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can: virtio: Add virtio CAN driver

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Add virtio CAN driver based on Virtio 1.4 specification (see
https://github.com/oasis-tcs/virtio-spec/tree/virtio-1.4). The driver
implements a complete CAN bus interface over Virtio transport,
supporting both CAN Classic and CAN-FD Ids. In term of frames, it
supports classic and CAN FD. RTR frames are only supported with classic
CAN.

Usage:
- "ip link set up can0" - start controller
- "ip link set down can0" - stop controller
- "candump can0" - receive frames
- "cansend can0 123#DEADBEEF" - send frames

Signed-off-by: Harald Mommer <harald.mommer@oss.qualcomm.com>
Co-developed-by: Harald Mommer <harald.mommer@oss.qualcomm.com>
Signed-off-by: Mikhail Golubev-Ciuchea <mikhail.golubev-ciuchea@oss.qualcomm.com>
Co-developed-by: Marc Kleine-Budde <mkl@pengutronix.de>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
Cc: Damir Shaikhutdinov <Damir.Shaikhutdinov@opensynergy.com>
Reviewed-by: Francesco Valla <francesco@valla.it>
Tested-by: Francesco Valla <francesco@valla.it>
Signed-off-by: Matias Ezequiel Vara Larsen <mvaralar@redhat.com>
Signed-off-by: Michael S. Tsirkin <mst@redhat.com>
Message-ID: <ahXNb+KzuHYbS24+@fedora>
This commit is contained in:
Matias Ezequiel Vara Larsen
2026-05-26 18:42:23 +02:00
committed by Michael S. Tsirkin
parent 82da84282c
commit 083082a4e6
5 changed files with 1122 additions and 0 deletions
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78
include/uapi/linux/virtio_can.h Normal file
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/* SPDX-License-Identifier: BSD-3-Clause */
/*
* Copyright (C) 2021-2023 OpenSynergy GmbH
* Copyright Red Hat, Inc. 2025
*/
#ifndef _LINUX_VIRTIO_VIRTIO_CAN_H
#define _LINUX_VIRTIO_VIRTIO_CAN_H
#include <linux/types.h>
#include <linux/virtio_types.h>
#include <linux/virtio_ids.h>
#include <linux/virtio_config.h>
/* Feature bit numbers */
#define VIRTIO_CAN_F_CAN_CLASSIC 0
#define VIRTIO_CAN_F_CAN_FD 1
#define VIRTIO_CAN_F_RTR_FRAMES 2
#define VIRTIO_CAN_F_LATE_TX_ACK 3
/* CAN Result Types */
#define VIRTIO_CAN_RESULT_OK 0
#define VIRTIO_CAN_RESULT_NOT_OK 1
/* CAN flags to determine type of CAN Id */
#define VIRTIO_CAN_FLAGS_EXTENDED 0x8000
#define VIRTIO_CAN_FLAGS_FD 0x4000
#define VIRTIO_CAN_FLAGS_RTR 0x2000
#define VIRTIO_CAN_MAX_DLEN 64 // this is like CANFD_MAX_DLEN
struct virtio_can_config {
#define VIRTIO_CAN_S_CTRL_BUSOFF (1u << 0) /* Controller BusOff */
/* CAN controller status */
__le16 status;
};
/* TX queue message types */
struct virtio_can_tx_out {
#define VIRTIO_CAN_TX 0x0001
__le16 msg_type;
__le16 length; /* 0..8 CC, 0..64 CAN-FD, 0..2048 CAN-XL, 12 bits */
__u8 reserved_classic_dlc; /* If CAN classic length = 8 then DLC can be 8..15 */
__u8 padding;
__le16 reserved_xl_priority; /* May be needed for CAN XL priority */
__le32 flags;
__le32 can_id;
__u8 sdu[] __counted_by_le(length);
};
struct virtio_can_tx_in {
__u8 result;
};
/* RX queue message types */
struct virtio_can_rx {
#define VIRTIO_CAN_RX 0x0101
__le16 msg_type;
__le16 length; /* 0..8 CC, 0..64 CAN-FD, 0..2048 CAN-XL, 12 bits */
__u8 reserved_classic_dlc; /* If CAN classic length = 8 then DLC can be 8..15 */
__u8 padding;
__le16 reserved_xl_priority; /* May be needed for CAN XL priority */
__le32 flags;
__le32 can_id;
__u8 sdu[] __counted_by_le(length);
};
/* Control queue message types */
struct virtio_can_control_out {
#define VIRTIO_CAN_SET_CTRL_MODE_START 0x0201
#define VIRTIO_CAN_SET_CTRL_MODE_STOP 0x0202
__le16 msg_type;
};
struct virtio_can_control_in {
__u8 result;
};
#endif /* #ifndef _LINUX_VIRTIO_VIRTIO_CAN_H */