--- /dev/null
+/*
+ * linux/can/netlink.h
+ *
+ * Definitions for the CAN netlink interface
+ *
+ * Copyright (c) 2009 Wolfgang Grandegger <wg@grandegger.com>
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#ifndef CAN_NETLINK_H
+#define CAN_NETLINK_H
+
+#include <linux/types.h>
+
+/*
+ * CAN bit-timing parameters
+ *
+ * For futher information, please read chapter "8 BIT TIMING
+ * REQUIREMENTS" of the "Bosch CAN Specification version 2.0"
+ * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf.
+ */
+struct can_bittiming {
+ __u32 bitrate; /* Bit-rate in bits/second */
+ __u32 sample_point; /* Sample point in one-tenth of a percent */
+ __u32 tq; /* Time quanta (TQ) in nanoseconds */
+ __u32 prop_seg; /* Propagation segment in TQs */
+ __u32 phase_seg1; /* Phase buffer segment 1 in TQs */
+ __u32 phase_seg2; /* Phase buffer segment 2 in TQs */
+ __u32 sjw; /* Synchronisation jump width in TQs */
+ __u32 brp; /* Bit-rate prescaler */
+};
+
+/*
+ * CAN harware-dependent bit-timing constant
+ *
+ * Used for calculating and checking bit-timing parameters
+ */
+struct can_bittiming_const {
+ char name[16]; /* Name of the CAN controller hardware */
+ __u32 tseg1_min; /* Time segement 1 = prop_seg + phase_seg1 */
+ __u32 tseg1_max;
+ __u32 tseg2_min; /* Time segement 2 = phase_seg2 */
+ __u32 tseg2_max;
+ __u32 sjw_max; /* Synchronisation jump width */
+ __u32 brp_min; /* Bit-rate prescaler */
+ __u32 brp_max;
+ __u32 brp_inc;
+};
+
+/*
+ * CAN clock parameters
+ */
+struct can_clock {
+ __u32 freq; /* CAN system clock frequency in Hz */
+};
+
+/*
+ * CAN operational and error states
+ */
+enum can_state {
+ CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */
+ CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */
+ CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */
+ CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */
+ CAN_STATE_STOPPED, /* Device is stopped */
+ CAN_STATE_SLEEPING, /* Device is sleeping */
+ CAN_STATE_MAX
+};
+
+/*
+ * CAN controller mode
+ */
+struct can_ctrlmode {
+ __u32 mask;
+ __u32 flags;
+};
+
+#define CAN_CTRLMODE_LOOPBACK 0x1 /* Loopback mode */
+#define CAN_CTRLMODE_LISTENONLY 0x2 /* Listen-only mode */
+#define CAN_CTRLMODE_3_SAMPLES 0x4 /* Triple sampling mode */
+
+/*
+ * CAN device statistics
+ */
+struct can_device_stats {
+ __u32 bus_error; /* Bus errors */
+ __u32 error_warning; /* Changes to error warning state */
+ __u32 error_passive; /* Changes to error passive state */
+ __u32 bus_off; /* Changes to bus off state */
+ __u32 arbitration_lost; /* Arbitration lost errors */
+ __u32 restarts; /* CAN controller re-starts */
+};
+
+/*
+ * CAN netlink interface
+ */
+enum {
+ IFLA_CAN_UNSPEC,
+ IFLA_CAN_BITTIMING,
+ IFLA_CAN_BITTIMING_CONST,
+ IFLA_CAN_CLOCK,
+ IFLA_CAN_STATE,
+ IFLA_CAN_CTRLMODE,
+ IFLA_CAN_RESTART_MS,
+ IFLA_CAN_RESTART,
+ __IFLA_CAN_MAX
+};
+
+#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1)
+
+#endif /* CAN_NETLINK_H */
--- /dev/null
+/*
+ * 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 usage(void)
+{
+ fprintf(stderr,
+ "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[ loopback { on | off } ]\n"
+ "\t[ listen-only { on | off } ]\n"
+ "\t[ triple-sampling { on | off } ]\n"
+ "\n"
+ "\t[ restart-ms TIME-MS ]\n"
+ "\t[ restart ]\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 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\"\n",
+ name);
+ exit(-1);
+ }
+ cm->mask |= flags;
+}
+
+static void print_ctrlmode(FILE *f, __u32 cm)
+{
+ fprintf(f, "<");
+#define _PF(cmflag, cmname) \
+ if (cm & cmflag) { \
+ cm &= ~cmflag; \
+ fprintf(f, "%s%s", cmname, cm ? "," : ""); \
+ }
+ _PF(CAN_CTRLMODE_LOOPBACK, "LOOPBACK");
+ _PF(CAN_CTRLMODE_LISTENONLY, "LISTEN-ONLY");
+ _PF(CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING");
+#undef _PF
+ if (cm)
+ fprintf(f, "%x", cm);
+ fprintf(f, "> ");
+}
+
+static int can_parse_opt(struct link_util *lu, int argc, char **argv,
+ struct nlmsghdr *n)
+{
+ struct can_bittiming bt;
+ struct can_ctrlmode cm = {0, 0};
+
+ memset(&bt, 0, sizeof(bt));
+ 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, "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, "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, "help") == 0) {
+ usage();
+ return -1;
+ } else {
+ fprintf(stderr, "can: what is \"%s\"?\n", *argv);
+ usage();
+ return -1;
+ }
+ argc--, argv++;
+ }
+
+ if (bt.bitrate || bt.tq)
+ addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
+ if (cm.mask)
+ addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm));
+
+ return 0;
+}
+
+static const char *can_state_names[] = {
+ [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_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]) {
+ int *state = RTA_DATA(tb[IFLA_CAN_STATE]);
+
+ fprintf(f, "state %s ", *state <= CAN_STATE_MAX ?
+ can_state_names[*state] : "UNKNOWN");
+ }
+
+ if (tb[IFLA_CAN_RESTART_MS]) {
+ __u32 *restart_ms = RTA_DATA(tb[IFLA_CAN_RESTART_MS]);
+
+ fprintf(f, "restart-ms %d ", *restart_ms);
+ }
+
+ if (tb[IFLA_CAN_BITTIMING]) {
+ struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);
+
+ 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);
+ }
+
+ if (tb[IFLA_CAN_BITTIMING_CONST]) {
+ struct can_bittiming_const *btc =
+ RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);
+
+ 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_CLOCK]) {
+ struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);
+
+ fprintf(f, "\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);
+ 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);
+ }
+}
+
+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,
+};
projects / lisovros / iproute2_canprio.git / commitdiff