ip/iplink_can.c

   1 /*
   2  * iplink_can.c CAN device support
   3  *
   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.
   8  *
   9  * Authors:     Wolfgang Grandegger <wg@grandegger.com>
  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
  22 static void print_usage(FILE *f)
  23 {
  24         fprintf(f,
  25                 "Usage: ip link set DEVICE type can\n"
  26                 "\t[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |\n"
  27                 "\t[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1\n \t  phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n"
  28                 "\n"
  29                 "\t[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |\n"
  30                 "\t[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1\n \t  dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]\n"
  31                 "\n"
  32                 "\t[ loopback { on | off } ]\n"
  33                 "\t[ listen-only { on | off } ]\n"
  34                 "\t[ triple-sampling { on | off } ]\n"
  35                 "\t[ one-shot { on | off } ]\n"
  36                 "\t[ berr-reporting { on | off } ]\n"
  37                 "\t[ fd { on | off } ]\n"
  38                 "\t[ fd-non-iso { on | off } ]\n"
  39                 "\t[ presume-ack { on | off } ]\n"
  40                 "\n"
  41                 "\t[ restart-ms TIME-MS ]\n"
  42                 "\t[ restart ]\n"
  43                 "\n"
  44                 "\t[ termination { 0..65535 } ]\n"
  45                 "\n"
  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"
  54                 );
  55 }
  56
  57 static void usage(void)
  58 {
  59         print_usage(stderr);
  60 }
  61
  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,
  83                         "Error: argument of \"%s\" must be \"on\" or \"off\", not \"%s\"\n",
  84                         name, arg);
  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");
 101         _PF(CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT");
 102         _PF(CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING");
 103         _PF(CAN_CTRLMODE_FD, "FD");
 104         _PF(CAN_CTRLMODE_FD_NON_ISO, "FD-NON-ISO");
 105         _PF(CAN_CTRLMODE_PRESUME_ACK, "PRESUME-ACK");
 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 {
 115         struct can_bittiming bt = {}, dbt = {};
 116         struct can_ctrlmode cm = {0, 0};
 117
 118         while (argc > 0) {
 119                 if (matches(*argv, "bitrate") == 0) {
 120                         NEXT_ARG();
 121                         if (get_u32(&bt.bitrate, *argv, 0))
 122                                 invarg("invalid \"bitrate\" value\n", *argv);
 123                 } else if (matches(*argv, "sample-point") == 0) {
 124                         float sp;
 125
 126                         NEXT_ARG();
 127                         if (get_float(&sp, *argv))
 128                                 invarg("invalid \"sample-point\" value\n",
 129                                        *argv);
 130                         bt.sample_point = (__u32)(sp * 1000);
 131                 } else if (matches(*argv, "tq") == 0) {
 132                         NEXT_ARG();
 133                         if (get_u32(&bt.tq, *argv, 0))
 134                                 invarg("invalid \"tq\" value\n", *argv);
 135                 } else if (matches(*argv, "prop-seg") == 0) {
 136                         NEXT_ARG();
 137                         if (get_u32(&bt.prop_seg, *argv, 0))
 138                                 invarg("invalid \"prop-seg\" value\n", *argv);
 139                 } else if (matches(*argv, "phase-seg1") == 0) {
 140                         NEXT_ARG();
 141                         if (get_u32(&bt.phase_seg1, *argv, 0))
 142                                 invarg("invalid \"phase-seg1\" value\n", *argv);
 143                 } else if (matches(*argv, "phase-seg2") == 0) {
 144                         NEXT_ARG();
 145                         if (get_u32(&bt.phase_seg2, *argv, 0))
 146                                 invarg("invalid \"phase-seg2\" value\n", *argv);
 147                 } else if (matches(*argv, "sjw") == 0) {
 148                         NEXT_ARG();
 149                         if (get_u32(&bt.sjw, *argv, 0))
 150                                 invarg("invalid \"sjw\" value\n", *argv);
 151                 } else if (matches(*argv, "dbitrate") == 0) {
 152                         NEXT_ARG();
 153                         if (get_u32(&dbt.bitrate, *argv, 0))
 154                                 invarg("invalid \"dbitrate\" value\n", *argv);
 155                 } else if (matches(*argv, "dsample-point") == 0) {
 156                         float sp;
 157
 158                         NEXT_ARG();
 159                         if (get_float(&sp, *argv))
 160                                 invarg("invalid \"dsample-point\" value\n", *argv);
 161                         dbt.sample_point = (__u32)(sp * 1000);
 162                 } else if (matches(*argv, "dtq") == 0) {
 163                         NEXT_ARG();
 164                         if (get_u32(&dbt.tq, *argv, 0))
 165                                 invarg("invalid \"dtq\" value\n", *argv);
 166                 } else if (matches(*argv, "dprop-seg") == 0) {
 167                         NEXT_ARG();
 168                         if (get_u32(&dbt.prop_seg, *argv, 0))
 169                                 invarg("invalid \"dprop-seg\" value\n", *argv);
 170                 } else if (matches(*argv, "dphase-seg1") == 0) {
 171                         NEXT_ARG();
 172                         if (get_u32(&dbt.phase_seg1, *argv, 0))
 173                                 invarg("invalid \"dphase-seg1\" value\n", *argv);
 174                 } else if (matches(*argv, "dphase-seg2") == 0) {
 175                         NEXT_ARG();
 176                         if (get_u32(&dbt.phase_seg2, *argv, 0))
 177                                 invarg("invalid \"dphase-seg2\" value\n", *argv);
 178                 } else if (matches(*argv, "dsjw") == 0) {
 179                         NEXT_ARG();
 180                         if (get_u32(&dbt.sjw, *argv, 0))
 181                                 invarg("invalid \"dsjw\" value\n", *argv);
 182                 } else if (matches(*argv, "loopback") == 0) {
 183                         NEXT_ARG();
 184                         set_ctrlmode("loopback", *argv, &cm,
 185                                      CAN_CTRLMODE_LOOPBACK);
 186                 } else if (matches(*argv, "listen-only") == 0) {
 187                         NEXT_ARG();
 188                         set_ctrlmode("listen-only", *argv, &cm,
 189                                      CAN_CTRLMODE_LISTENONLY);
 190                 } else if (matches(*argv, "triple-sampling") == 0) {
 191                         NEXT_ARG();
 192                         set_ctrlmode("triple-sampling", *argv, &cm,
 193                                      CAN_CTRLMODE_3_SAMPLES);
 194                 } else if (matches(*argv, "one-shot") == 0) {
 195                         NEXT_ARG();
 196                         set_ctrlmode("one-shot", *argv, &cm,
 197                                      CAN_CTRLMODE_ONE_SHOT);
 198                 } else if (matches(*argv, "berr-reporting") == 0) {
 199                         NEXT_ARG();
 200                         set_ctrlmode("berr-reporting", *argv, &cm,
 201                                      CAN_CTRLMODE_BERR_REPORTING);
 202                 } else if (matches(*argv, "fd") == 0) {
 203                         NEXT_ARG();
 204                         set_ctrlmode("fd", *argv, &cm,
 205                                      CAN_CTRLMODE_FD);
 206                 } else if (matches(*argv, "fd-non-iso") == 0) {
 207                         NEXT_ARG();
 208                         set_ctrlmode("fd-non-iso", *argv, &cm,
 209                                      CAN_CTRLMODE_FD_NON_ISO);
 210                 } else if (matches(*argv, "presume-ack") == 0) {
 211                         NEXT_ARG();
 212                         set_ctrlmode("presume-ack", *argv, &cm,
 213                                      CAN_CTRLMODE_PRESUME_ACK);
 214                 } else if (matches(*argv, "restart") == 0) {
 215                         __u32 val = 1;
 216
 217                         addattr32(n, 1024, IFLA_CAN_RESTART, val);
 218                 } else if (matches(*argv, "restart-ms") == 0) {
 219                         __u32 val;
 220
 221                         NEXT_ARG();
 222                         if (get_u32(&val, *argv, 0))
 223                                 invarg("invalid \"restart-ms\" value\n", *argv);
 224                         addattr32(n, 1024, IFLA_CAN_RESTART_MS, val);
 225                 } else if (matches(*argv, "termination") == 0) {
 226                         __u16 val;
 227
 228                         NEXT_ARG();
 229                         if (get_u16(&val, *argv, 0))
 230                                 invarg("invalid \"termination\" value\n",
 231                                        *argv);
 232                         addattr16(n, 1024, IFLA_CAN_TERMINATION, val);
 233                 } else if (matches(*argv, "help") == 0) {
 234                         usage();
 235                         return -1;
 236                 } else {
 237                         fprintf(stderr, "can: unknown option \"%s\"\n", *argv);
 238                         usage();
 239                         return -1;
 240                 }
 241                 argc--, argv++;
 242         }
 243
 244         if (bt.bitrate || bt.tq)
 245                 addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
 246         if (dbt.bitrate || dbt.tq)
 247                 addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt));
 248         if (cm.mask)
 249                 addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm));
 250
 251         return 0;
 252 }
 253
 254 static const char *can_state_names[] = {
 255         [CAN_STATE_ERROR_ACTIVE] = "ERROR-ACTIVE",
 256         [CAN_STATE_ERROR_WARNING] = "ERROR-WARNING",
 257         [CAN_STATE_ERROR_PASSIVE] = "ERROR-PASSIVE",
 258         [CAN_STATE_BUS_OFF] = "BUS-OFF",
 259         [CAN_STATE_STOPPED] = "STOPPED",
 260         [CAN_STATE_SLEEPING] = "SLEEPING"
 261 };
 262
 263 static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 264 {
 265         if (!tb)
 266                 return;
 267
 268         if (tb[IFLA_CAN_CTRLMODE]) {
 269                 struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]);
 270
 271                 if (cm->flags)
 272                         print_ctrlmode(f, cm->flags);
 273         }
 274
 275         if (tb[IFLA_CAN_STATE]) {
 276                 uint32_t state = rta_getattr_u32(tb[IFLA_CAN_STATE]);
 277
 278                 fprintf(f, "state %s ", state <= CAN_STATE_MAX ?
 279                         can_state_names[state] : "UNKNOWN");
 280         }
 281
 282         if (tb[IFLA_CAN_BERR_COUNTER]) {
 283                 struct can_berr_counter *bc =
 284                         RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]);
 285
 286                 fprintf(f, "(berr-counter tx %d rx %d) ", bc->txerr, bc->rxerr);
 287         }
 288
 289         if (tb[IFLA_CAN_RESTART_MS]) {
 290                 __u32 *restart_ms = RTA_DATA(tb[IFLA_CAN_RESTART_MS]);
 291
 292                 fprintf(f, "restart-ms %d ", *restart_ms);
 293         }
 294
 295         /* bittiming is irrelevant if fixed bitrate is defined */
 296         if (tb[IFLA_CAN_BITTIMING] && !tb[IFLA_CAN_BITRATE_CONST]) {
 297                 struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);
 298
 299                 fprintf(f, "\n    bitrate %d sample-point %.3f ",
 300                         bt->bitrate, (float)bt->sample_point / 1000.);
 301                 fprintf(f, "\n    tq %d prop-seg %d phase-seg1 %d phase-seg2 %d sjw %d",
 302                         bt->tq, bt->prop_seg, bt->phase_seg1, bt->phase_seg2,
 303                         bt->sjw);
 304         }
 305
 306         /* bittiming const is irrelevant if fixed bitrate is defined */
 307         if (tb[IFLA_CAN_BITTIMING_CONST] && !tb[IFLA_CAN_BITRATE_CONST]) {
 308                 struct can_bittiming_const *btc =
 309                         RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);
 310
 311                 fprintf(f, "\n    %s: tseg1 %d..%d tseg2 %d..%d "
 312                         "sjw 1..%d brp %d..%d brp-inc %d",
 313                         btc->name, btc->tseg1_min, btc->tseg1_max,
 314                         btc->tseg2_min, btc->tseg2_max, btc->sjw_max,
 315                         btc->brp_min, btc->brp_max, btc->brp_inc);
 316         }
 317
 318         if (tb[IFLA_CAN_BITRATE_CONST]) {
 319                 __u32 *bitrate_const = RTA_DATA(tb[IFLA_CAN_BITRATE_CONST]);
 320                 int bitrate_cnt = RTA_PAYLOAD(tb[IFLA_CAN_BITRATE_CONST]) /
 321                                   sizeof(*bitrate_const);
 322                 int i;
 323                 __u32 bitrate = 0;
 324
 325                 if (tb[IFLA_CAN_BITTIMING]) {
 326                         struct can_bittiming *bt =
 327                             RTA_DATA(tb[IFLA_CAN_BITTIMING]);
 328                         bitrate = bt->bitrate;
 329                 }
 330
 331                 fprintf(f, "\n    bitrate %u", bitrate);
 332                 fprintf(f, "\n       [");
 333
 334                 for (i = 0; i < bitrate_cnt - 1; ++i) {
 335                         /* This will keep lines below 80 signs */
 336                         if (!(i % 6) && i)
 337                                 fprintf(f, "\n        ");
 338
 339                         fprintf(f, "%8u, ", bitrate_const[i]);
 340                 }
 341
 342                 if (!(i % 6) && i)
 343                         fprintf(f, "\n        ");
 344                 fprintf(f, "%8u ]", bitrate_const[i]);
 345         }
 346
 347         /* data bittiming is irrelevant if fixed bitrate is defined */
 348         if (tb[IFLA_CAN_DATA_BITTIMING] && !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 349                 struct can_bittiming *dbt =
 350                         RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
 351
 352                 fprintf(f, "\n    dbitrate %d dsample-point %.3f ",
 353                         dbt->bitrate, (float)dbt->sample_point / 1000.);
 354                 fprintf(f, "\n    dtq %d dprop-seg %d dphase-seg1 %d "
 355                         "dphase-seg2 %d dsjw %d",
 356                         dbt->tq, dbt->prop_seg, dbt->phase_seg1,
 357                         dbt->phase_seg2, dbt->sjw);
 358         }
 359
 360         /* data bittiming const is irrelevant if fixed bitrate is defined */
 361         if (tb[IFLA_CAN_DATA_BITTIMING_CONST] &&
 362             !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 363                 struct can_bittiming_const *dbtc =
 364                         RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);
 365
 366                 fprintf(f, "\n    %s: dtseg1 %d..%d dtseg2 %d..%d "
 367                         "dsjw 1..%d dbrp %d..%d dbrp-inc %d",
 368                         dbtc->name, dbtc->tseg1_min, dbtc->tseg1_max,
 369                         dbtc->tseg2_min, dbtc->tseg2_max, dbtc->sjw_max,
 370                         dbtc->brp_min, dbtc->brp_max, dbtc->brp_inc);
 371         }
 372
 373         if (tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 374                 __u32 *dbitrate_const =
 375                     RTA_DATA(tb[IFLA_CAN_DATA_BITRATE_CONST]);
 376                 int dbitrate_cnt =
 377                     RTA_PAYLOAD(tb[IFLA_CAN_DATA_BITRATE_CONST]) /
 378                     sizeof(*dbitrate_const);
 379                 int i;
 380                 __u32 dbitrate = 0;
 381
 382                 if (tb[IFLA_CAN_DATA_BITTIMING]) {
 383                         struct can_bittiming *dbt =
 384                             RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
 385                         dbitrate = dbt->bitrate;
 386                 }
 387
 388                 fprintf(f, "\n    dbitrate %u", dbitrate);
 389                 fprintf(f, "\n       [");
 390
 391                 for (i = 0; i < dbitrate_cnt - 1; ++i) {
 392                         /* This will keep lines below 80 signs */
 393                         if (!(i % 6) && i)
 394                                 fprintf(f, "\n        ");
 395
 396                         fprintf(f, "%8u, ", dbitrate_const[i]);
 397                 }
 398
 399                 if (!(i % 6) && i)
 400                         fprintf(f, "\n        ");
 401                 fprintf(f, "%8u ]", dbitrate_const[i]);
 402         }
 403
 404         if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
 405                 __u16 *trm = RTA_DATA(tb[IFLA_CAN_TERMINATION]);
 406                 __u16 *trm_const = RTA_DATA(tb[IFLA_CAN_TERMINATION_CONST]);
 407                 int trm_cnt = RTA_PAYLOAD(tb[IFLA_CAN_TERMINATION_CONST]) /
 408                               sizeof(*trm_const);
 409                 int i;
 410
 411                 fprintf(f, "\n    termination %hu [ ", *trm);
 412
 413                 for (i = 0; i < trm_cnt - 1; ++i)
 414                         fprintf(f, "%hu, ", trm_const[i]);
 415
 416                 fprintf(f, "%hu ]", trm_const[i]);
 417         }
 418
 419         if (tb[IFLA_CAN_CLOCK]) {
 420                 struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);
 421
 422                 fprintf(f, "\n    clock %d", clock->freq);
 423         }
 424
 425 }
 426
 427 static void can_print_xstats(struct link_util *lu,
 428                              FILE *f, struct rtattr *xstats)
 429 {
 430         struct can_device_stats *stats;
 431
 432         if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) {
 433                 stats = RTA_DATA(xstats);
 434                 fprintf(f, "\n    re-started bus-errors arbit-lost "
 435                         "error-warn error-pass bus-off");
 436                 fprintf(f, "\n    %-10d %-10d %-10d %-10d %-10d %-10d",
 437                         stats->restarts, stats->bus_error,
 438                         stats->arbitration_lost, stats->error_warning,
 439                         stats->error_passive, stats->bus_off);
 440         }
 441 }
 442
 443 static void can_print_help(struct link_util *lu, int argc, char **argv,
 444         FILE *f)
 445 {
 446         print_usage(f);
 447 }
 448
 449 struct link_util can_link_util = {
 450         .id             = "can",
 451         .maxattr        = IFLA_CAN_MAX,
 452         .parse_opt      = can_parse_opt,
 453         .print_opt      = can_print_opt,
 454         .print_xstats   = can_print_xstats,
 455         .print_help     = can_print_help,
 456 };