apix_can_example: Add CANFD support to configure data bitrate

This commit adds CANFD support to configure the data bitrate and
to enable the CANFD feature.

Signed-off-by: Mike Engel <Mike.Engel@digi.com>

https://jira.digi.com/browse/DEL-6588

apix-can-examples/README.md

@@ -63,8 +63,14 @@ Once the binary is in the target, launch the application:
 		Usage: %s -i <can-iface> -b <bitrate> [options]"
 		-i <can-iface>      Name of the CAN interface"
 		-b <bitrate>        Bitrate to use (Hz)"
+		"-s <sample-ponit>  Bitrate Sample Point\n"
 		-f <filters>        Comma-separated filter list in the format"
 		                    id:mask (id and mask values in hex)"
+		"-o                  Enable CAN FD support\n"
+		"--- CAN FD options ---\n"
+		"  -d <dbitrate>      Maximum data bitrate for CAN FD (Hz)\n"
+		"  -a <dsample-point> CAN FD data bitate sample point\n"
+		"---\n"
 		-p                  Print message info"
 		-c                  Print message counter"
 		-h                  Help"
@@ -89,10 +95,16 @@ Example application using libdigiapix CAN support"
 		"Usage: %s -i <can-iface> -b <bitrate> [options]"
 		"-i <can-iface>      Name of the CAN interface"
 		"-b <bitrate>        Bitrate to use (Hz)"
+		"-s <sample_point>   CAN bitrate sample point\n"
 		"-n <num_msgs>       Number of messages to send (default 1)"
 		"-t <delay>          Inter frame delay in ms (default 100)"
 		"-I <msg_id>         Message id in hex (default 123)"
 		"-l <data_length>    Payload length (default 8)"
+		"-o                  Enable CAN FD support\n"
+		"--- CAN FD options ---\n"
+		"  -d <dbitrate>      Maximum data bitrate for CAN FD (Hz)\n"
+		"  -p <dsample-point> CAN FD data bitate sample point\n"
+		"---\n"
 		"-r                  Generate a random ID (will ignore the -I parameter)"
 		"-p                  Generate a random payload (will ignore the -l parameter)"
 		"-e                  Use extended id"

apix-can-examples/can-recv-example.c

@@ -49,8 +49,14 @@ static void usage_and_exit(char *name, int exitval)
 		"Usage: %s -i <can-iface> -b <bitrate> [options]\n\n"
 		"-i <can-iface>      Name of the CAN interface\n"
 		"-b <bitrate>        Bitrate to use (Hz)\n"
+		"-s <sample-point>   Bitrate Sample Point\n"
 		"-f <filters>        Comma-separated filter list in the format\n"
 		"                    id:mask (id and mask values in hex)\n"
+		"-o                  Enable CAN FD support\n"
+		"--- CAN FD options ---\n"
+		"  -d <dbitrate>      Maximum data bitrate for CAN FD (Hz)\n"
+		"  -a <dsample-point> CAN FD data bitate sample point\n"
+		"---\n"
 		"-p                  Print message info\n"
 		"-c                  Print message counter\n"
 		"-h                  Help\n"
@@ -58,7 +64,8 @@ static void usage_and_exit(char *name, int exitval)
 		"Examples:\n"
 		"%s -i can0 -b 500000 -f 023:fff,006:00f\n"
 		"%s -i can1 -b 100000\n"
-		"\n", name, name, name);
+		"%s -i can1 -b 100000 -d 100000 -o -p\n"
+		"\n", name, name, name, name);
 
 	exit(exitval);
 }
@@ -201,6 +208,7 @@ int main(int argc, char **argv)
 	int nfilters = 0;
 	int opt;
 	int ret;
+	float sp = 0.0;
 	struct can_filter deffilter;
 
 	deffilter.can_id = 0;
@@ -212,7 +220,7 @@ int main(int argc, char **argv)
 
 	ldx_can_set_defconfig(&ifcfg);
 
-	while ((opt = getopt(argc, argv, "i:b:f:pc")) > 0) {
+	while ((opt = getopt(argc, argv, "i:b:f:d:s:a:opc")) > 0) {
 		switch (opt) {
 		case 'i':
 			iface = optarg;
@@ -222,6 +230,20 @@ int main(int argc, char **argv)
 			ifcfg.bitrate = strtoul(optarg, NULL, 10);
 			break;
 
+		case 'd':
+			ifcfg.dbitrate = strtoul(optarg, NULL, 10);
+			break;
+
+		case 's':
+			sp = strtof(optarg, NULL);
+			ifcfg.bit_timing.sample_point = (__u32)(sp * 1000);
+			break;
+
+		case 'a':
+			sp = strtof(optarg, NULL);
+			ifcfg.dbit_timing.sample_point = (__u32)(sp * 1000);
+			break;
+
 		case 'f':
 			ret = parse_filters(optarg, &cfilter, &nfilters);
 			if (ret) {
@@ -230,6 +252,10 @@ int main(int argc, char **argv)
 			}
 			break;
 
+		case 'o':
+			ifcfg.canfd_enabled = true;
+			break;
+
 		case 'p':
 			prn_msg_info = true;
 			break;

apix-can-examples/can-send-example.c

@@ -61,19 +61,26 @@ static void usage_and_exit(char *name, int exitval)
 		"Usage: %s -i <can-iface> -b <bitrate> [options]\n\n"
 		"-i <can-iface>      Name of the CAN interface\n"
 		"-b <bitrate>        Bitrate to use (Hz)\n"
+		"-s <sample-point>   CAN bitrate sample point\n"
 		"-n <num_msgs>       Number of messages to send (default 1)\n"
 		"-t <delay>          Inter frame delay in ms (default 100)\n"
 		"-I <msg_id>         Message id in hex (default 123)\n"
 		"-l <data_length>    Payload length (default 8)\n"
+		"-o                  Enable CAN FD support\n"
+		"--- CAN FD options ---\n"
+		"  -d <dbitrate>      Maximum data bitrate for CAN FD (Hz)\n"
+		"  -p <dsample-point> CAN FD data bitate sample point\n"
+		"---\n"
 		"-r                  Generate a random ID (will ignore the -I parameter)\n"
-		"-p                  Generate a random payload (will ignore the -l parameter)\n"
+		"-c                  Generate a random payload (will ignore the -l parameter)\n"
 		"-e                  Use extended id\n"
 		"-R                  Set RTR\n"
 		"\n"
 		"Examples:\n"
 		"%s -i can0 -b 500000 -n 100 -R\n"
 		"%s -i can1 -b 100000\n"
-		"\n", name, name, name);
+		"%s -i can1 -b 100000 -d 100000 -n 10 -o\n"
+		"\n", name, name, name, name);
 
 	exit(exitval);
 }
@@ -180,6 +187,7 @@ int main(int argc, char **argv)
 	uint32_t msg_id = 0x123;
 	uint8_t msg_len = 8;
 	uint8_t flags = 0;
+	float sp = 0.0;
 	struct canfd_frame frame;
 
 	srand (time(NULL));
@@ -190,7 +198,7 @@ int main(int argc, char **argv)
 
 	ldx_can_set_defconfig(&ifcfg);
 
-	while ((opt = getopt(argc, argv, "i:b:n:t:I:l:erRp")) > 0) {
+	while ((opt = getopt(argc, argv, "i:b:n:t:I:l:a:d:s:t:oerRc")) > 0) {
 		switch (opt) {
 		case 'i':
 			iface = optarg;
@@ -200,6 +208,10 @@ int main(int argc, char **argv)
 			ifcfg.bitrate = strtoul(optarg, NULL, 10);
 			break;
 
+		case 'd':
+			ifcfg.dbitrate = strtoul(optarg, NULL, 10);
+			break;
+
 		case 'n':
 			num_msgs = strtoul(optarg, NULL, 10);
 			break;
@@ -208,6 +220,16 @@ int main(int argc, char **argv)
 			ms_delay = strtoul(optarg, NULL, 10);
 			break;
 
+		case 's':
+			sp = strtof(optarg, NULL);
+			ifcfg.bit_timing.sample_point = (__u32)(sp * 1000);
+			break;
+
+		case 'a':
+			sp = strtof(optarg, NULL);
+			ifcfg.dbit_timing.sample_point = (__u32)(sp * 1000);
+			break;
+
 		case 'I':
 			msg_id = strtoul(optarg, NULL, 16);
 			break;
@@ -220,6 +242,10 @@ int main(int argc, char **argv)
 			flags |= EXT_ID_MASK;
 			break;
 
+		case 'o':
+			ifcfg.canfd_enabled = true;
+			break;
+
 		case 'r':
 			flags |= RANDOM_ID_MASK;
 			break;
@@ -228,7 +254,7 @@ int main(int argc, char **argv)
 			flags |= RTR_BIT_MASK;
 			break;
 
-		case 'p':
+		case 'c':
 			flags |= RANDOM_DLC_MASK;
 			break;