iproute2: Support for the CAN netlink
Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
This commit is contained in:
Wolfgang Grandegger
Stephen Hemminger
parent
ed1af7e868
commit
5a2044782b
|
|
@ -0,0 +1,113 @@
|
|||
/*
|
||||
* 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 */
|
||||
|
|
@ -2,7 +2,7 @@ IPOBJ=ip.o ipaddress.o ipaddrlabel.o iproute.o iprule.o \
|
|||
rtm_map.o iptunnel.o ip6tunnel.o tunnel.o ipneigh.o ipntable.o iplink.o \
|
||||
ipmaddr.o ipmonitor.o ipmroute.o ipprefix.o \
|
||||
ipxfrm.o xfrm_state.o xfrm_policy.o xfrm_monitor.o \
|
||||
iplink_vlan.o link_veth.o link_gre.o
|
||||
iplink_vlan.o link_veth.o link_gre.o iplink_can.o
|
||||
|
||||
RTMONOBJ=rtmon.o
|
||||
|
||||
|
|
|
|||
|
|
@ -72,7 +72,7 @@ void iplink_usage(void)
|
|||
|
||||
if (iplink_have_newlink()) {
|
||||
fprintf(stderr, "\n");
|
||||
fprintf(stderr, "TYPE := { vlan | veth | vcan | dummy | ifb | macvlan }\n");
|
||||
fprintf(stderr, "TYPE := { vlan | veth | vcan | dummy | ifb | macvlan | can }\n");
|
||||
}
|
||||
exit(-1);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,264 @@
|
|||
/*
|
||||
* 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,
|
||||
};
|
||||
Loading…
Reference in New Issue