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
print_usage(FILE * f)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
usage(void)57 static void usage(void)
58 {
59 print_usage(stderr);
60 }
61
get_float(float * val,const char * arg)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
set_ctrlmode(char * name,char * arg,struct can_ctrlmode * cm,__u32 flags)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
print_ctrlmode(FILE * f,__u32 cm)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
can_parse_opt(struct link_util * lu,int argc,char ** argv,struct nlmsghdr * n)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
can_print_opt(struct link_util * lu,FILE * f,struct rtattr * tb[])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
can_print_xstats(struct link_util * lu,FILE * f,struct rtattr * xstats)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
can_print_help(struct link_util * lu,int argc,char ** argv,FILE * f)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