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Commit | Line | Data |
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5a204478 WG |
1 | /* |
2 | * iplink_can.c CAN device support | |
3 | * | |
3bbff7df OH |
4 | * This program is free software; you can redistribute it and/or |
5 | * modify it under the terms of the GNU General Public License | |
6 | * as published by the Free Software Foundation; either version | |
7 | * 2 of the License, or (at your option) any later version. | |
5a204478 | 8 | * |
3bbff7df | 9 | * Authors: Wolfgang Grandegger <wg@grandegger.com> |
5a204478 WG |
10 | */ |
11 | ||
12 | #include <stdio.h> | |
13 | #include <stdlib.h> | |
14 | #include <string.h> | |
15 | ||
16 | #include <linux/can/netlink.h> | |
17 | ||
18 | #include "rt_names.h" | |
19 | #include "utils.h" | |
20 | #include "ip_common.h" | |
21 | ||
561e650e | 22 | static void print_usage(FILE *f) |
5a204478 | 23 | { |
561e650e | 24 | fprintf(f, |
5a204478 | 25 | "Usage: ip link set DEVICE type can\n" |
3bbff7df OH |
26 | "\t[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] | \n" |
27 | "\t[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1\n " | |
5a204478 WG |
28 | "\t phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n" |
29 | "\n" | |
2bfe0470 OH |
30 | "\t[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] | \n" |
31 | "\t[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1\n " | |
32 | "\t dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]\n" | |
33 | "\n" | |
3bbff7df OH |
34 | "\t[ loopback { on | off } ]\n" |
35 | "\t[ listen-only { on | off } ]\n" | |
36 | "\t[ triple-sampling { on | off } ]\n" | |
37 | "\t[ one-shot { on | off } ]\n" | |
38 | "\t[ berr-reporting { on | off } ]\n" | |
2bfe0470 | 39 | "\t[ fd { on | off } ]\n" |
82a307e8 | 40 | "\t[ fd-non-iso { on | off } ]\n" |
d26caee7 | 41 | "\t[ presume-ack { on | off } ]\n" |
5a204478 | 42 | "\n" |
3bbff7df OH |
43 | "\t[ restart-ms TIME-MS ]\n" |
44 | "\t[ restart ]\n" | |
5a204478 | 45 | "\n" |
3bbff7df OH |
46 | "\tWhere: BITRATE := { 1..1000000 }\n" |
47 | "\t SAMPLE-POINT := { 0.000..0.999 }\n" | |
48 | "\t TQ := { NUMBER }\n" | |
49 | "\t PROP-SEG := { 1..8 }\n" | |
50 | "\t PHASE-SEG1 := { 1..8 }\n" | |
51 | "\t PHASE-SEG2 := { 1..8 }\n" | |
52 | "\t SJW := { 1..4 }\n" | |
53 | "\t RESTART-MS := { 0 | NUMBER }\n" | |
5a204478 WG |
54 | ); |
55 | } | |
56 | ||
561e650e | 57 | static void usage(void) |
58 | { | |
59 | print_usage(stderr); | |
60 | } | |
61 | ||
5a204478 WG |
62 | static int get_float(float *val, const char *arg) |
63 | { | |
64 | float res; | |
65 | char *ptr; | |
66 | ||
67 | if (!arg || !*arg) | |
68 | return -1; | |
69 | res = strtof(arg, &ptr); | |
70 | if (!ptr || ptr == arg || *ptr) | |
71 | return -1; | |
72 | *val = res; | |
73 | return 0; | |
74 | } | |
75 | ||
76 | static void set_ctrlmode(char* name, char *arg, | |
77 | struct can_ctrlmode *cm, __u32 flags) | |
78 | { | |
79 | if (strcmp(arg, "on") == 0) { | |
80 | cm->flags |= flags; | |
81 | } else if (strcmp(arg, "off") != 0) { | |
82 | fprintf(stderr, | |
14645ec2 KR |
83 | "Error: argument of \"%s\" must be \"on\" or \"off\", not \"%s\"\n", |
84 | name, arg); | |
5a204478 WG |
85 | exit(-1); |
86 | } | |
87 | cm->mask |= flags; | |
88 | } | |
89 | ||
90 | static void print_ctrlmode(FILE *f, __u32 cm) | |
91 | { | |
92 | fprintf(f, "<"); | |
93 | #define _PF(cmflag, cmname) \ | |
94 | if (cm & cmflag) { \ | |
95 | cm &= ~cmflag; \ | |
96 | fprintf(f, "%s%s", cmname, cm ? "," : ""); \ | |
97 | } | |
98 | _PF(CAN_CTRLMODE_LOOPBACK, "LOOPBACK"); | |
99 | _PF(CAN_CTRLMODE_LISTENONLY, "LISTEN-ONLY"); | |
100 | _PF(CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING"); | |
8a517946 WG |
101 | _PF(CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT"); |
102 | _PF(CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING"); | |
2bfe0470 | 103 | _PF(CAN_CTRLMODE_FD, "FD"); |
82a307e8 | 104 | _PF(CAN_CTRLMODE_FD_NON_ISO, "FD-NON-ISO"); |
d26caee7 | 105 | _PF(CAN_CTRLMODE_PRESUME_ACK, "PRESUME-ACK"); |
5a204478 WG |
106 | #undef _PF |
107 | if (cm) | |
108 | fprintf(f, "%x", cm); | |
109 | fprintf(f, "> "); | |
110 | } | |
111 | ||
112 | static int can_parse_opt(struct link_util *lu, int argc, char **argv, | |
113 | struct nlmsghdr *n) | |
114 | { | |
2bfe0470 | 115 | struct can_bittiming bt, dbt; |
5a204478 WG |
116 | struct can_ctrlmode cm = {0, 0}; |
117 | ||
118 | memset(&bt, 0, sizeof(bt)); | |
2bfe0470 | 119 | memset(&dbt, 0, sizeof(dbt)); |
5a204478 WG |
120 | while (argc > 0) { |
121 | if (matches(*argv, "bitrate") == 0) { | |
122 | NEXT_ARG(); | |
123 | if (get_u32(&bt.bitrate, *argv, 0)) | |
124 | invarg("invalid \"bitrate\" value\n", *argv); | |
125 | } else if (matches(*argv, "sample-point") == 0) { | |
126 | float sp; | |
127 | ||
128 | NEXT_ARG(); | |
129 | if (get_float(&sp, *argv)) | |
130 | invarg("invalid \"sample-point\" value\n", | |
131 | *argv); | |
132 | bt.sample_point = (__u32)(sp * 1000); | |
133 | } else if (matches(*argv, "tq") == 0) { | |
134 | NEXT_ARG(); | |
135 | if (get_u32(&bt.tq, *argv, 0)) | |
136 | invarg("invalid \"tq\" value\n", *argv); | |
137 | } else if (matches(*argv, "prop-seg") == 0) { | |
138 | NEXT_ARG(); | |
139 | if (get_u32(&bt.prop_seg, *argv, 0)) | |
140 | invarg("invalid \"prop-seg\" value\n", *argv); | |
141 | } else if (matches(*argv, "phase-seg1") == 0) { | |
142 | NEXT_ARG(); | |
143 | if (get_u32(&bt.phase_seg1, *argv, 0)) | |
144 | invarg("invalid \"phase-seg1\" value\n", *argv); | |
145 | } else if (matches(*argv, "phase-seg2") == 0) { | |
146 | NEXT_ARG(); | |
147 | if (get_u32(&bt.phase_seg2, *argv, 0)) | |
148 | invarg("invalid \"phase-seg2\" value\n", *argv); | |
149 | } else if (matches(*argv, "sjw") == 0) { | |
150 | NEXT_ARG(); | |
151 | if (get_u32(&bt.sjw, *argv, 0)) | |
152 | invarg("invalid \"sjw\" value\n", *argv); | |
2bfe0470 OH |
153 | } else if (matches(*argv, "dbitrate") == 0) { |
154 | NEXT_ARG(); | |
155 | if (get_u32(&dbt.bitrate, *argv, 0)) | |
156 | invarg("invalid \"dbitrate\" value\n", *argv); | |
157 | } else if (matches(*argv, "dsample-point") == 0) { | |
158 | float sp; | |
159 | ||
160 | NEXT_ARG(); | |
161 | if (get_float(&sp, *argv)) | |
162 | invarg("invalid \"dsample-point\" value\n", *argv); | |
163 | dbt.sample_point = (__u32)(sp * 1000); | |
164 | } else if (matches(*argv, "dtq") == 0) { | |
165 | NEXT_ARG(); | |
166 | if (get_u32(&dbt.tq, *argv, 0)) | |
167 | invarg("invalid \"dtq\" value\n", *argv); | |
168 | } else if (matches(*argv, "dprop-seg") == 0) { | |
169 | NEXT_ARG(); | |
170 | if (get_u32(&dbt.prop_seg, *argv, 0)) | |
171 | invarg("invalid \"dprop-seg\" value\n", *argv); | |
172 | } else if (matches(*argv, "dphase-seg1") == 0) { | |
173 | NEXT_ARG(); | |
174 | if (get_u32(&dbt.phase_seg1, *argv, 0)) | |
175 | invarg("invalid \"dphase-seg1\" value\n", *argv); | |
176 | } else if (matches(*argv, "dphase-seg2") == 0) { | |
177 | NEXT_ARG(); | |
178 | if (get_u32(&dbt.phase_seg2, *argv, 0)) | |
179 | invarg("invalid \"dphase-seg2\" value\n", *argv); | |
180 | } else if (matches(*argv, "dsjw") == 0) { | |
181 | NEXT_ARG(); | |
182 | if (get_u32(&dbt.sjw, *argv, 0)) | |
183 | invarg("invalid \"dsjw\" value\n", *argv); | |
5a204478 WG |
184 | } else if (matches(*argv, "loopback") == 0) { |
185 | NEXT_ARG(); | |
186 | set_ctrlmode("loopback", *argv, &cm, | |
187 | CAN_CTRLMODE_LOOPBACK); | |
188 | } else if (matches(*argv, "listen-only") == 0) { | |
189 | NEXT_ARG(); | |
190 | set_ctrlmode("listen-only", *argv, &cm, | |
191 | CAN_CTRLMODE_LISTENONLY); | |
192 | } else if (matches(*argv, "triple-sampling") == 0) { | |
193 | NEXT_ARG(); | |
194 | set_ctrlmode("triple-sampling", *argv, &cm, | |
195 | CAN_CTRLMODE_3_SAMPLES); | |
8a517946 WG |
196 | } else if (matches(*argv, "one-shot") == 0) { |
197 | NEXT_ARG(); | |
198 | set_ctrlmode("one-shot", *argv, &cm, | |
199 | CAN_CTRLMODE_ONE_SHOT); | |
200 | } else if (matches(*argv, "berr-reporting") == 0) { | |
201 | NEXT_ARG(); | |
202 | set_ctrlmode("berr-reporting", *argv, &cm, | |
203 | CAN_CTRLMODE_BERR_REPORTING); | |
2bfe0470 OH |
204 | } else if (matches(*argv, "fd") == 0) { |
205 | NEXT_ARG(); | |
206 | set_ctrlmode("fd", *argv, &cm, | |
207 | CAN_CTRLMODE_FD); | |
82a307e8 OH |
208 | } else if (matches(*argv, "fd-non-iso") == 0) { |
209 | NEXT_ARG(); | |
210 | set_ctrlmode("fd-non-iso", *argv, &cm, | |
211 | CAN_CTRLMODE_FD_NON_ISO); | |
d26caee7 NEB |
212 | } else if (matches(*argv, "presume-ack") == 0) { |
213 | NEXT_ARG(); | |
214 | set_ctrlmode("presume-ack", *argv, &cm, | |
215 | CAN_CTRLMODE_PRESUME_ACK); | |
5a204478 WG |
216 | } else if (matches(*argv, "restart") == 0) { |
217 | __u32 val = 1; | |
218 | ||
219 | addattr32(n, 1024, IFLA_CAN_RESTART, val); | |
220 | } else if (matches(*argv, "restart-ms") == 0) { | |
221 | __u32 val; | |
222 | ||
223 | NEXT_ARG(); | |
224 | if (get_u32(&val, *argv, 0)) | |
225 | invarg("invalid \"restart-ms\" value\n", *argv); | |
226 | addattr32(n, 1024, IFLA_CAN_RESTART_MS, val); | |
227 | } else if (matches(*argv, "help") == 0) { | |
228 | usage(); | |
229 | return -1; | |
230 | } else { | |
14645ec2 | 231 | fprintf(stderr, "can: unknown option \"%s\"\n", *argv); |
5a204478 WG |
232 | usage(); |
233 | return -1; | |
234 | } | |
235 | argc--, argv++; | |
236 | } | |
237 | ||
238 | if (bt.bitrate || bt.tq) | |
239 | addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt)); | |
2bfe0470 OH |
240 | if (dbt.bitrate || dbt.tq) |
241 | addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt)); | |
5a204478 WG |
242 | if (cm.mask) |
243 | addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm)); | |
244 | ||
245 | return 0; | |
246 | } | |
247 | ||
248 | static const char *can_state_names[] = { | |
3bbff7df OH |
249 | [CAN_STATE_ERROR_ACTIVE] = "ERROR-ACTIVE", |
250 | [CAN_STATE_ERROR_WARNING] = "ERROR-WARNING", | |
251 | [CAN_STATE_ERROR_PASSIVE] = "ERROR-PASSIVE", | |
252 | [CAN_STATE_BUS_OFF] = "BUS-OFF", | |
253 | [CAN_STATE_STOPPED] = "STOPPED", | |
254 | [CAN_STATE_SLEEPING] = "SLEEPING" | |
5a204478 WG |
255 | }; |
256 | ||
257 | static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[]) | |
258 | { | |
259 | if (!tb) | |
260 | return; | |
261 | ||
262 | if (tb[IFLA_CAN_CTRLMODE]) { | |
263 | struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]); | |
264 | ||
265 | if (cm->flags) | |
266 | print_ctrlmode(f, cm->flags); | |
267 | } | |
268 | ||
269 | if (tb[IFLA_CAN_STATE]) { | |
270 | int *state = RTA_DATA(tb[IFLA_CAN_STATE]); | |
271 | ||
272 | fprintf(f, "state %s ", *state <= CAN_STATE_MAX ? | |
273 | can_state_names[*state] : "UNKNOWN"); | |
274 | } | |
275 | ||
8a517946 WG |
276 | if (tb[IFLA_CAN_BERR_COUNTER]) { |
277 | struct can_berr_counter *bc = | |
278 | RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]); | |
279 | ||
280 | fprintf(f, "(berr-counter tx %d rx %d) ", bc->txerr, bc->rxerr); | |
281 | } | |
282 | ||
5a204478 WG |
283 | if (tb[IFLA_CAN_RESTART_MS]) { |
284 | __u32 *restart_ms = RTA_DATA(tb[IFLA_CAN_RESTART_MS]); | |
285 | ||
286 | fprintf(f, "restart-ms %d ", *restart_ms); | |
287 | } | |
288 | ||
289 | if (tb[IFLA_CAN_BITTIMING]) { | |
290 | struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]); | |
291 | ||
3bbff7df | 292 | fprintf(f, "\n " |
5a204478 | 293 | "bitrate %d sample-point %.3f ", |
3bbff7df OH |
294 | bt->bitrate, (float)bt->sample_point / 1000.); |
295 | fprintf(f, "\n " | |
5a204478 WG |
296 | "tq %d prop-seg %d phase-seg1 %d phase-seg2 %d sjw %d", |
297 | bt->tq, bt->prop_seg, bt->phase_seg1, bt->phase_seg2, | |
298 | bt->sjw); | |
299 | } | |
300 | ||
301 | if (tb[IFLA_CAN_BITTIMING_CONST]) { | |
302 | struct can_bittiming_const *btc = | |
303 | RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]); | |
304 | ||
3bbff7df | 305 | fprintf(f, "\n " |
5a204478 WG |
306 | "%s: tseg1 %d..%d tseg2 %d..%d " |
307 | "sjw 1..%d brp %d..%d brp-inc %d", | |
3bbff7df | 308 | btc->name, btc->tseg1_min, btc->tseg1_max, |
5a204478 WG |
309 | btc->tseg2_min, btc->tseg2_max, btc->sjw_max, |
310 | btc->brp_min, btc->brp_max, btc->brp_inc); | |
311 | } | |
312 | ||
2bfe0470 OH |
313 | if (tb[IFLA_CAN_DATA_BITTIMING]) { |
314 | struct can_bittiming *dbt = | |
315 | RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]); | |
316 | ||
317 | fprintf(f, "\n " | |
318 | "dbitrate %d dsample-point %.3f ", | |
319 | dbt->bitrate, (float)dbt->sample_point / 1000.); | |
320 | fprintf(f, "\n " | |
321 | "dtq %d dprop-seg %d dphase-seg1 %d " | |
322 | "dphase-seg2 %d dsjw %d", | |
323 | dbt->tq, dbt->prop_seg, dbt->phase_seg1, | |
324 | dbt->phase_seg2, dbt->sjw); | |
325 | } | |
326 | ||
327 | if (tb[IFLA_CAN_DATA_BITTIMING_CONST]) { | |
328 | struct can_bittiming_const *dbtc = | |
329 | RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]); | |
330 | ||
331 | fprintf(f, "\n " | |
332 | "%s: dtseg1 %d..%d dtseg2 %d..%d " | |
333 | "dsjw 1..%d dbrp %d..%d dbrp-inc %d", | |
334 | dbtc->name, dbtc->tseg1_min, dbtc->tseg1_max, | |
335 | dbtc->tseg2_min, dbtc->tseg2_max, dbtc->sjw_max, | |
336 | dbtc->brp_min, dbtc->brp_max, dbtc->brp_inc); | |
337 | } | |
338 | ||
5a204478 WG |
339 | if (tb[IFLA_CAN_CLOCK]) { |
340 | struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]); | |
341 | ||
3bbff7df | 342 | fprintf(f, "\n clock %d", clock->freq); |
5a204478 WG |
343 | } |
344 | ||
345 | } | |
346 | ||
347 | static void can_print_xstats(struct link_util *lu, | |
348 | FILE *f, struct rtattr *xstats) | |
349 | { | |
350 | struct can_device_stats *stats; | |
351 | ||
352 | if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) { | |
353 | stats = RTA_DATA(xstats); | |
3bbff7df | 354 | fprintf(f, "\n " |
5a204478 WG |
355 | "re-started bus-errors arbit-lost " |
356 | "error-warn error-pass bus-off"); | |
3bbff7df | 357 | fprintf(f, "\n %-10d %-10d %-10d %-10d %-10d %-10d", |
5a204478 WG |
358 | stats->restarts, stats->bus_error, |
359 | stats->arbitration_lost, stats->error_warning, | |
360 | stats->error_passive, stats->bus_off); | |
361 | } | |
362 | } | |
363 | ||
561e650e | 364 | static void can_print_help(struct link_util *lu, int argc, char **argv, |
365 | FILE *f) | |
366 | { | |
367 | print_usage(f); | |
368 | } | |
369 | ||
5a204478 WG |
370 | struct link_util can_link_util = { |
371 | .id = "can", | |
372 | .maxattr = IFLA_CAN_MAX, | |
373 | .parse_opt = can_parse_opt, | |
374 | .print_opt = can_print_opt, | |
4806867a | 375 | .print_xstats = can_print_xstats, |
561e650e | 376 | .print_help = can_print_help, |
5a204478 | 377 | }; |