CVE-2026-85035
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Use-After-Free in Zephyr RTOS CAN Driver
Vulnerability report for CVE-2026-85035, including description, CVSS score, EPSS score, affected products, exploitability, helpful resources, and attack-flow context.
Publication date: 2026-11-03
Last updated on: 2026-11-03
Assigner: Zephyr Project
Description
Description
The can_add_rx_filter_msgq() system call installs a CAN RX filter whose callback (can_msgq_put() in drivers/can/can_common.c) is handed the caller's struct k_msgq * as user_data. The controller driver stores that raw pointer in its filter table and dereferences it from the RX path every time a matching frame arrives. The system call verifier z_vrfy_can_add_rx_filter_msgq() in drivers/can/can_handlers.c validated the queue only with K_SYSCALL_OBJ(), which is a point-in-time check of type, initialization and caller permission and says nothing about the object's lifetime.
On a build with CONFIG_USERSPACE=y and CONFIG_DYNAMIC_OBJECTS=y, an unprivileged user-mode thread that has been granted access to a CAN device can obtain a message queue whose lifetime it fully controls: k_object_alloc(K_OBJ_MSGQ) followed by k_msgq_alloc_init(). The lifetime of such an object is driven solely by its permission bitmask, and a pointer retained by the kernel is not represented there. After registering the filter, the thread calls k_object_release() — or simply terminates — and unref_check() frees the struct k_msgq storage while the CAN driver still holds the pointer.
The next matching CAN frame causes k_msgq_put() to run in supervisor context against freed memory that the attacker can have groomed with another kernel allocation: the frame payload is memcpy()d through the reused block's write_ptr, and the queue's wait_q (and poll_events under CONFIG_POLL) list nodes are manipulated. This yields kernel-heap corruption reachable from a user-mode thread, defeating the isolation CONFIG_USERSPACE is intended to provide; the same dangling pointer also arises benignly when an application thread exits without calling can_remove_rx_filter().
The fix validates the queue with K_SYSCALL_OBJ_STATIC(), which additionally rejects objects carrying K_OBJ_FLAG_ALLOC, so only statically defined queues (CAN_MSGQ_DEFINE()) may be registered from user mode. Supervisor-mode callers bypass the verifier and must themselves keep the queue valid until the filter is removed.
CVSS Scores
EPSS Scores
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Meta Information
Affected Vendors & Products
| Vendor | Product | Version / Range |
|---|---|---|
| zephyrproject | zephyr | 1.14.0 |
| zephyrproject | zephyr | 4.4.0 |
Helpful Resources
Exploitability
CWE
KEV
| CWE ID | Description |
|---|---|
| CWE-416 | The product reuses or references memory after it has been freed. At some point afterward, the memory may be allocated again and saved in another pointer, while the original pointer references a location somewhere within the new allocation. Any operations using the original pointer are no longer valid because the memory "belongs" to the code that operates on the new pointer. |
