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
usage(void)22 static void usage(void)
23 {
24 fprintf(stderr,
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[ loopback { on | off } ]\n"
31 "\t[ listen-only { on | off } ]\n"
32 "\t[ triple-sampling { on | off } ]\n"
33 "\t[ one-shot { on | off } ]\n"
34 "\t[ berr-reporting { on | off } ]\n"
35 "\n"
36 "\t[ restart-ms TIME-MS ]\n"
37 "\t[ restart ]\n"
38 "\n"
39 "\tWhere: BITRATE := { 1..1000000 }\n"
40 "\t SAMPLE-POINT := { 0.000..0.999 }\n"
41 "\t TQ := { NUMBER }\n"
42 "\t PROP-SEG := { 1..8 }\n"
43 "\t PHASE-SEG1 := { 1..8 }\n"
44 "\t PHASE-SEG2 := { 1..8 }\n"
45 "\t SJW := { 1..4 }\n"
46 "\t RESTART-MS := { 0 | NUMBER }\n"
47 );
48 }
49
get_float(float * val,const char * arg)50 static int get_float(float *val, const char *arg)
51 {
52 float res;
53 char *ptr;
54
55 if (!arg || !*arg)
56 return -1;
57 res = strtof(arg, &ptr);
58 if (!ptr || ptr == arg || *ptr)
59 return -1;
60 *val = res;
61 return 0;
62 }
63
set_ctrlmode(char * name,char * arg,struct can_ctrlmode * cm,__u32 flags)64 static void set_ctrlmode(char* name, char *arg,
65 struct can_ctrlmode *cm, __u32 flags)
66 {
67 if (strcmp(arg, "on") == 0) {
68 cm->flags |= flags;
69 } else if (strcmp(arg, "off") != 0) {
70 fprintf(stderr,
71 "Error: argument of \"%s\" must be \"on\" or \"off\"\n",
72 name);
73 exit(-1);
74 }
75 cm->mask |= flags;
76 }
77
print_ctrlmode(FILE * f,__u32 cm)78 static void print_ctrlmode(FILE *f, __u32 cm)
79 {
80 fprintf(f, "<");
81 #define _PF(cmflag, cmname) \
82 if (cm & cmflag) { \
83 cm &= ~cmflag; \
84 fprintf(f, "%s%s", cmname, cm ? "," : ""); \
85 }
86 _PF(CAN_CTRLMODE_LOOPBACK, "LOOPBACK");
87 _PF(CAN_CTRLMODE_LISTENONLY, "LISTEN-ONLY");
88 _PF(CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING");
89 _PF(CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT");
90 _PF(CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING");
91 #undef _PF
92 if (cm)
93 fprintf(f, "%x", cm);
94 fprintf(f, "> ");
95 }
96
can_parse_opt(struct link_util * lu,int argc,char ** argv,struct nlmsghdr * n)97 static int can_parse_opt(struct link_util *lu, int argc, char **argv,
98 struct nlmsghdr *n)
99 {
100 struct can_bittiming bt;
101 struct can_ctrlmode cm = {0, 0};
102
103 memset(&bt, 0, sizeof(bt));
104 while (argc > 0) {
105 if (matches(*argv, "bitrate") == 0) {
106 NEXT_ARG();
107 if (get_u32(&bt.bitrate, *argv, 0))
108 invarg("invalid \"bitrate\" value\n", *argv);
109 } else if (matches(*argv, "sample-point") == 0) {
110 float sp;
111
112 NEXT_ARG();
113 if (get_float(&sp, *argv))
114 invarg("invalid \"sample-point\" value\n",
115 *argv);
116 bt.sample_point = (__u32)(sp * 1000);
117 } else if (matches(*argv, "tq") == 0) {
118 NEXT_ARG();
119 if (get_u32(&bt.tq, *argv, 0))
120 invarg("invalid \"tq\" value\n", *argv);
121 } else if (matches(*argv, "prop-seg") == 0) {
122 NEXT_ARG();
123 if (get_u32(&bt.prop_seg, *argv, 0))
124 invarg("invalid \"prop-seg\" value\n", *argv);
125 } else if (matches(*argv, "phase-seg1") == 0) {
126 NEXT_ARG();
127 if (get_u32(&bt.phase_seg1, *argv, 0))
128 invarg("invalid \"phase-seg1\" value\n", *argv);
129 } else if (matches(*argv, "phase-seg2") == 0) {
130 NEXT_ARG();
131 if (get_u32(&bt.phase_seg2, *argv, 0))
132 invarg("invalid \"phase-seg2\" value\n", *argv);
133 } else if (matches(*argv, "sjw") == 0) {
134 NEXT_ARG();
135 if (get_u32(&bt.sjw, *argv, 0))
136 invarg("invalid \"sjw\" value\n", *argv);
137 } else if (matches(*argv, "loopback") == 0) {
138 NEXT_ARG();
139 set_ctrlmode("loopback", *argv, &cm,
140 CAN_CTRLMODE_LOOPBACK);
141 } else if (matches(*argv, "listen-only") == 0) {
142 NEXT_ARG();
143 set_ctrlmode("listen-only", *argv, &cm,
144 CAN_CTRLMODE_LISTENONLY);
145 } else if (matches(*argv, "triple-sampling") == 0) {
146 NEXT_ARG();
147 set_ctrlmode("triple-sampling", *argv, &cm,
148 CAN_CTRLMODE_3_SAMPLES);
149 } else if (matches(*argv, "one-shot") == 0) {
150 NEXT_ARG();
151 set_ctrlmode("one-shot", *argv, &cm,
152 CAN_CTRLMODE_ONE_SHOT);
153 } else if (matches(*argv, "berr-reporting") == 0) {
154 NEXT_ARG();
155 set_ctrlmode("berr-reporting", *argv, &cm,
156 CAN_CTRLMODE_BERR_REPORTING);
157 } else if (matches(*argv, "restart") == 0) {
158 __u32 val = 1;
159
160 addattr32(n, 1024, IFLA_CAN_RESTART, val);
161 } else if (matches(*argv, "restart-ms") == 0) {
162 __u32 val;
163
164 NEXT_ARG();
165 if (get_u32(&val, *argv, 0))
166 invarg("invalid \"restart-ms\" value\n", *argv);
167 addattr32(n, 1024, IFLA_CAN_RESTART_MS, val);
168 } else if (matches(*argv, "help") == 0) {
169 usage();
170 return -1;
171 } else {
172 fprintf(stderr, "can: what is \"%s\"?\n", *argv);
173 usage();
174 return -1;
175 }
176 argc--, argv++;
177 }
178
179 if (bt.bitrate || bt.tq)
180 addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
181 if (cm.mask)
182 addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm));
183
184 return 0;
185 }
186
187 static const char *can_state_names[] = {
188 [CAN_STATE_ERROR_ACTIVE] = "ERROR-ACTIVE",
189 [CAN_STATE_ERROR_WARNING] = "ERROR-WARNING",
190 [CAN_STATE_ERROR_PASSIVE] = "ERROR-PASSIVE",
191 [CAN_STATE_BUS_OFF] = "BUS-OFF",
192 [CAN_STATE_STOPPED] = "STOPPED",
193 [CAN_STATE_SLEEPING] = "SLEEPING"
194 };
195
can_print_opt(struct link_util * lu,FILE * f,struct rtattr * tb[])196 static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
197 {
198 if (!tb)
199 return;
200
201 if (tb[IFLA_CAN_CTRLMODE]) {
202 struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]);
203
204 if (cm->flags)
205 print_ctrlmode(f, cm->flags);
206 }
207
208 if (tb[IFLA_CAN_STATE]) {
209 int *state = RTA_DATA(tb[IFLA_CAN_STATE]);
210
211 fprintf(f, "state %s ", *state <= CAN_STATE_MAX ?
212 can_state_names[*state] : "UNKNOWN");
213 }
214
215 if (tb[IFLA_CAN_BERR_COUNTER]) {
216 struct can_berr_counter *bc =
217 RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]);
218
219 fprintf(f, "(berr-counter tx %d rx %d) ", bc->txerr, bc->rxerr);
220 }
221
222 if (tb[IFLA_CAN_RESTART_MS]) {
223 __u32 *restart_ms = RTA_DATA(tb[IFLA_CAN_RESTART_MS]);
224
225 fprintf(f, "restart-ms %d ", *restart_ms);
226 }
227
228 if (tb[IFLA_CAN_BITTIMING]) {
229 struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);
230
231 fprintf(f, "\n "
232 "bitrate %d sample-point %.3f ",
233 bt->bitrate, (float)bt->sample_point / 1000.);
234 fprintf(f, "\n "
235 "tq %d prop-seg %d phase-seg1 %d phase-seg2 %d sjw %d",
236 bt->tq, bt->prop_seg, bt->phase_seg1, bt->phase_seg2,
237 bt->sjw);
238 }
239
240 if (tb[IFLA_CAN_BITTIMING_CONST]) {
241 struct can_bittiming_const *btc =
242 RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);
243
244 fprintf(f, "\n "
245 "%s: tseg1 %d..%d tseg2 %d..%d "
246 "sjw 1..%d brp %d..%d brp-inc %d",
247 btc->name, btc->tseg1_min, btc->tseg1_max,
248 btc->tseg2_min, btc->tseg2_max, btc->sjw_max,
249 btc->brp_min, btc->brp_max, btc->brp_inc);
250 }
251
252 if (tb[IFLA_CAN_CLOCK]) {
253 struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);
254
255 fprintf(f, "\n clock %d", clock->freq);
256 }
257
258 }
259
can_print_xstats(struct link_util * lu,FILE * f,struct rtattr * xstats)260 static void can_print_xstats(struct link_util *lu,
261 FILE *f, struct rtattr *xstats)
262 {
263 struct can_device_stats *stats;
264
265 if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) {
266 stats = RTA_DATA(xstats);
267 fprintf(f, "\n "
268 "re-started bus-errors arbit-lost "
269 "error-warn error-pass bus-off");
270 fprintf(f, "\n %-10d %-10d %-10d %-10d %-10d %-10d",
271 stats->restarts, stats->bus_error,
272 stats->arbitration_lost, stats->error_warning,
273 stats->error_passive, stats->bus_off);
274 }
275 }
276
277 struct link_util can_link_util = {
278 .id = "can",
279 .maxattr = IFLA_CAN_MAX,
280 .parse_opt = can_parse_opt,
281 .print_opt = can_print_opt,
282 .print_xstats = can_print_xstats,
283 };
284