iproute2: can: support CAN FD control interface
For CAN FD a new set of bittiming configuration and enabling functions for the
data section is provided by the CAN driver infrastructure.
This patch allows to configure the newly introduced CAN FD properties.
Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index 66e6c0e..3bef82a 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -27,11 +27,16 @@
"\t[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1\n "
"\t phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n"
"\n"
+ "\t[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] | \n"
+ "\t[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1\n "
+ "\t dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]\n"
+ "\n"
"\t[ loopback { on | off } ]\n"
"\t[ listen-only { on | off } ]\n"
"\t[ triple-sampling { on | off } ]\n"
"\t[ one-shot { on | off } ]\n"
"\t[ berr-reporting { on | off } ]\n"
+ "\t[ fd { on | off } ]\n"
"\n"
"\t[ restart-ms TIME-MS ]\n"
"\t[ restart ]\n"
@@ -88,6 +93,7 @@
_PF(CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING");
_PF(CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT");
_PF(CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING");
+ _PF(CAN_CTRLMODE_FD, "FD");
#undef _PF
if (cm)
fprintf(f, "%x", cm);
@@ -97,10 +103,11 @@
static int can_parse_opt(struct link_util *lu, int argc, char **argv,
struct nlmsghdr *n)
{
- struct can_bittiming bt;
+ struct can_bittiming bt, dbt;
struct can_ctrlmode cm = {0, 0};
memset(&bt, 0, sizeof(bt));
+ memset(&dbt, 0, sizeof(dbt));
while (argc > 0) {
if (matches(*argv, "bitrate") == 0) {
NEXT_ARG();
@@ -134,6 +141,37 @@
NEXT_ARG();
if (get_u32(&bt.sjw, *argv, 0))
invarg("invalid \"sjw\" value\n", *argv);
+ } else if (matches(*argv, "dbitrate") == 0) {
+ NEXT_ARG();
+ if (get_u32(&dbt.bitrate, *argv, 0))
+ invarg("invalid \"dbitrate\" value\n", *argv);
+ } else if (matches(*argv, "dsample-point") == 0) {
+ float sp;
+
+ NEXT_ARG();
+ if (get_float(&sp, *argv))
+ invarg("invalid \"dsample-point\" value\n", *argv);
+ dbt.sample_point = (__u32)(sp * 1000);
+ } else if (matches(*argv, "dtq") == 0) {
+ NEXT_ARG();
+ if (get_u32(&dbt.tq, *argv, 0))
+ invarg("invalid \"dtq\" value\n", *argv);
+ } else if (matches(*argv, "dprop-seg") == 0) {
+ NEXT_ARG();
+ if (get_u32(&dbt.prop_seg, *argv, 0))
+ invarg("invalid \"dprop-seg\" value\n", *argv);
+ } else if (matches(*argv, "dphase-seg1") == 0) {
+ NEXT_ARG();
+ if (get_u32(&dbt.phase_seg1, *argv, 0))
+ invarg("invalid \"dphase-seg1\" value\n", *argv);
+ } else if (matches(*argv, "dphase-seg2") == 0) {
+ NEXT_ARG();
+ if (get_u32(&dbt.phase_seg2, *argv, 0))
+ invarg("invalid \"dphase-seg2\" value\n", *argv);
+ } else if (matches(*argv, "dsjw") == 0) {
+ NEXT_ARG();
+ if (get_u32(&dbt.sjw, *argv, 0))
+ invarg("invalid \"dsjw\" value\n", *argv);
} else if (matches(*argv, "loopback") == 0) {
NEXT_ARG();
set_ctrlmode("loopback", *argv, &cm,
@@ -154,6 +192,10 @@
NEXT_ARG();
set_ctrlmode("berr-reporting", *argv, &cm,
CAN_CTRLMODE_BERR_REPORTING);
+ } else if (matches(*argv, "fd") == 0) {
+ NEXT_ARG();
+ set_ctrlmode("fd", *argv, &cm,
+ CAN_CTRLMODE_FD);
} else if (matches(*argv, "restart") == 0) {
__u32 val = 1;
@@ -178,6 +220,8 @@
if (bt.bitrate || bt.tq)
addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
+ if (dbt.bitrate || dbt.tq)
+ addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt));
if (cm.mask)
addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm));
@@ -249,6 +293,32 @@
btc->brp_min, btc->brp_max, btc->brp_inc);
}
+ if (tb[IFLA_CAN_DATA_BITTIMING]) {
+ struct can_bittiming *dbt =
+ RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
+
+ fprintf(f, "\n "
+ "dbitrate %d dsample-point %.3f ",
+ dbt->bitrate, (float)dbt->sample_point / 1000.);
+ fprintf(f, "\n "
+ "dtq %d dprop-seg %d dphase-seg1 %d "
+ "dphase-seg2 %d dsjw %d",
+ dbt->tq, dbt->prop_seg, dbt->phase_seg1,
+ dbt->phase_seg2, dbt->sjw);
+ }
+
+ if (tb[IFLA_CAN_DATA_BITTIMING_CONST]) {
+ struct can_bittiming_const *dbtc =
+ RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);
+
+ fprintf(f, "\n "
+ "%s: dtseg1 %d..%d dtseg2 %d..%d "
+ "dsjw 1..%d dbrp %d..%d dbrp-inc %d",
+ dbtc->name, dbtc->tseg1_min, dbtc->tseg1_max,
+ dbtc->tseg2_min, dbtc->tseg2_max, dbtc->sjw_max,
+ dbtc->brp_min, dbtc->brp_max, dbtc->brp_inc);
+ }
+
if (tb[IFLA_CAN_CLOCK]) {
struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);