| /* |
| * iplink_can.c CAN device support |
| * |
| * This program is free software; you can redistribute it and/or |
| * modify it under the terms of the GNU General Public License |
| * as published by the Free Software Foundation; either version |
| * 2 of the License, or (at your option) any later version. |
| * |
| * Authors: Wolfgang Grandegger <wg@grandegger.com> |
| */ |
| |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| |
| #include <linux/can/netlink.h> |
| |
| #include "rt_names.h" |
| #include "utils.h" |
| #include "ip_common.h" |
| |
| static void print_usage(FILE *f) |
| { |
| fprintf(f, |
| "Usage: ip link set DEVICE type can\n" |
| "\t[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |\n" |
| "\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" |
| "\t[ fd-non-iso { on | off } ]\n" |
| "\t[ presume-ack { on | off } ]\n" |
| "\n" |
| "\t[ restart-ms TIME-MS ]\n" |
| "\t[ restart ]\n" |
| "\n" |
| "\tWhere: BITRATE := { 1..1000000 }\n" |
| "\t SAMPLE-POINT := { 0.000..0.999 }\n" |
| "\t TQ := { NUMBER }\n" |
| "\t PROP-SEG := { 1..8 }\n" |
| "\t PHASE-SEG1 := { 1..8 }\n" |
| "\t PHASE-SEG2 := { 1..8 }\n" |
| "\t SJW := { 1..4 }\n" |
| "\t RESTART-MS := { 0 | NUMBER }\n" |
| ); |
| } |
| |
| static void usage(void) |
| { |
| print_usage(stderr); |
| } |
| |
| static int get_float(float *val, const char *arg) |
| { |
| float res; |
| char *ptr; |
| |
| if (!arg || !*arg) |
| return -1; |
| res = strtof(arg, &ptr); |
| if (!ptr || ptr == arg || *ptr) |
| return -1; |
| *val = res; |
| return 0; |
| } |
| |
| static void set_ctrlmode(char *name, char *arg, |
| struct can_ctrlmode *cm, __u32 flags) |
| { |
| if (strcmp(arg, "on") == 0) { |
| cm->flags |= flags; |
| } else if (strcmp(arg, "off") != 0) { |
| fprintf(stderr, |
| "Error: argument of \"%s\" must be \"on\" or \"off\", not \"%s\"\n", |
| name, arg); |
| exit(-1); |
| } |
| cm->mask |= flags; |
| } |
| |
| static void print_ctrlmode(FILE *f, __u32 cm) |
| { |
| fprintf(f, "<"); |
| #define _PF(cmflag, cmname) \ |
| if (cm & cmflag) { \ |
| cm &= ~cmflag; \ |
| fprintf(f, "%s%s", cmname, cm ? "," : ""); \ |
| } |
| _PF(CAN_CTRLMODE_LOOPBACK, "LOOPBACK"); |
| _PF(CAN_CTRLMODE_LISTENONLY, "LISTEN-ONLY"); |
| _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"); |
| _PF(CAN_CTRLMODE_FD_NON_ISO, "FD-NON-ISO"); |
| _PF(CAN_CTRLMODE_PRESUME_ACK, "PRESUME-ACK"); |
| #undef _PF |
| if (cm) |
| fprintf(f, "%x", cm); |
| fprintf(f, "> "); |
| } |
| |
| static int can_parse_opt(struct link_util *lu, int argc, char **argv, |
| struct nlmsghdr *n) |
| { |
| 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(); |
| if (get_u32(&bt.bitrate, *argv, 0)) |
| invarg("invalid \"bitrate\" value\n", *argv); |
| } else if (matches(*argv, "sample-point") == 0) { |
| float sp; |
| |
| NEXT_ARG(); |
| if (get_float(&sp, *argv)) |
| invarg("invalid \"sample-point\" value\n", |
| *argv); |
| bt.sample_point = (__u32)(sp * 1000); |
| } else if (matches(*argv, "tq") == 0) { |
| NEXT_ARG(); |
| if (get_u32(&bt.tq, *argv, 0)) |
| invarg("invalid \"tq\" value\n", *argv); |
| } else if (matches(*argv, "prop-seg") == 0) { |
| NEXT_ARG(); |
| if (get_u32(&bt.prop_seg, *argv, 0)) |
| invarg("invalid \"prop-seg\" value\n", *argv); |
| } else if (matches(*argv, "phase-seg1") == 0) { |
| NEXT_ARG(); |
| if (get_u32(&bt.phase_seg1, *argv, 0)) |
| invarg("invalid \"phase-seg1\" value\n", *argv); |
| } else if (matches(*argv, "phase-seg2") == 0) { |
| NEXT_ARG(); |
| if (get_u32(&bt.phase_seg2, *argv, 0)) |
| invarg("invalid \"phase-seg2\" value\n", *argv); |
| } else if (matches(*argv, "sjw") == 0) { |
| 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, |
| CAN_CTRLMODE_LOOPBACK); |
| } else if (matches(*argv, "listen-only") == 0) { |
| NEXT_ARG(); |
| set_ctrlmode("listen-only", *argv, &cm, |
| CAN_CTRLMODE_LISTENONLY); |
| } else if (matches(*argv, "triple-sampling") == 0) { |
| NEXT_ARG(); |
| set_ctrlmode("triple-sampling", *argv, &cm, |
| CAN_CTRLMODE_3_SAMPLES); |
| } else if (matches(*argv, "one-shot") == 0) { |
| NEXT_ARG(); |
| set_ctrlmode("one-shot", *argv, &cm, |
| CAN_CTRLMODE_ONE_SHOT); |
| } else if (matches(*argv, "berr-reporting") == 0) { |
| 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, "fd-non-iso") == 0) { |
| NEXT_ARG(); |
| set_ctrlmode("fd-non-iso", *argv, &cm, |
| CAN_CTRLMODE_FD_NON_ISO); |
| } else if (matches(*argv, "presume-ack") == 0) { |
| NEXT_ARG(); |
| set_ctrlmode("presume-ack", *argv, &cm, |
| CAN_CTRLMODE_PRESUME_ACK); |
| } else if (matches(*argv, "restart") == 0) { |
| __u32 val = 1; |
| |
| addattr32(n, 1024, IFLA_CAN_RESTART, val); |
| } else if (matches(*argv, "restart-ms") == 0) { |
| __u32 val; |
| |
| NEXT_ARG(); |
| if (get_u32(&val, *argv, 0)) |
| invarg("invalid \"restart-ms\" value\n", *argv); |
| addattr32(n, 1024, IFLA_CAN_RESTART_MS, val); |
| } else if (matches(*argv, "help") == 0) { |
| usage(); |
| return -1; |
| } else { |
| fprintf(stderr, "can: unknown option \"%s\"\n", *argv); |
| usage(); |
| return -1; |
| } |
| argc--, argv++; |
| } |
| |
| 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)); |
| |
| return 0; |
| } |
| |
| static const char *can_state_names[] = { |
| [CAN_STATE_ERROR_ACTIVE] = "ERROR-ACTIVE", |
| [CAN_STATE_ERROR_WARNING] = "ERROR-WARNING", |
| [CAN_STATE_ERROR_PASSIVE] = "ERROR-PASSIVE", |
| [CAN_STATE_BUS_OFF] = "BUS-OFF", |
| [CAN_STATE_STOPPED] = "STOPPED", |
| [CAN_STATE_SLEEPING] = "SLEEPING" |
| }; |
| |
| static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[]) |
| { |
| if (!tb) |
| return; |
| |
| if (tb[IFLA_CAN_CTRLMODE]) { |
| struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]); |
| |
| if (cm->flags) |
| print_ctrlmode(f, cm->flags); |
| } |
| |
| if (tb[IFLA_CAN_STATE]) { |
| int *state = RTA_DATA(tb[IFLA_CAN_STATE]); |
| |
| fprintf(f, "state %s ", *state <= CAN_STATE_MAX ? |
| can_state_names[*state] : "UNKNOWN"); |
| } |
| |
| if (tb[IFLA_CAN_BERR_COUNTER]) { |
| struct can_berr_counter *bc = |
| RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]); |
| |
| fprintf(f, "(berr-counter tx %d rx %d) ", bc->txerr, bc->rxerr); |
| } |
| |
| if (tb[IFLA_CAN_RESTART_MS]) { |
| __u32 *restart_ms = RTA_DATA(tb[IFLA_CAN_RESTART_MS]); |
| |
| fprintf(f, "restart-ms %d ", *restart_ms); |
| } |
| |
| if (tb[IFLA_CAN_BITTIMING]) { |
| struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]); |
| |
| fprintf(f, "\n bitrate %d sample-point %.3f ", |
| bt->bitrate, (float)bt->sample_point / 1000.); |
| fprintf(f, "\n tq %d prop-seg %d phase-seg1 %d phase-seg2 %d sjw %d", |
| bt->tq, bt->prop_seg, bt->phase_seg1, bt->phase_seg2, |
| bt->sjw); |
| } |
| |
| if (tb[IFLA_CAN_BITTIMING_CONST]) { |
| struct can_bittiming_const *btc = |
| RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]); |
| |
| fprintf(f, "\n %s: tseg1 %d..%d tseg2 %d..%d " |
| "sjw 1..%d brp %d..%d brp-inc %d", |
| btc->name, btc->tseg1_min, btc->tseg1_max, |
| btc->tseg2_min, btc->tseg2_max, btc->sjw_max, |
| 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]); |
| |
| fprintf(f, "\n clock %d", clock->freq); |
| } |
| |
| } |
| |
| static void can_print_xstats(struct link_util *lu, |
| FILE *f, struct rtattr *xstats) |
| { |
| struct can_device_stats *stats; |
| |
| if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) { |
| stats = RTA_DATA(xstats); |
| fprintf(f, "\n re-started bus-errors arbit-lost " |
| "error-warn error-pass bus-off"); |
| fprintf(f, "\n %-10d %-10d %-10d %-10d %-10d %-10d", |
| stats->restarts, stats->bus_error, |
| stats->arbitration_lost, stats->error_warning, |
| stats->error_passive, stats->bus_off); |
| } |
| } |
| |
| static void can_print_help(struct link_util *lu, int argc, char **argv, |
| FILE *f) |
| { |
| print_usage(f); |
| } |
| |
| struct link_util can_link_util = { |
| .id = "can", |
| .maxattr = IFLA_CAN_MAX, |
| .parse_opt = can_parse_opt, |
| .print_opt = can_print_opt, |
| .print_xstats = can_print_xstats, |
| .print_help = can_print_help, |
| }; |