@@ -72,17 +72,18 @@
* Error Status Indicator (ESI) 1
* Data length code (DLC) 4
* Data field 0...512
- * Stuff Bit Count (SBC) 0...16: 4 20...64:5
+ * Stuff Bit Count (SBC) 4
* CRC 0...16: 17 20...64:21
* CRC delimiter (CD) 1
+ * Fixed Stuff bits (FSB) 0...16: 6 20...64:7
* ACK slot (AS) 1
* ACK delimiter (AD) 1
* End-of-frame (EOF) 7
* Inter frame spacing 3
*
- * assuming CRC21, rounded up and ignoring bitstuffing
+ * assuming CRC21, rounded up and ignoring dynamic bitstuffing
*/
-#define CANFD_FRAME_OVERHEAD_SFF DIV_ROUND_UP(61, 8)
+#define CANFD_FRAME_OVERHEAD_SFF DIV_ROUND_UP(67, 8)
/*
* Size of a CAN-FD Extended Frame
@@ -101,17 +102,18 @@
* Error Status Indicator (ESI) 1
* Data length code (DLC) 4
* Data field 0...512
- * Stuff Bit Count (SBC) 0...16: 4 20...64:5
+ * Stuff Bit Count (SBC) 4
* CRC 0...16: 17 20...64:21
* CRC delimiter (CD) 1
+ * Fixed Stuff bits (FSB) 0...16: 6 20...64:7
* ACK slot (AS) 1
* ACK delimiter (AD) 1
* End-of-frame (EOF) 7
* Inter frame spacing 3
*
- * assuming CRC21, rounded up and ignoring bitstuffing
+ * assuming CRC21, rounded up and ignoring dynamic bitstuffing
*/
-#define CANFD_FRAME_OVERHEAD_EFF DIV_ROUND_UP(80, 8)
+#define CANFD_FRAME_OVERHEAD_EFF DIV_ROUND_UP(86, 8)
/*
* Maximum size of a Classical CAN frame
The Stuff Bit Count is always coded on 4 bits (ref [1]). Update the Stuff Bit Count size accordingly. In addition, the CRC fields of CAN FD Frames contain stuff bits at fixed positions called fixed stuff bits [2]. The CRC field starts with a fixed stuff bit and then has another fixed stuff bit after each fourth bit [2], which allows us to derive this formula: FSB count = 1 + round_down(len(CRC field)/4) The length of the CRC field is [1]: len(CRC field) = len(Stuff Bit Count) + len(CRC) = 4 + len(CRC) with len(CRC) either 17 or 21 bits depending of the payload length. In conclusion, for CRC17: FSB count = 1 + round_down((4 + 17)/4) = 6 and for CRC 21: FSB count = 1 + round_down((4 + 21)/4) = 7 Add a Fixed Stuff bits (FSB) field with above values and update CANFD_FRAME_OVERHEAD_SFF and CANFD_FRAME_OVERHEAD_EFF accordingly. [1] ISO 11898-1:2015 section 10.4.2.6 "CRC field": The CRC field shall contain the CRC sequence followed by a recessive CRC delimiter. For FD Frames, the CRC field shall also contain the stuff count. Stuff count If FD Frames, the stuff count shall be at the beginning of the CRC field. It shall consist of the stuff bit count modulo 8 in a 3-bit gray code followed by a parity bit [...] [2] ISO 11898-1:2015 paragraph 10.5 "Frame coding": In the CRC field of FD Frames, the stuff bits shall be inserted at fixed positions; they are called field stuff bits. There shall be a fixed stuff bit before the first bit of the stuff count, even if the last bits of the preceding field are a sequence of five consecutive bits of identical value, there shall be only the fixed stuff bit, there shall not be two consecutive stuff bits. A further fixed stuff bit shall be inserted after each fourth bit of the CRC field [...] Fixes: 85d99c3e2a13 ("can: length: can_skb_get_frame_len(): introduce function to get data length of frame in data link layer") Suggested-by: Thomas Kopp <Thomas.Kopp@microchip.com> Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr> --- include/linux/can/length.h | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-)