ZephyrProject Zephyr up to 4.3.1/4.4.x CAN Message Queue drivers/can/can_common.c can_add_rx_filter_msgq user_data use after free

Summaryinfo

A vulnerability was found in ZephyrProject Zephyr up to 4.3.1/4.4.x. It has been declared as very critical. The affected element is the function can_add_rx_filter_msgq of the file drivers/can/can_common.c of the component CAN Message Queue. Executing a manipulation of the argument user_data can lead to use after free. This vulnerability is tracked as CVE-2026-85035. The attack is restricted to local execution. No exploit exists. It is recommended to upgrade the affected component.

Detailsinfo

A vulnerability classified as very critical was found in ZephyrProject Zephyr up to 4.3.1/4.4.x. This vulnerability affects the function can_add_rx_filter_msgq of the file drivers/can/can_common.c of the component CAN Message Queue. The manipulation of the argument user_data with an unknown input leads to a use after free vulnerability. The CWE definition for the vulnerability is CWE-416. Referencing memory after it has been freed can cause a program to crash, use unexpected values, or execute code. As an impact it is known to affect confidentiality, integrity, and availability. CVE summarizes:

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.

The advisory is available at github.com. This vulnerability was named CVE-2026-85035 since 09/02/2026. The exploitation appears to be easy. Local access is required to approach this attack. Technical details are known, but there is no available exploit. The structure of the vulnerability defines a possible price range of USD $0-$5k at the moment (estimation calculated on 11/03/2026).

Upgrading to version 4.3.2 or 4.5.0 eliminates this vulnerability. Applying the patch 0114bee266211c72a49f3b6a914d3eaf821dd460 is able to eliminate this problem. The best possible mitigation is suggested to be upgrading to the latest version.

If you want to get best quality of vulnerability data, you may have to visit VulDB.

Productinfo

Type

• Project Management Software

Vendor

• ZephyrProject

Name

• Zephyr

Version

• 4.0
• 4.1
• 4.2
• 4.3
• 4.3.0
• 4.3.1
• 4.4

CPE 2.3info

• 🔒
• 🔒
• 🔒

CPE 2.2info

• 🔒
• 🔒
• 🔒

CVSSv4info

CVSSv3info

CVSSv2info

Exploitinginfo

Threat Intelligenceinfo

Countermeasuresinfo

Timelineinfo

Sourcesinfo

Entryinfo

If you want to get best quality of vulnerability data, you may have to visit VulDB.

Discussion