candump: Add support for hardware timestamping

Signed-off-by: Michal Sojka <sojkam1@fel.cvut.cz>

diff --git a/candump.c b/candump.c
index 5daf6222ca7d2d8e6a6beb4a4b598acf0d231ecd..bd9a3cdab6bdc4316d32504060dc6d66b34331b4 100644 (file)
--- a/candump.c
+++ b/candump.c
@@ -61,6 +61,7 @@
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
+#include <linux/net_tstamp.h>
 
 #include "terminal.h"
 #include "lib.h"
@@ -108,6 +109,7 @@ void print_usage(char *prg)
        fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
        fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
        fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+       fprintf(stderr, "         -H          (use hardware timestamping)\n");
        fprintf(stderr, "         -c          (increment color mode level)\n");
        fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
        fprintf(stderr, "         -a          (enable additional ASCII output)\n");
@@ -207,6 +209,7 @@ int main(int argc, char **argv)
        int bridge = 0;
        useconds_t bridge_delay = 0;
        unsigned char timestamp = 0;
+       int hw_timestamp = 0;
        unsigned char dropmonitor = 0;
        unsigned char extra_msg_info = 0;
        unsigned char silent = SILENT_INI;
@@ -242,7 +245,7 @@ int main(int argc, char **argv)
        last_tv.tv_sec  = 0;
        last_tv.tv_usec = 0;
 
-       while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldxLn:r:heT:?")) != -1) {
+       while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldxLn:r:heT:H?")) != -1) {
                switch (opt) {
                case 't':
                        timestamp = optarg[0];
@@ -254,6 +257,10 @@ int main(int argc, char **argv)
                        }
                        break;
 
+               case 'H':
+                       hw_timestamp = 1;
+                       break;
+
                case 'c':
                        color++;
                        break;
@@ -548,13 +555,21 @@ int main(int argc, char **argv)
                }
 
                if (timestamp || log || logfrmt) {
+                       if (hw_timestamp == 0) {
+                               const int timestamp_on = 1;
 
-                       const int timestamp_on = 1;
+                               if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
+                                              &timestamp_on, sizeof(timestamp_on)) < 0) {
+                                       perror("setsockopt SO_TIMESTAMP");
+                                       return 1;
+                               }
+                       } else {
+                               const int so_timestamping_flags = SOF_TIMESTAMPING_RAW_HARDWARE;
 
-                       if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
-                                      &timestamp_on, sizeof(timestamp_on)) < 0) {
-                               perror("setsockopt SO_TIMESTAMP");
-                               return 1;
+                               if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMPING,
+                                              &so_timestamping_flags,
+                                              sizeof(so_timestamping_flags)) < 0)
+                                       perror("setsockopt SO_TIMESTAMPING");
                        }
                }
 
@@ -680,6 +695,12 @@ int main(int argc, char **argv)
                                                tv = *(struct timeval *)CMSG_DATA(cmsg);
                                        else if (cmsg->cmsg_type == SO_RXQ_OVFL)
                                                dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
+                                       else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
+                                               struct timespec *ts = (struct timespec *) CMSG_DATA(cmsg);
+                                               tv.tv_sec = ts[2].tv_sec;
+                                               tv.tv_usec = ts[2].tv_nsec / 1000;
+                                       }
+
                                }
 
                                /* check for (unlikely) dropped frames on this specific socket */