From: Lars Elgtvedt Susaas <larssusaas@xxxxxxxxx> Imported from https://bitbucket.org/nimrof/canfestival-3-asc Tested with a PCAN USB Pro FD and Kernel 4.9.0. Done-with: Andre Hartmann <aha_1980@xxxxxx> Signed-off-by: Lars Susaas <larssusaas@xxxxxxxxx> Signed-off-by: Andre Hartmann <aha_1980@xxxxxx> --- README | 2 + include/libsocketcan.h | 5 ++ src/libsocketcan.c | 233 +++++++++++++++++++++++++++++++++++++++++++++++-- 3 files changed, 235 insertions(+), 5 deletions(-) diff --git a/README b/README index 02b2453..90f8fdb 100644 --- a/README +++ b/README @@ -7,6 +7,8 @@ Dependencies: ------------------------------------------------------------------------------- A recent kernel with integrated SocketCAN (at least 2.6.30) +To use the CAN FD data bitrate functions, at least Kernel 3.15 is needed. + Building: ------------------------------------------------------------------------------- Please refer to the INSTALL file diff --git a/include/libsocketcan.h b/include/libsocketcan.h index 1603a7b..f503ebc 100644 --- a/include/libsocketcan.h +++ b/include/libsocketcan.h @@ -43,6 +43,9 @@ int can_set_bittiming(const char *name, struct can_bittiming *bt); int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm); int can_set_bitrate(const char *name, __u32 bitrate); int can_set_bitrate_samplepoint(const char *name, __u32 bitrate, __u32 sample_point); +int can_set_data_bittiming(const char *name, struct can_bittiming *databt); +int can_set_data_bitrate(const char *name, __u32 bitrate); +int can_set_data_bitrate_samplepoint(const char *name, __u32 bitrate, __u32 sample_point); int can_get_restart_ms(const char *name, __u32 *restart_ms); int can_get_bittiming(const char *name, struct can_bittiming *bt); @@ -51,6 +54,8 @@ int can_get_state(const char *name, int *state); int can_get_clock(const char *name, struct can_clock *clock); int can_get_bittiming_const(const char *name, struct can_bittiming_const *btc); int can_get_berr_counter(const char *name, struct can_berr_counter *bc); +int can_get_data_bittiming(const char *name, struct can_bittiming *bt); +int can_get_data_bittiming_const(const char *name, struct can_bittiming_const *btc); int can_get_device_stats(const char *name, struct can_device_stats *cds); int can_get_link_stats(const char *name, struct rtnl_link_stats64 *rls); diff --git a/src/libsocketcan.c b/src/libsocketcan.c index c802849..d3e3ee6 100644 --- a/src/libsocketcan.c +++ b/src/libsocketcan.c @@ -66,6 +66,8 @@ #define GET_BERR_COUNTER 7 #define GET_XSTATS 8 #define GET_LINK_STATS 9 +#define GET_DATA_BITTIMING 10 +#define GET_DATA_BITTIMING_CONST 11 struct get_req { struct nlmsghdr n; @@ -84,6 +86,7 @@ struct req_info { __u32 restart_ms; struct can_ctrlmode *ctrlmode; struct can_bittiming *bittiming; + struct can_bittiming *databittiming; }; /** @@ -528,6 +531,26 @@ static int do_get_nl_link(int fd, __u8 acquire, const char *name, void *res) fprintf(stderr, "no berr_counter data found\n"); break; + case GET_DATA_BITTIMING: + if (can_attr[IFLA_CAN_DATA_BITTIMING]) { + memcpy(res, + RTA_DATA(can_attr[IFLA_CAN_DATA_BITTIMING]), + sizeof(struct can_bittiming)); + ret = 0; + } else + fprintf(stderr, "no bittiming_const data found\n"); + + break; + case GET_DATA_BITTIMING_CONST: + if (can_attr[IFLA_CAN_DATA_BITTIMING_CONST]) { + memcpy(res, + RTA_DATA(can_attr[IFLA_CAN_DATA_BITTIMING_CONST]), + sizeof(struct can_bittiming_const)); + ret = 0; + } else + fprintf(stderr, "no data_bittiming_const data found\n"); + + break; default: fprintf(stderr, "unknown acquire mode\n"); @@ -648,6 +671,12 @@ static int do_set_nl_link(int fd, __u8 if_state, const char *name, sizeof(struct can_bittiming)); } + if (req_info->databittiming != NULL) { + addattr_l(&req.n, 1024, IFLA_CAN_DATA_BITTIMING, + req_info->databittiming, + sizeof(struct can_bittiming)); + } + if (req_info->ctrlmode != NULL) { addattr_l(&req.n, 1024, IFLA_CAN_CTRLMODE, req_info->ctrlmode, @@ -870,6 +899,71 @@ int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm) } /** + * @internal + * set_bittiming - common helper function to setup the bittiming for + * can_set_bittiming() and can_set_data_bittiming(). + * + * @param name name of the can device. This is the netdev name, as ifconfig -a shows + * in your system. usually it contains prefix "can" and the numer of the can + * line. e.g. "can0" + * + * @param bitTiming pointer to a can_bittiming struct, configures the arbitration + * bit timing + * + * @param dataBitTiming pointer to a can_bittiming struct, configures the data + * bit timing + * + * @return 0 if success + * @return -1 if failed + */ +static int set_bittiming(const char *name, struct can_bittiming *bitTiming, + struct can_bittiming *dataBitTiming) +{ + struct can_bittiming keepBitTiming = {0}; + + struct can_ctrlmode ctrlmode_fd = { + .mask = CAN_CTRLMODE_FD, + .flags = CAN_CTRLMODE_FD + }; + + struct req_info req_info = { + .bittiming = bitTiming + }; + + int result = 0; + if (bitTiming && dataBitTiming) { + req_info.databittiming = dataBitTiming; + req_info.ctrlmode = &ctrlmode_fd; + } else if (dataBitTiming) { + /* set data bitrate and keep arbitration bitrate */ + result = can_get_bittiming(name, &keepBitTiming); + keepBitTiming.bitrate = 0; + req_info.bittiming = &keepBitTiming; + req_info.databittiming = dataBitTiming; + req_info.ctrlmode = &ctrlmode_fd; + } else if (bitTiming) { + /* set arbitration bitrate and keep data bitrate if set */ + struct can_ctrlmode cm = {0}; + result = can_get_ctrlmode(name, &cm); + if (result == 0 && cm.flags & CAN_CTRLMODE_FD) { + result = can_get_data_bittiming(name, &keepBitTiming); + if (result == 0 && keepBitTiming.bitrate) { + keepBitTiming.bitrate = 0; + req_info.databittiming = &keepBitTiming; + req_info.ctrlmode = &ctrlmode_fd; + } + } + } else { + result = -1; + } + + if (result == -1) + return result; + + return set_link(name, 0, &req_info); +} + +/** * @ingroup extern * can_set_bittiming - setup the bittiming. * @@ -909,11 +1003,7 @@ int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm) int can_set_bittiming(const char *name, struct can_bittiming *bt) { - struct req_info req_info = { - .bittiming = bt, - }; - - return set_link(name, 0, &req_info); + return set_bittiming(name, bt, NULL); } /** @@ -976,6 +1066,81 @@ int can_set_bitrate_samplepoint(const char *name, __u32 bitrate, /** * @ingroup extern + * can_set_data_bittiming - setup the data bittiming. + * + * @param name name of the can device. This is the netdev name, as ifconfig -a shows + * in your system. usually it contains prefix "can" and the numer of the can + * line. e.g. "can0" + * @param bt pointer to a can_bittiming struct + * + * This sets the data bittiming of the can device. This is for advantage usage. + * + * Please see can_set_bittiming for more information about bit timing. + * + * @return 0 if success + * @return -1 if failed + */ +int can_set_data_bittiming(const char *name, struct can_bittiming *databt) +{ + return set_bittiming(name, NULL, databt); +} + +/** + * @ingroup extern + * can_set_data_bitrate - setup the data bitrate. + * + * @param name name of the can device. This is the netdev name, as ifconfig -a shows + * in your system. usually it contains prefix "can" and the numer of the can + * line. e.g. "can0" + * @param bitrate data bitrate of the can bus + * + * This is the recommended way to setup the bus bit timing. You only have to + * give a bitrate value here. The exact bit timing will be calculated + * automatically. To use this function, make sure that CONFIG_CAN_CALC_BITTIMING + * is set to y in your kernel configuration. + * + * @return 0 if success + * @return -1 if failed + */ +int can_set_data_bitrate(const char *name, __u32 bitrate) +{ + struct can_bittiming bt = { + .bitrate = bitrate + }; + + return can_set_data_bittiming(name, &bt); +} + +/** + * @ingroup extern + * can_set_data_bitrate_samplepoint - setup the data bitrate. + * + * @param name name of the can device. This is the netdev name, as ifconfig -a shows + * in your system. usually it contains prefix "can" and the numer of the can + * line. e.g. "can0" + * @param bitrate data bitrate of the can bus + * @param sample_point sample point value + * + * This one is similar to can_set_date_bitrate, only you can additionally set up the + * time point for sampling (sample point) customly instead of using the + * CIA recommended value. sample_point can be a value between 0 and 999. + * + * @return 0 if success + * @return -1 if failed + */ +int can_set_data_bitrate_samplepoint(const char *name, __u32 bitrate, + __u32 sample_point) +{ + struct can_bittiming bt = { + .bitrate = bitrate, + .sample_point = sample_point + }; + + return can_set_data_bittiming(name, &bt); +} + +/** + * @ingroup extern * can_get_state - get the current state of the device * * @param name name of the can device. This is the netdev name, as ifconfig -a shows @@ -1161,6 +1326,64 @@ int can_get_berr_counter(const char *name, struct can_berr_counter *bc) /** * @ingroup extern + * can_get_data_bittiming - get the current data bit timing configuration. + * + * @param name name of the can device. This is the netdev name, as ifconfig -a shows + * in your system. usually it contains prefix "can" and the numer of the can + * line. e.g. "can0" + * @param bt pointer to the bittiming struct. + * + * This one stores the current data bittiming configuration. + * + * Please see can_set_bittiming for more information about bit timing. + * + * @return 0 if success + * @return -1 if failed + */ +int can_get_data_bittiming(const char *name, struct can_bittiming *bt) +{ + return get_link(name, GET_DATA_BITTIMING, bt); +} + +/** + * @ingroup extern + * can_get_data_bittiming_const - get the current data bit timing constant. + * + * @param name name of the can device. This is the netdev name, as ifconfig -a shows + * in your system. usually it contains prefix "can" and the numer of the can + * line. e.g. "can0" + * @param btc pointer to the bittiming constant struct. + * + * This one stores the hardware dependent data bittiming constant. The + * can_bittiming_const struct consists: + * + * @code + * struct can_bittiming_const { + * char name[16]; + * __u32 tseg1_min; + * __u32 tseg1_max; + * __u32 tseg2_min; + * __u32 tseg2_max; + * __u32 sjw_max; + * __u32 brp_min; + * __u32 brp_max; + * __u32 brp_inc; + * }; + * @endcode + * + * The information in this struct is used to calculate the bus bit timing + * automatically. + * + * @return 0 if success + * @return -1 if failed + */ +int can_get_data_bittiming_const(const char *name, struct can_bittiming_const *btc) +{ + return get_link(name, GET_DATA_BITTIMING_CONST, btc); +} + +/** + * @ingroup extern * can_get_device_stats - get the can_device_stats. * * @param name name of the can device. This is the netdev name, as ifconfig -a shows -- 2.7.4
