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 (at) 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 " 28 "\t phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n" 29 "\n" 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" 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" 39 "\t[ fd { on | off } ]\n" 40 "\t[ fd-non-iso { on | off } ]\n" 41 "\t[ presume-ack { on | off } ]\n" 42 "\n" 43 "\t[ restart-ms TIME-MS ]\n" 44 "\t[ restart ]\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 memset(&bt, 0, sizeof(bt)); 119 memset(&dbt, 0, sizeof(dbt)); 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); 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); 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); 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); 204 } else if (matches(*argv, "fd") == 0) { 205 NEXT_ARG(); 206 set_ctrlmode("fd", *argv, &cm, 207 CAN_CTRLMODE_FD); 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); 212 } else if (matches(*argv, "presume-ack") == 0) { 213 NEXT_ARG(); 214 set_ctrlmode("presume-ack", *argv, &cm, 215 CAN_CTRLMODE_PRESUME_ACK); 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 { 231 fprintf(stderr, "can: unknown option \"%s\"\n", *argv); 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)); 240 if (dbt.bitrate || dbt.tq) 241 addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt)); 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[] = { 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" 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 } 275 276 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 } 282 283 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]); 291 292 fprintf(f, "\n " 293 "bitrate %d sample-point %.3f ", 294 bt->bitrate, (float)bt->sample_point / 1000.); 295 fprintf(f, "\n " 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]); 304 305 fprintf(f, "\n " 306 "%s: tseg1 %d..%d tseg2 %d..%d " 307 "sjw 1..%d brp %d..%d brp-inc %d", 308 btc->name, btc->tseg1_min, btc->tseg1_max, 309 btc->tseg2_min, btc->tseg2_max, btc->sjw_max, 310 btc->brp_min, btc->brp_max, btc->brp_inc); 311 } 312 313 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 } 338 339 if (tb[IFLA_CAN_CLOCK]) { 340 struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]); 341 342 fprintf(f, "\n clock %d", clock->freq); 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); 354 fprintf(f, "\n " 355 "re-started bus-errors arbit-lost " 356 "error-warn error-pass bus-off"); 357 fprintf(f, "\n %-10d %-10d %-10d %-10d %-10d %-10d", 358 stats->restarts, stats->bus_error, 359 stats->arbitration_lost, stats->error_warning, 360 stats->error_passive, stats->bus_off); 361 } 362 } 363 364 static void can_print_help(struct link_util *lu, int argc, char **argv, 365 FILE *f) 366 { 367 print_usage(f); 368 } 369 370 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, 375 .print_xstats = can_print_xstats, 376 .print_help = can_print_help, 377 }; 378
