332 lines
10 KiB
Diff
332 lines
10 KiB
Diff
From: Mike Engel <Mike.Engel@digi.com>
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Date: Wed, 5 Jun 2019 12:26:37 +0200
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Subject: [PATCH] libsocketcan: Get and set CAN FD data bitrate
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The current libsocketcan library doesn't include support to configure
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the data bitrate. This patch has been applied from the following e-mail
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thread
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https://www.spinics.net/lists/linux-can/msg00388.html
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Signed-off-by: Mike Engel <Mike.Engel@digi.com>
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---
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include/libsocketcan.h | 5 ++
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src/libsocketcan.c | 235 +++++++++++++++++++++++++++++++++++++++++++++++--
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2 files changed, 235 insertions(+), 5 deletions(-)
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diff --git a/include/libsocketcan.h b/include/libsocketcan.h
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index 1603a7b..f503ebc 100644
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--- a/include/libsocketcan.h
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+++ b/include/libsocketcan.h
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@@ -43,6 +43,9 @@ int can_set_bittiming(const char *name, struct can_bittiming *bt);
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int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm);
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int can_set_bitrate(const char *name, __u32 bitrate);
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int can_set_bitrate_samplepoint(const char *name, __u32 bitrate, __u32 sample_point);
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+int can_set_data_bittiming(const char *name, struct can_bittiming *databt);
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+int can_set_data_bitrate(const char *name, __u32 bitrate);
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+int can_set_data_bitrate_samplepoint(const char *name, __u32 bitrate, __u32 sample_point);
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int can_get_restart_ms(const char *name, __u32 *restart_ms);
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int can_get_bittiming(const char *name, struct can_bittiming *bt);
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@@ -51,6 +54,8 @@ int can_get_state(const char *name, int *state);
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int can_get_clock(const char *name, struct can_clock *clock);
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int can_get_bittiming_const(const char *name, struct can_bittiming_const *btc);
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int can_get_berr_counter(const char *name, struct can_berr_counter *bc);
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+int can_get_data_bittiming(const char *name, struct can_bittiming *bt);
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+int can_get_data_bittiming_const(const char *name, struct can_bittiming_const *btc);
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int can_get_device_stats(const char *name, struct can_device_stats *cds);
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int can_get_link_stats(const char *name, struct rtnl_link_stats64 *rls);
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diff --git a/src/libsocketcan.c b/src/libsocketcan.c
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index c802849..648b9cf 100644
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--- a/src/libsocketcan.c
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+++ b/src/libsocketcan.c
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@@ -66,6 +66,8 @@
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#define GET_BERR_COUNTER 7
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#define GET_XSTATS 8
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#define GET_LINK_STATS 9
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+#define GET_DATA_BITTIMING 10
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+#define GET_DATA_BITTIMING_CONST 11
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struct get_req {
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struct nlmsghdr n;
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@@ -84,6 +86,7 @@ struct req_info {
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__u32 restart_ms;
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struct can_ctrlmode *ctrlmode;
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struct can_bittiming *bittiming;
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+ struct can_bittiming *databittiming;
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};
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/**
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@@ -528,6 +531,26 @@ static int do_get_nl_link(int fd, __u8 acquire, const char *name, void *res)
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fprintf(stderr, "no berr_counter data found\n");
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break;
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+ case GET_DATA_BITTIMING:
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+ if (can_attr[IFLA_CAN_DATA_BITTIMING]) {
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+ memcpy(res,
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+ RTA_DATA(can_attr[IFLA_CAN_DATA_BITTIMING]),
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+ sizeof(struct can_bittiming));
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+ ret = 0;
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+ } else
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+ fprintf(stderr, "no data_bittiming data found\n");
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+
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+ break;
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+ case GET_DATA_BITTIMING_CONST:
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+ if (can_attr[IFLA_CAN_DATA_BITTIMING_CONST]) {
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+ memcpy(res,
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+ RTA_DATA(can_attr[IFLA_CAN_DATA_BITTIMING_CONST]),
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+ sizeof(struct can_bittiming_const));
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+ ret = 0;
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+ } else
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+ fprintf(stderr, "no data_bittiming_const data found\n");
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+
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+ break;
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default:
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fprintf(stderr, "unknown acquire mode\n");
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@@ -648,6 +671,12 @@ static int do_set_nl_link(int fd, __u8 if_state, const char *name,
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sizeof(struct can_bittiming));
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}
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+ if (req_info->databittiming != NULL) {
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+ addattr_l(&req.n, 1024, IFLA_CAN_DATA_BITTIMING,
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+ req_info->databittiming,
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+ sizeof(struct can_bittiming));
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+ }
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+
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if (req_info->ctrlmode != NULL) {
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addattr_l(&req.n, 1024, IFLA_CAN_CTRLMODE,
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req_info->ctrlmode,
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@@ -870,6 +899,73 @@ int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm)
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}
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/**
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+ * @internal
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+ * set_bittiming - common helper function to setup the bittiming for
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+ * can_set_bittiming() and can_set_data_bittiming().
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+ *
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+ * @param name name of the can device. This is the netdev name, as ifconfig -a shows
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+ * in your system. usually it contains prefix "can" and the numer of the can
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+ * line. e.g. "can0"
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+ *
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+ * @param bitTiming pointer to a can_bittiming struct, configures the arbitration
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+ * bit timing
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+ *
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+ * @param dataBitTiming pointer to a can_bittiming struct, configures the data
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+ * bit timing
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+ *
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+ * @return 0 if success
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+ * @return -1 if failed
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+ */
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+static int set_bittiming(const char *name, struct can_bittiming *bitTiming,
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+ struct can_bittiming *dataBitTiming)
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+{
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+ struct can_bittiming keepBitTiming = {0};
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+
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+ struct can_ctrlmode ctrlmode_fd = {
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+ .mask = CAN_CTRLMODE_FD,
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+ .flags = CAN_CTRLMODE_FD
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+ };
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+
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+ struct req_info req_info = {
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+ .bittiming = bitTiming
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+ };
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+
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+ int result = 0;
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+
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+ if (bitTiming && dataBitTiming) {
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+ req_info.databittiming = dataBitTiming;
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+ req_info.ctrlmode = &ctrlmode_fd;
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+ } else if (dataBitTiming) {
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+ /* set data bitrate and keep arbitration bitrate */
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+ result = can_get_bittiming(name, &keepBitTiming);
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+ keepBitTiming.bitrate = 0;
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+ req_info.bittiming = &keepBitTiming;
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+ req_info.databittiming = dataBitTiming;
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+ req_info.ctrlmode = &ctrlmode_fd;
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+ } else if (bitTiming) {
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+ /* set arbitration bitrate and keep data bitrate if set */
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+ struct can_ctrlmode cm = {0};
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+
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+ result = can_get_ctrlmode(name, &cm);
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+ if (result == 0 && cm.flags & CAN_CTRLMODE_FD) {
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+ result = can_get_data_bittiming(name, &keepBitTiming);
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+ if (result == 0 && keepBitTiming.bitrate) {
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+ keepBitTiming.bitrate = 0;
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+ req_info.databittiming = &keepBitTiming;
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+ req_info.ctrlmode = &ctrlmode_fd;
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+ }
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+ }
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+ } else {
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+ result = -1;
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+ }
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+
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+ if (result == -1)
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+ return result;
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+
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+ return set_link(name, 0, &req_info);
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+}
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+
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+/**
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* @ingroup extern
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* can_set_bittiming - setup the bittiming.
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*
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@@ -909,11 +1005,7 @@ int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm)
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int can_set_bittiming(const char *name, struct can_bittiming *bt)
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{
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- struct req_info req_info = {
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- .bittiming = bt,
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- };
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-
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- return set_link(name, 0, &req_info);
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+ return set_bittiming(name, bt, NULL);
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}
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/**
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@@ -976,6 +1068,81 @@ int can_set_bitrate_samplepoint(const char *name, __u32 bitrate,
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/**
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* @ingroup extern
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+ * can_set_data_bittiming - setup the data bittiming.
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+ *
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+ * @param name name of the can device. This is the netdev name, as ifconfig -a shows
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+ * in your system. usually it contains prefix "can" and the numer of the can
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+ * line. e.g. "can0"
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+ * @param bt pointer to a can_bittiming struct
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+ *
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+ * This sets the data bittiming of the can device. This is for advantage usage.
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+ *
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+ * Please see can_set_bittiming for more information about bit timing.
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+ *
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+ * @return 0 if success
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+ * @return -1 if failed
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+ */
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+int can_set_data_bittiming(const char *name, struct can_bittiming *databt)
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+{
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+ return set_bittiming(name, NULL, databt);
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+}
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+
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+/**
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+ * @ingroup extern
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+ * can_set_data_bitrate - setup the data bitrate.
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+ *
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+ * @param name name of the can device. This is the netdev name, as ifconfig -a shows
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+ * in your system. usually it contains prefix "can" and the numer of the can
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+ * line. e.g. "can0"
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+ * @param bitrate data bitrate of the can bus
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+ *
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+ * This is the recommended way to setup the bus bit timing. You only have to
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+ * give a bitrate value here. The exact bit timing will be calculated
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+ * automatically. To use this function, make sure that CONFIG_CAN_CALC_BITTIMING
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+ * is set to y in your kernel configuration.
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+ *
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+ * @return 0 if success
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+ * @return -1 if failed
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+ */
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+int can_set_data_bitrate(const char *name, __u32 bitrate)
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+{
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+ struct can_bittiming bt = {
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+ .bitrate = bitrate,
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+ };
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+
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+ return can_set_data_bittiming(name, &bt);
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+}
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+
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+/**
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+ * @ingroup extern
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+ * can_set_data_bitrate_samplepoint - setup the data bitrate.
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+ *
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+ * @param name name of the can device. This is the netdev name, as ifconfig -a shows
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+ * in your system. usually it contains prefix "can" and the numer of the can
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+ * line. e.g. "can0"
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+ * @param bitrate data bitrate of the can bus
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+ * @param sample_point sample point value
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+ *
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+ * This one is similar to can_set_date_bitrate, only you can additionally set up the
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+ * time point for sampling (sample point) customly instead of using the
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+ * CIA recommended value. sample_point can be a value between 0 and 999.
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+ *
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+ * @return 0 if success
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+ * @return -1 if failed
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+ */
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+int can_set_data_bitrate_samplepoint(const char *name, __u32 bitrate,
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+ __u32 sample_point)
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+{
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+ struct can_bittiming bt = {
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+ bt.bitrate = bitrate,
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+ bt.sample_point = sample_point,
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+ };
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+
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+ return can_set_data_bittiming(name, &bt);
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+}
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+
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+/**
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+ * @ingroup extern
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* can_get_state - get the current state of the device
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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@@ -1205,3 +1372,61 @@ int can_get_link_stats(const char *name, struct rtnl_link_stats64 *rls)
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{
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return get_link(name, GET_LINK_STATS, rls);
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}
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+
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+/**
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+ * @ingroup extern
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+ * can_get_data_bittiming - get the current data bit timing configuration.
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+ *
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+ * @param name name of the can device. This is the netdev name, as ifconfig -a shows
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+ * in your system. usually it contains prefix "can" and the numer of the can
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+ * line. e.g. "can0"
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+ * @param bt pointer to the bittiming struct.
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+ *
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+ * This one stores the current data bittiming configuration.
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+ *
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+ * Please see can_set_bittiming for more information about bit timing.
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+ *
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+ * @return 0 if success
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+ * @return -1 if failed
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+ */
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+int can_get_data_bittiming(const char *name, struct can_bittiming *bt)
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+{
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+ return get_link(name, GET_DATA_BITTIMING, bt);
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+}
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+
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+/**
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+ * @ingroup extern
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+ * can_get_data_bittiming_const - get the current data bit timing constant.
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+ *
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+ * @param name name of the can device. This is the netdev name, as ifconfig -a shows
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+ * in your system. usually it contains prefix "can" and the numer of the can
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+ * line. e.g. "can0"
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+ * @param btc pointer to the bittiming constant struct.
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+ *
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+ * This one stores the hardware dependent data bittiming constant. The
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+ * can_bittiming_const struct consists:
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+ *
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+ * @code
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+ * struct can_bittiming_const {
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+ * char name[16];
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+ * __u32 tseg1_min;
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+ * __u32 tseg1_max;
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+ * __u32 tseg2_min;
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+ * __u32 tseg2_max;
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+ * __u32 sjw_max;
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+ * __u32 brp_min;
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+ * __u32 brp_max;
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+ * __u32 brp_inc;
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+ * };
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+ * @endcode
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+ *
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+ * The information in this struct is used to calculate the bus bit timing
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+ * automatically.
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+ *
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+ * @return 0 if success
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+ * @return -1 if failed
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+ */
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+int can_get_data_bittiming_const(const char *name, struct can_bittiming_const *btc)
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+{
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+ return get_link(name, GET_DATA_BITTIMING_CONST, btc);
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+}
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