[PATCH 0/2] iproute2: can: support CAN FD control interface

[PATCH 0/2] iproute2: can: support CAN FD control interface

[Oliver Hartkopp]

For CAN FD a new set of bittiming configuration and enabling functions for the
data section is provided by the CAN driver infrastructure.

This patch set allows to configure the newly introduced CAN FD properties.

Tested with PEAK PCAN USB pro FD pilot series hardware.

Oliver Hartkopp (2):
  iproute2: can: fix indention white spaces
  iproute2: can: support CAN FD control interface

 ip/iplink_can.c | 144 +++++++++++++++++++++++++++++++++++++++++---------------
 1 file changed, 107 insertions(+), 37 deletions(-)

-- 
1.9.2

[PATCH 1/2] iproute2: can: fix indention white spaces

[Oliver Hartkopp]

When preparing a patch for CAN FD support these white space issues showed up.
Fix it in the current code to be able to provide a proper follow up patch.

Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
---
 ip/iplink_can.c | 72 ++++++++++++++++++++++++++++-----------------------------
 1 file changed, 36 insertions(+), 36 deletions(-)

diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index 1d3d09c..66e6c0e 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -1,12 +1,12 @@
 /*
  * 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.
+ *		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>
+ * Authors:	Wolfgang Grandegger <wg@grandegger.com>
  */
 
 #include <stdio.h>
@@ -23,27 +23,27 @@ 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[ 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"
-	        "\t[ one-shot { on | off } ]\n"
-	        "\t[ berr-reporting { on | off } ]\n"
+		"\t[ loopback { on | off } ]\n"
+		"\t[ listen-only { on | off } ]\n"
+		"\t[ triple-sampling { on | off } ]\n"
+		"\t[ one-shot { on | off } ]\n"
+		"\t[ berr-reporting { on | off } ]\n"
 		"\n"
-	        "\t[ restart-ms TIME-MS ]\n"
-	        "\t[ restart ]\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"
+		"\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"
 		);
 }
 
@@ -185,12 +185,12 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 }
 
 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"
+	[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[])
@@ -228,10 +228,10 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 	if (tb[IFLA_CAN_BITTIMING]) {
 		struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);
 
-		fprintf(f, "\n    "
+		fprintf(f, "\n	  "
 			"bitrate %d sample-point %.3f ",
-		        bt->bitrate, (float)bt->sample_point / 1000.);
-		fprintf(f, "\n    "
+			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);
@@ -241,10 +241,10 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 		struct can_bittiming_const *btc =
 			RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);
 
-		fprintf(f, "\n    "
+		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->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);
 	}
@@ -252,7 +252,7 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 	if (tb[IFLA_CAN_CLOCK]) {
 		struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);
 
-		fprintf(f, "\n    clock %d", clock->freq);
+		fprintf(f, "\n	  clock %d", clock->freq);
 	}
 
 }
@@ -264,10 +264,10 @@ static void can_print_xstats(struct link_util *lu,
 
 	if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) {
 		stats = RTA_DATA(xstats);
-		fprintf(f, "\n    "
+		fprintf(f, "\n	  "
 			"re-started bus-errors arbit-lost "
 			"error-warn error-pass bus-off");
-		fprintf(f, "\n    %-10d %-10d %-10d %-10d %-10d %-10d",
+		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);
-- 
1.9.2

[PATCH 2/2] iproute2: can: support CAN FD control interface

[Oliver Hartkopp]

For CAN FD a new set of bittiming configuration and enabling functions for the
data section is provided by the CAN driver infrastructure.

This patch allows to configure the newly introduced CAN FD properties.

Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
---
 ip/iplink_can.c | 72 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 71 insertions(+), 1 deletion(-)

diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index 66e6c0e..3bef82a 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -27,11 +27,16 @@ static void usage(void)
 		"\t[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1\n "
 		"\t  phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n"
 		"\n"
+		"\t[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] | \n"
+		"\t[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1\n "
+		"\t  dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]\n"
+		"\n"
 		"\t[ loopback { on | off } ]\n"
 		"\t[ listen-only { on | off } ]\n"
 		"\t[ triple-sampling { on | off } ]\n"
 		"\t[ one-shot { on | off } ]\n"
 		"\t[ berr-reporting { on | off } ]\n"
+		"\t[ fd { on | off } ]\n"
 		"\n"
 		"\t[ restart-ms TIME-MS ]\n"
 		"\t[ restart ]\n"
@@ -88,6 +93,7 @@ static void print_ctrlmode(FILE *f, __u32 cm)
 	_PF(CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING");
 	_PF(CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT");
 	_PF(CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING");
+	_PF(CAN_CTRLMODE_FD, "FD");
 #undef _PF
 	if (cm)
 		fprintf(f, "%x", cm);
@@ -97,10 +103,11 @@ static void print_ctrlmode(FILE *f, __u32 cm)
 static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 			 struct nlmsghdr *n)
 {
-	struct can_bittiming bt;
+	struct can_bittiming bt, dbt;
 	struct can_ctrlmode cm = {0, 0};
 
 	memset(&bt, 0, sizeof(bt));
+	memset(&dbt, 0, sizeof(dbt));
 	while (argc > 0) {
 		if (matches(*argv, "bitrate") == 0) {
 			NEXT_ARG();
@@ -134,6 +141,37 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 			NEXT_ARG();
 			if (get_u32(&bt.sjw, *argv, 0))
 				invarg("invalid \"sjw\" value\n", *argv);
+		} else if (matches(*argv, "dbitrate") == 0) {
+			NEXT_ARG();
+			if (get_u32(&dbt.bitrate, *argv, 0))
+				invarg("invalid \"dbitrate\" value\n", *argv);
+		} else if (matches(*argv, "dsample-point") == 0) {
+			float sp;
+
+			NEXT_ARG();
+			if (get_float(&sp, *argv))
+				invarg("invalid \"dsample-point\" value\n", *argv);
+			dbt.sample_point = (__u32)(sp * 1000);
+		} else if (matches(*argv, "dtq") == 0) {
+			NEXT_ARG();
+			if (get_u32(&dbt.tq, *argv, 0))
+				invarg("invalid \"dtq\" value\n", *argv);
+		} else if (matches(*argv, "dprop-seg") == 0) {
+			NEXT_ARG();
+			if (get_u32(&dbt.prop_seg, *argv, 0))
+				invarg("invalid \"dprop-seg\" value\n", *argv);
+		} else if (matches(*argv, "dphase-seg1") == 0) {
+			NEXT_ARG();
+			if (get_u32(&dbt.phase_seg1, *argv, 0))
+				invarg("invalid \"dphase-seg1\" value\n", *argv);
+		} else if (matches(*argv, "dphase-seg2") == 0) {
+			NEXT_ARG();
+			if (get_u32(&dbt.phase_seg2, *argv, 0))
+				invarg("invalid \"dphase-seg2\" value\n", *argv);
+		} else if (matches(*argv, "dsjw") == 0) {
+			NEXT_ARG();
+			if (get_u32(&dbt.sjw, *argv, 0))
+				invarg("invalid \"dsjw\" value\n", *argv);
 		} else if (matches(*argv, "loopback") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("loopback", *argv, &cm,
@@ -154,6 +192,10 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 			NEXT_ARG();
 			set_ctrlmode("berr-reporting", *argv, &cm,
 				     CAN_CTRLMODE_BERR_REPORTING);
+		} else if (matches(*argv, "fd") == 0) {
+			NEXT_ARG();
+			set_ctrlmode("fd", *argv, &cm,
+				     CAN_CTRLMODE_FD);
 		} else if (matches(*argv, "restart") == 0) {
 			__u32 val = 1;
 
@@ -178,6 +220,8 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 
 	if (bt.bitrate || bt.tq)
 		addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
+	if (dbt.bitrate || dbt.tq)
+		addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt));
 	if (cm.mask)
 		addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm));
 
@@ -249,6 +293,32 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 			btc->brp_min, btc->brp_max, btc->brp_inc);
 	}
 
+	if (tb[IFLA_CAN_DATA_BITTIMING]) {
+		struct can_bittiming *dbt =
+			RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
+
+		fprintf(f, "\n	  "
+			"dbitrate %d dsample-point %.3f ",
+			dbt->bitrate, (float)dbt->sample_point / 1000.);
+		fprintf(f, "\n	  "
+			"dtq %d dprop-seg %d dphase-seg1 %d "
+			"dphase-seg2 %d dsjw %d",
+			dbt->tq, dbt->prop_seg, dbt->phase_seg1,
+			dbt->phase_seg2, dbt->sjw);
+	}
+
+	if (tb[IFLA_CAN_DATA_BITTIMING_CONST]) {
+		struct can_bittiming_const *dbtc =
+			RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);
+
+		fprintf(f, "\n	  "
+			"%s: dtseg1 %d..%d dtseg2 %d..%d "
+			"dsjw 1..%d dbrp %d..%d dbrp-inc %d",
+			dbtc->name, dbtc->tseg1_min, dbtc->tseg1_max,
+			dbtc->tseg2_min, dbtc->tseg2_max, dbtc->sjw_max,
+			dbtc->brp_min, dbtc->brp_max, dbtc->brp_inc);
+	}
+
 	if (tb[IFLA_CAN_CLOCK]) {
 		struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);
 
-- 
1.9.2

Re: [PATCH 0/2] iproute2: can: support CAN FD control interface

[Stephen Hemminger]

On Wed, 23 Apr 2014 19:27:25 +0200
Oliver Hartkopp <socketcan@hartkopp.net> wrote:

> For CAN FD a new set of bittiming configuration and enabling functions for the
> data section is provided by the CAN driver infrastructure.
> 
> This patch set allows to configure the newly introduced CAN FD properties.
> 
> Tested with PEAK PCAN USB pro FD pilot series hardware.
> 
> Oliver Hartkopp (2):
>   iproute2: can: fix indention white spaces
>   iproute2: can: support CAN FD control interface
> 
>  ip/iplink_can.c | 144 +++++++++++++++++++++++++++++++++++++++++---------------
>  1 file changed, 107 insertions(+), 37 deletions(-)
> 

Accepted