ip/iplink_can.c - platform/external/iproute2 - Gitiles

 /*
  * 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"
 		"\t[ termination { 0..65535 } ]\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)
 {
 	open_json_array(PRINT_ANY, is_json_context() ? "ctrlmode" : "<");
 #define _PF(cmflag, cmname)						\
 	if (cm & cmflag) {						\
 		cm &= ~cmflag;						\
 		print_string(PRINT_ANY, NULL, cm ? "%s," : "%s", cmname); \
 	}
 	_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)
 		print_hex(PRINT_ANY, NULL, "%x", cm);
 	close_json_array(PRINT_ANY, "> ");
 }

 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};

 	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, "termination") == 0) {
 			__u16 val;

 			NEXT_ARG();
 			if (get_u16(&val, *argv, 0))
 				invarg("invalid \"termination\" value\n",
 				       *argv);
 			addattr16(n, 1024, IFLA_CAN_TERMINATION, 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_MAX] = {
 	[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_json_timing_min_max(const char *attr, int min, int max)
 {
 	open_json_object(attr);
 	print_int(PRINT_JSON, "min", NULL, min);
 	print_int(PRINT_JSON, "max", NULL, max);
 	close_json_object();
 }

 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]) {
 		uint32_t state = rta_getattr_u32(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]);

 		if (is_json_context()) {
 			open_json_object("berr_counter");
 			print_int(PRINT_JSON, "tx", NULL, bc->txerr);
 			print_int(PRINT_JSON, "rx", NULL, bc->rxerr);
 			close_json_object();
 		} else {
 			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]);

 		print_int(PRINT_ANY,
 			  "restart_ms",
 			  "restart-ms %d ",
 			  *restart_ms);
 	}

 	/* bittiming is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_BITTIMING] && !tb[IFLA_CAN_BITRATE_CONST]) {
 		struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);

 		if (is_json_context()) {
 			open_json_object("bittiming");
 			print_int(PRINT_ANY, "bitrate", NULL, bt->bitrate);
 			jsonw_float_field_fmt(get_json_writer(),
 					      "sample_point", "%.3f",
 					      (float) bt->sample_point / 1000.);
 			print_int(PRINT_ANY, "tq", NULL, bt->tq);
 			print_int(PRINT_ANY, "prop_seg", NULL, bt->prop_seg);
 			print_int(PRINT_ANY, "phase_seg1",
 				  NULL, bt->phase_seg1);
 			print_int(PRINT_ANY, "phase_seg2",
 				  NULL, bt->phase_seg2);
 			print_int(PRINT_ANY, "sjw", NULL, bt->sjw);
 			close_json_object();
 		} else {
 			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);
 		}
 	}

 	/* bittiming const is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_BITTIMING_CONST] && !tb[IFLA_CAN_BITRATE_CONST]) {
 		struct can_bittiming_const *btc =
 			RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);

 		if (is_json_context()) {
 			open_json_object("bittiming_const");
 			print_string(PRINT_JSON, "name", NULL, btc->name);
 			can_print_json_timing_min_max("tseg1",
 						      btc->tseg1_min,
 						      btc->tseg1_max);
 			can_print_json_timing_min_max("tseg2",
 						      btc->tseg2_min,
 						      btc->tseg2_max);
 			can_print_json_timing_min_max("sjw", 1, btc->sjw_max);
 			can_print_json_timing_min_max("brp",
 						      btc->brp_min,
 						      btc->brp_max);
 			print_int(PRINT_JSON, "brp_inc", NULL, btc->brp_inc);
 			close_json_object();
 		} else {
 			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_BITRATE_CONST]) {
 		__u32 *bitrate_const = RTA_DATA(tb[IFLA_CAN_BITRATE_CONST]);
 		int bitrate_cnt = RTA_PAYLOAD(tb[IFLA_CAN_BITRATE_CONST]) /
 			sizeof(*bitrate_const);
 		int i;
 		__u32 bitrate = 0;

 		if (tb[IFLA_CAN_BITTIMING]) {
 			struct can_bittiming *bt =
 				RTA_DATA(tb[IFLA_CAN_BITTIMING]);
 			bitrate = bt->bitrate;
 		}

 		if (is_json_context()) {
 			print_uint(PRINT_JSON,
 				   "bittiming_bitrate",
 				   NULL, bitrate);
 			open_json_array(PRINT_JSON, "bitrate_const");
 			for (i = 0; i < bitrate_cnt; ++i)
 				print_uint(PRINT_JSON, NULL, NULL,
 					   bitrate_const[i]);
 			close_json_array(PRINT_JSON, NULL);
 		} else {
 			fprintf(f, "\n	  bitrate %u", bitrate);
 			fprintf(f, "\n	     [");

 			for (i = 0; i < bitrate_cnt - 1; ++i) {
 				/* This will keep lines below 80 signs */
 				if (!(i % 6) && i)
 					fprintf(f, "\n	      ");

 				fprintf(f, "%8u, ", bitrate_const[i]);
 			}

 			if (!(i % 6) && i)
 				fprintf(f, "\n	      ");
 			fprintf(f, "%8u ]", bitrate_const[i]);
 		}
 	}

 	/* data bittiming is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_DATA_BITTIMING] && !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 		struct can_bittiming *dbt =
 			RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);

 		if (is_json_context()) {
 			open_json_object("data_bittiming");
 			print_int(PRINT_JSON, "bitrate", NULL, dbt->bitrate);
 			jsonw_float_field_fmt(get_json_writer(),
 					      "sample_point",
 					      "%.3f",
 					      (float) dbt->sample_point / 1000.);
 			print_int(PRINT_JSON, "tq", NULL, dbt->tq);
 			print_int(PRINT_JSON, "prop_seg", NULL, dbt->prop_seg);
 			print_int(PRINT_JSON, "phase_seg1",
 				  NULL, dbt->phase_seg1);
 			print_int(PRINT_JSON, "phase_seg2",
 				  NULL, dbt->phase_seg2);
 			print_int(PRINT_JSON, "sjw", NULL, dbt->sjw);
 			close_json_object();
 		} else {
 			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);
 		}
 	}

 	/* data bittiming const is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_DATA_BITTIMING_CONST] &&
 	    !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 		struct can_bittiming_const *dbtc =
 			RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);

 		if (is_json_context()) {
 			open_json_object("data_bittiming_const");
 			print_string(PRINT_JSON, "name", NULL, dbtc->name);
 			can_print_json_timing_min_max("tseg1",
 						      dbtc->tseg1_min,
 						      dbtc->tseg1_max);
 			can_print_json_timing_min_max("tseg2",
 						      dbtc->tseg2_min,
 						      dbtc->tseg2_max);
 			can_print_json_timing_min_max("sjw", 1, dbtc->sjw_max);
 			can_print_json_timing_min_max("brp",
 						      dbtc->brp_min,
 						      dbtc->brp_max);

 			print_int(PRINT_JSON, "brp_inc", NULL, dbtc->brp_inc);
 			close_json_object();
 		} else {
 			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_DATA_BITRATE_CONST]) {
 		__u32 *dbitrate_const =
 			RTA_DATA(tb[IFLA_CAN_DATA_BITRATE_CONST]);
 		int dbitrate_cnt =
 			RTA_PAYLOAD(tb[IFLA_CAN_DATA_BITRATE_CONST]) /
 			sizeof(*dbitrate_const);
 		int i;
 		__u32 dbitrate = 0;

 		if (tb[IFLA_CAN_DATA_BITTIMING]) {
 			struct can_bittiming *dbt =
 				RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
 			dbitrate = dbt->bitrate;
 		}

 		if (is_json_context()) {
 			print_uint(PRINT_JSON, "data_bittiming_bitrate",
 				   NULL, dbitrate);
 			open_json_array(PRINT_JSON, "data_bitrate_const");
 			for (i = 0; i < dbitrate_cnt; ++i)
 				print_uint(PRINT_JSON, NULL, NULL,
 					   dbitrate_const[i]);
 			close_json_array(PRINT_JSON, NULL);
 		} else {
 			fprintf(f, "\n	  dbitrate %u", dbitrate);
 			fprintf(f, "\n	     [");

 			for (i = 0; i < dbitrate_cnt - 1; ++i) {
 				/* This will keep lines below 80 signs */
 				if (!(i % 6) && i)
 					fprintf(f, "\n	      ");

 				fprintf(f, "%8u, ", dbitrate_const[i]);
 			}

 			if (!(i % 6) && i)
 				fprintf(f, "\n	      ");
 			fprintf(f, "%8u ]", dbitrate_const[i]);
 		}
 	}

 	if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
 		__u16 *trm = RTA_DATA(tb[IFLA_CAN_TERMINATION]);
 		__u16 *trm_const = RTA_DATA(tb[IFLA_CAN_TERMINATION_CONST]);
 		int trm_cnt = RTA_PAYLOAD(tb[IFLA_CAN_TERMINATION_CONST]) /
 			sizeof(*trm_const);
 		int i;

 		if (is_json_context()) {
 			print_hu(PRINT_JSON, "termination", NULL, *trm);
 			open_json_array(PRINT_JSON, "termination_const");
 			for (i = 0; i < trm_cnt; ++i)
 				print_hu(PRINT_JSON, NULL, NULL, trm_const[i]);
 			close_json_array(PRINT_JSON, NULL);
 		} else {
 			fprintf(f, "\n	  termination %hu [ ", *trm);

 			for (i = 0; i < trm_cnt - 1; ++i)
 				fprintf(f, "%hu, ", trm_const[i]);

 			fprintf(f, "%hu ]", trm_const[i]);
 		}
 	}

 	if (tb[IFLA_CAN_CLOCK]) {
 		struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);

 		print_int(PRINT_ANY,
 			  "clock",
 			  "\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);

 		if (is_json_context()) {
 			print_int(PRINT_JSON, "restarts",
 				  NULL, stats->restarts);
 			print_int(PRINT_JSON, "bus_error",
 				  NULL, stats->bus_error);
 			print_int(PRINT_JSON, "arbitration_lost",
 				  NULL, stats->arbitration_lost);
 			print_int(PRINT_JSON, "error_warning",
 				  NULL, stats->error_warning);
 			print_int(PRINT_JSON, "error_passive",
 				  NULL, stats->error_passive);
 			print_int(PRINT_JSON, "bus_off", NULL, stats->bus_off);
 		} else {
 			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,
 };
	/*
	* 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"
	"\t[ termination { 0..65535 } ]\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)
	{
	open_json_array(PRINT_ANY, is_json_context() ? "ctrlmode" : "<");
	#define _PF(cmflag, cmname) \
	if (cm & cmflag) { \
	cm &= ~cmflag; \
	print_string(PRINT_ANY, NULL, cm ? "%s," : "%s", cmname); \
	}
	_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)
	print_hex(PRINT_ANY, NULL, "%x", cm);
	close_json_array(PRINT_ANY, "> ");
	}

	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};

	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, "termination") == 0) {
	__u16 val;

	NEXT_ARG();
	if (get_u16(&val, *argv, 0))
	invarg("invalid \"termination\" value\n",
	*argv);
	addattr16(n, 1024, IFLA_CAN_TERMINATION, 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_MAX] = {
	[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_json_timing_min_max(const char *attr, int min, int max)
	{
	open_json_object(attr);
	print_int(PRINT_JSON, "min", NULL, min);
	print_int(PRINT_JSON, "max", NULL, max);
	close_json_object();
	}

	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]) {
	uint32_t state = rta_getattr_u32(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]);

	if (is_json_context()) {
	open_json_object("berr_counter");
	print_int(PRINT_JSON, "tx", NULL, bc->txerr);
	print_int(PRINT_JSON, "rx", NULL, bc->rxerr);
	close_json_object();
	} else {
	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]);

	print_int(PRINT_ANY,
	"restart_ms",
	"restart-ms %d ",
	*restart_ms);
	}

	/* bittiming is irrelevant if fixed bitrate is defined */
	if (tb[IFLA_CAN_BITTIMING] && !tb[IFLA_CAN_BITRATE_CONST]) {
	struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);

	if (is_json_context()) {
	open_json_object("bittiming");
	print_int(PRINT_ANY, "bitrate", NULL, bt->bitrate);
	jsonw_float_field_fmt(get_json_writer(),
	"sample_point", "%.3f",
	(float) bt->sample_point / 1000.);
	print_int(PRINT_ANY, "tq", NULL, bt->tq);
	print_int(PRINT_ANY, "prop_seg", NULL, bt->prop_seg);
	print_int(PRINT_ANY, "phase_seg1",
	NULL, bt->phase_seg1);
	print_int(PRINT_ANY, "phase_seg2",
	NULL, bt->phase_seg2);
	print_int(PRINT_ANY, "sjw", NULL, bt->sjw);
	close_json_object();
	} else {
	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);
	}
	}

	/* bittiming const is irrelevant if fixed bitrate is defined */
	if (tb[IFLA_CAN_BITTIMING_CONST] && !tb[IFLA_CAN_BITRATE_CONST]) {
	struct can_bittiming_const *btc =
	RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);

	if (is_json_context()) {
	open_json_object("bittiming_const");
	print_string(PRINT_JSON, "name", NULL, btc->name);
	can_print_json_timing_min_max("tseg1",
	btc->tseg1_min,
	btc->tseg1_max);
	can_print_json_timing_min_max("tseg2",
	btc->tseg2_min,
	btc->tseg2_max);
	can_print_json_timing_min_max("sjw", 1, btc->sjw_max);
	can_print_json_timing_min_max("brp",
	btc->brp_min,
	btc->brp_max);
	print_int(PRINT_JSON, "brp_inc", NULL, btc->brp_inc);
	close_json_object();
	} else {
	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_BITRATE_CONST]) {
	__u32 *bitrate_const = RTA_DATA(tb[IFLA_CAN_BITRATE_CONST]);
	int bitrate_cnt = RTA_PAYLOAD(tb[IFLA_CAN_BITRATE_CONST]) /
	sizeof(*bitrate_const);
	int i;
	__u32 bitrate = 0;

	if (tb[IFLA_CAN_BITTIMING]) {
	struct can_bittiming *bt =
	RTA_DATA(tb[IFLA_CAN_BITTIMING]);
	bitrate = bt->bitrate;
	}

	if (is_json_context()) {
	print_uint(PRINT_JSON,
	"bittiming_bitrate",
	NULL, bitrate);
	open_json_array(PRINT_JSON, "bitrate_const");
	for (i = 0; i < bitrate_cnt; ++i)
	print_uint(PRINT_JSON, NULL, NULL,
	bitrate_const[i]);
	close_json_array(PRINT_JSON, NULL);
	} else {
	fprintf(f, "\n bitrate %u", bitrate);
	fprintf(f, "\n [");

	for (i = 0; i < bitrate_cnt - 1; ++i) {
	/* This will keep lines below 80 signs */
	if (!(i % 6) && i)
	fprintf(f, "\n ");

	fprintf(f, "%8u, ", bitrate_const[i]);
	}

	if (!(i % 6) && i)
	fprintf(f, "\n ");
	fprintf(f, "%8u ]", bitrate_const[i]);
	}
	}

	/* data bittiming is irrelevant if fixed bitrate is defined */
	if (tb[IFLA_CAN_DATA_BITTIMING] && !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
	struct can_bittiming *dbt =
	RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);

	if (is_json_context()) {
	open_json_object("data_bittiming");
	print_int(PRINT_JSON, "bitrate", NULL, dbt->bitrate);
	jsonw_float_field_fmt(get_json_writer(),
	"sample_point",
	"%.3f",
	(float) dbt->sample_point / 1000.);
	print_int(PRINT_JSON, "tq", NULL, dbt->tq);
	print_int(PRINT_JSON, "prop_seg", NULL, dbt->prop_seg);
	print_int(PRINT_JSON, "phase_seg1",
	NULL, dbt->phase_seg1);
	print_int(PRINT_JSON, "phase_seg2",
	NULL, dbt->phase_seg2);
	print_int(PRINT_JSON, "sjw", NULL, dbt->sjw);
	close_json_object();
	} else {
	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);
	}
	}

	/* data bittiming const is irrelevant if fixed bitrate is defined */
	if (tb[IFLA_CAN_DATA_BITTIMING_CONST] &&
	!tb[IFLA_CAN_DATA_BITRATE_CONST]) {
	struct can_bittiming_const *dbtc =
	RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);

	if (is_json_context()) {
	open_json_object("data_bittiming_const");
	print_string(PRINT_JSON, "name", NULL, dbtc->name);
	can_print_json_timing_min_max("tseg1",
	dbtc->tseg1_min,
	dbtc->tseg1_max);
	can_print_json_timing_min_max("tseg2",
	dbtc->tseg2_min,
	dbtc->tseg2_max);
	can_print_json_timing_min_max("sjw", 1, dbtc->sjw_max);
	can_print_json_timing_min_max("brp",
	dbtc->brp_min,
	dbtc->brp_max);

	print_int(PRINT_JSON, "brp_inc", NULL, dbtc->brp_inc);
	close_json_object();
	} else {
	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_DATA_BITRATE_CONST]) {
	__u32 *dbitrate_const =
	RTA_DATA(tb[IFLA_CAN_DATA_BITRATE_CONST]);
	int dbitrate_cnt =
	RTA_PAYLOAD(tb[IFLA_CAN_DATA_BITRATE_CONST]) /
	sizeof(*dbitrate_const);
	int i;
	__u32 dbitrate = 0;

	if (tb[IFLA_CAN_DATA_BITTIMING]) {
	struct can_bittiming *dbt =
	RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
	dbitrate = dbt->bitrate;
	}

	if (is_json_context()) {
	print_uint(PRINT_JSON, "data_bittiming_bitrate",
	NULL, dbitrate);
	open_json_array(PRINT_JSON, "data_bitrate_const");
	for (i = 0; i < dbitrate_cnt; ++i)
	print_uint(PRINT_JSON, NULL, NULL,
	dbitrate_const[i]);
	close_json_array(PRINT_JSON, NULL);
	} else {
	fprintf(f, "\n dbitrate %u", dbitrate);
	fprintf(f, "\n [");

	for (i = 0; i < dbitrate_cnt - 1; ++i) {
	/* This will keep lines below 80 signs */
	if (!(i % 6) && i)
	fprintf(f, "\n ");

	fprintf(f, "%8u, ", dbitrate_const[i]);
	}

	if (!(i % 6) && i)
	fprintf(f, "\n ");
	fprintf(f, "%8u ]", dbitrate_const[i]);
	}
	}

	if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
	__u16 *trm = RTA_DATA(tb[IFLA_CAN_TERMINATION]);
	__u16 *trm_const = RTA_DATA(tb[IFLA_CAN_TERMINATION_CONST]);
	int trm_cnt = RTA_PAYLOAD(tb[IFLA_CAN_TERMINATION_CONST]) /
	sizeof(*trm_const);
	int i;

	if (is_json_context()) {
	print_hu(PRINT_JSON, "termination", NULL, *trm);
	open_json_array(PRINT_JSON, "termination_const");
	for (i = 0; i < trm_cnt; ++i)
	print_hu(PRINT_JSON, NULL, NULL, trm_const[i]);
	close_json_array(PRINT_JSON, NULL);
	} else {
	fprintf(f, "\n termination %hu [ ", *trm);

	for (i = 0; i < trm_cnt - 1; ++i)
	fprintf(f, "%hu, ", trm_const[i]);

	fprintf(f, "%hu ]", trm_const[i]);
	}
	}

	if (tb[IFLA_CAN_CLOCK]) {
	struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);

	print_int(PRINT_ANY,
	"clock",
	"\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);

	if (is_json_context()) {
	print_int(PRINT_JSON, "restarts",
	NULL, stats->restarts);
	print_int(PRINT_JSON, "bus_error",
	NULL, stats->bus_error);
	print_int(PRINT_JSON, "arbitration_lost",
	NULL, stats->arbitration_lost);
	print_int(PRINT_JSON, "error_warning",
	NULL, stats->error_warning);
	print_int(PRINT_JSON, "error_passive",
	NULL, stats->error_passive);
	print_int(PRINT_JSON, "bus_off", NULL, stats->bus_off);
	} else {
	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,
	};