You can refer to latest document v1.10.
Before using chains, you need to register each chain and set chain pipeline order for a packet, the hardware ingress order is : IS1->IS2->PSFP.
tc qdisc add dev swp0 clsact
tc filter add dev swp0 ingress chain 0 pref 49152 flower skip_sw action goto chain 10000
tc filter add dev swp0 ingress chain 10000 pref 49152 flower skip_sw action goto chain 11000
tc filter add dev swp0 ingress chain 11000 pref 49152 flower skip_sw action goto chain 12000
tc filter add dev swp0 ingress chain 12000 pref 49152 flower skip_sw action goto chain 20000
tc filter add dev swp0 ingress chain 20000 pref 49152 flower skip_sw action goto chain 21000
tc filter add dev swp0 ingress chain 21000 pref 49152 flower skip_sw action goto chain 30000
then add rules to corresponding chain:
tc filter add dev swp0 ingress chain 11000 protocol 802.1Q flower skip_sw vlan_id 1 vlan_prio 1 action vlan modify id 2 priority 2 action goto chain 12000