	/* XL enable RRS bit access */
 #define CAN_CTRLMODE_XL_TRX		0x8000	/* XL switch trx in data phase */
+#define CAN_CTRLMODE_XL_ERR_SIGNAL	0x10000	/* XL error signalling */
 
 /*
  * CAN device statistics
  */
 struct can_device_stats {
ip/iplink_can.c +6 -0
index 18854c2b..766eadbe 100644
@@ -42,10 +42,11 @@ static void print_usage(FILE *f)
 		"\t[ tdc-mode { auto | manual | off } ]\n"
 		"\t[ xl { on | off } ]\n"
 		"\t[ xtdc-mode { auto | manual | off } ]\n"
 		"\t[ xlrrs { on | off } ]\n"
 		"\t[ xltrx { on | off } ]\n"
+		"\t[ xlerrsig { on | off } ]\n"
 		"\n"
 		"\t[ restart-ms TIME-MS ]\n"
 		"\t[ restart ]\n"
 		"\n"
 		"\t[ termination { 0..65535 } ]\n"

@@ -127,10 +128,11 @@ static void print_ctrlmode(enum output_type t, __u32 flags, const char* key)
 	print_flag(t, &flags, CAN_CTRLMODE_XL, "XL");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_TDC_AUTO, "XL-TDC-AUTO");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_TDC_MANUAL, "XL-TDC-MANUAL");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_RRS, "XL-RRS");
 	print_flag(t, &flags, CAN_CTRLMODE_XL_TRX, "XL-TRX");
+	print_flag(t, &flags, CAN_CTRLMODE_XL_ERR_SIGNAL, "XL-ERR-SIGNAL");
 
 	if (flags)
 		print_hex(t, NULL, "%x", flags);
 
 	close_json_array(t, "> ");

@@ -345,10 +347,14 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 				     CAN_CTRLMODE_XL_RRS);
 		} else if (matches(*argv, "xltrx") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("xltrx", *argv, &cm,
 				     CAN_CTRLMODE_XL_TRX);
+		} else if (matches(*argv, "xlerrsig") == 0) {
+			NEXT_ARG();
+			set_ctrlmode("xlerrsig", *argv, &cm,
+				     CAN_CTRLMODE_XL_ERR_SIGNAL);
 		} else if (matches(*argv, "restart") == 0) {
 			__u32 val = 1;
 
 			addattr32(n, 1024, IFLA_CAN_RESTART, val);
 		} else if (matches(*argv, "restart-ms") == 0) {
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#4 lore raw

PATCH 5/5 iplink_can: canxl: add PWM config support

In reply to Oliver Hartkopp
Signed-off-by Oliver Hartkopp <[email protected]>
---
 include/uapi/linux/can/netlink.h | 15 +++++++++++
 ip/iplink_can.c                  | 44 ++++++++++++++++++++++++++++++++
 2 files changed, 59 insertions(+)
include/uapi/linux/can/netlink.h +15 -0
index 903d7f2f..79f348a5 100644
@@ -146,16 +146,31 @@ enum {
 	IFLA_CAN_CTRLMODE_EXT,
 	IFLA_CAN_XL_DATA_BITTIMING,
 	IFLA_CAN_XL_DATA_BITTIMING_CONST,
 	IFLA_CAN_XL_DATA_BITRATE_CONST,
 	IFLA_CAN_XL_TDC,
+	IFLA_CAN_XL_PWM,
 
 	/* add new constants above here */
 	__IFLA_CAN_MAX,
 	IFLA_CAN_MAX = __IFLA_CAN_MAX - 1
 };
 
+/*
+ * CAN XL Transceiver data mode switching PWM configuration
+ */
+enum {
+	IFLA_CAN_PWM_UNSPEC,
+	IFLA_CAN_PWM_OFFSET,	/* u8 */
+	IFLA_CAN_PWM_LONG,	/* u8 */
+	IFLA_CAN_PWM_SHORT,	/* u8 */
+
+	/* add new constants above here */
+	__IFLA_CAN_PWM,
+	IFLA_CAN_PWM_MAX = __IFLA_CAN_PWM - 1
+};
+
 /*
  * CAN FD/XL Transmitter Delay Compensation (TDC)
  *
  * Please refer to struct can_tdc_const and can_tdc in
  * include/linux/can/bittiming.h for further details.
ip/iplink_can.c +44 -0

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