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594 lines
17 KiB
594 lines
17 KiB
/*
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* iplink_can.c CAN device support
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version
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* 2 of the License, or (at your option) any later version.
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*
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* Authors: Wolfgang Grandegger <wg@grandegger.com>
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <linux/can/netlink.h>
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#include "rt_names.h"
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#include "utils.h"
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#include "ip_common.h"
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static void print_usage(FILE *f)
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{
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fprintf(f,
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"Usage: ip link set DEVICE type can\n"
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"\t[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |\n"
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"\t[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1\n \t phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n"
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"\n"
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"\t[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |\n"
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"\t[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1\n \t dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]\n"
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"\n"
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"\t[ loopback { on | off } ]\n"
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"\t[ listen-only { on | off } ]\n"
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"\t[ triple-sampling { on | off } ]\n"
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"\t[ one-shot { on | off } ]\n"
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"\t[ berr-reporting { on | off } ]\n"
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"\t[ fd { on | off } ]\n"
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"\t[ fd-non-iso { on | off } ]\n"
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"\t[ presume-ack { on | off } ]\n"
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"\n"
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"\t[ restart-ms TIME-MS ]\n"
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"\t[ restart ]\n"
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"\n"
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"\t[ termination { 0..65535 } ]\n"
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"\n"
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"\tWhere: BITRATE := { 1..1000000 }\n"
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"\t SAMPLE-POINT := { 0.000..0.999 }\n"
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"\t TQ := { NUMBER }\n"
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"\t PROP-SEG := { 1..8 }\n"
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"\t PHASE-SEG1 := { 1..8 }\n"
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"\t PHASE-SEG2 := { 1..8 }\n"
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"\t SJW := { 1..4 }\n"
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"\t RESTART-MS := { 0 | NUMBER }\n"
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);
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}
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static void usage(void)
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{
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print_usage(stderr);
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}
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static int get_float(float *val, const char *arg)
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{
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float res;
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char *ptr;
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if (!arg || !*arg)
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return -1;
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res = strtof(arg, &ptr);
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if (!ptr || ptr == arg || *ptr)
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return -1;
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*val = res;
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return 0;
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}
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static void set_ctrlmode(char *name, char *arg,
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struct can_ctrlmode *cm, __u32 flags)
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{
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if (strcmp(arg, "on") == 0) {
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cm->flags |= flags;
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} else if (strcmp(arg, "off") != 0) {
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fprintf(stderr,
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"Error: argument of \"%s\" must be \"on\" or \"off\", not \"%s\"\n",
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name, arg);
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exit(-1);
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}
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cm->mask |= flags;
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}
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static void print_ctrlmode(FILE *f, __u32 cm)
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{
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open_json_array(PRINT_ANY, is_json_context() ? "ctrlmode" : "<");
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#define _PF(cmflag, cmname) \
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if (cm & cmflag) { \
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cm &= ~cmflag; \
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print_string(PRINT_ANY, NULL, cm ? "%s," : "%s", cmname); \
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}
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_PF(CAN_CTRLMODE_LOOPBACK, "LOOPBACK");
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_PF(CAN_CTRLMODE_LISTENONLY, "LISTEN-ONLY");
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_PF(CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING");
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_PF(CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT");
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_PF(CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING");
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_PF(CAN_CTRLMODE_FD, "FD");
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_PF(CAN_CTRLMODE_FD_NON_ISO, "FD-NON-ISO");
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_PF(CAN_CTRLMODE_PRESUME_ACK, "PRESUME-ACK");
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#undef _PF
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if (cm)
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print_hex(PRINT_ANY, NULL, "%x", cm);
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close_json_array(PRINT_ANY, "> ");
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}
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static int can_parse_opt(struct link_util *lu, int argc, char **argv,
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struct nlmsghdr *n)
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{
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struct can_bittiming bt = {}, dbt = {};
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struct can_ctrlmode cm = {0, 0};
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while (argc > 0) {
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if (matches(*argv, "bitrate") == 0) {
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NEXT_ARG();
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if (get_u32(&bt.bitrate, *argv, 0))
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invarg("invalid \"bitrate\" value\n", *argv);
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} else if (matches(*argv, "sample-point") == 0) {
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float sp;
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NEXT_ARG();
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if (get_float(&sp, *argv))
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invarg("invalid \"sample-point\" value\n",
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*argv);
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bt.sample_point = (__u32)(sp * 1000);
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} else if (matches(*argv, "tq") == 0) {
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NEXT_ARG();
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if (get_u32(&bt.tq, *argv, 0))
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invarg("invalid \"tq\" value\n", *argv);
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} else if (matches(*argv, "prop-seg") == 0) {
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NEXT_ARG();
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if (get_u32(&bt.prop_seg, *argv, 0))
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invarg("invalid \"prop-seg\" value\n", *argv);
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} else if (matches(*argv, "phase-seg1") == 0) {
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NEXT_ARG();
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if (get_u32(&bt.phase_seg1, *argv, 0))
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invarg("invalid \"phase-seg1\" value\n", *argv);
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} else if (matches(*argv, "phase-seg2") == 0) {
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NEXT_ARG();
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if (get_u32(&bt.phase_seg2, *argv, 0))
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invarg("invalid \"phase-seg2\" value\n", *argv);
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} else if (matches(*argv, "sjw") == 0) {
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NEXT_ARG();
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if (get_u32(&bt.sjw, *argv, 0))
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invarg("invalid \"sjw\" value\n", *argv);
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} else if (matches(*argv, "dbitrate") == 0) {
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NEXT_ARG();
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if (get_u32(&dbt.bitrate, *argv, 0))
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invarg("invalid \"dbitrate\" value\n", *argv);
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} else if (matches(*argv, "dsample-point") == 0) {
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float sp;
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NEXT_ARG();
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if (get_float(&sp, *argv))
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invarg("invalid \"dsample-point\" value\n", *argv);
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dbt.sample_point = (__u32)(sp * 1000);
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} else if (matches(*argv, "dtq") == 0) {
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NEXT_ARG();
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if (get_u32(&dbt.tq, *argv, 0))
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invarg("invalid \"dtq\" value\n", *argv);
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} else if (matches(*argv, "dprop-seg") == 0) {
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NEXT_ARG();
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if (get_u32(&dbt.prop_seg, *argv, 0))
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invarg("invalid \"dprop-seg\" value\n", *argv);
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} else if (matches(*argv, "dphase-seg1") == 0) {
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NEXT_ARG();
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if (get_u32(&dbt.phase_seg1, *argv, 0))
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invarg("invalid \"dphase-seg1\" value\n", *argv);
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} else if (matches(*argv, "dphase-seg2") == 0) {
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NEXT_ARG();
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if (get_u32(&dbt.phase_seg2, *argv, 0))
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invarg("invalid \"dphase-seg2\" value\n", *argv);
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} else if (matches(*argv, "dsjw") == 0) {
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NEXT_ARG();
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if (get_u32(&dbt.sjw, *argv, 0))
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invarg("invalid \"dsjw\" value\n", *argv);
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} else if (matches(*argv, "loopback") == 0) {
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NEXT_ARG();
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set_ctrlmode("loopback", *argv, &cm,
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CAN_CTRLMODE_LOOPBACK);
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} else if (matches(*argv, "listen-only") == 0) {
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NEXT_ARG();
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set_ctrlmode("listen-only", *argv, &cm,
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CAN_CTRLMODE_LISTENONLY);
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} else if (matches(*argv, "triple-sampling") == 0) {
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NEXT_ARG();
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set_ctrlmode("triple-sampling", *argv, &cm,
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CAN_CTRLMODE_3_SAMPLES);
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} else if (matches(*argv, "one-shot") == 0) {
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NEXT_ARG();
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set_ctrlmode("one-shot", *argv, &cm,
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CAN_CTRLMODE_ONE_SHOT);
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} else if (matches(*argv, "berr-reporting") == 0) {
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NEXT_ARG();
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set_ctrlmode("berr-reporting", *argv, &cm,
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CAN_CTRLMODE_BERR_REPORTING);
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} else if (matches(*argv, "fd") == 0) {
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NEXT_ARG();
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set_ctrlmode("fd", *argv, &cm,
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CAN_CTRLMODE_FD);
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} else if (matches(*argv, "fd-non-iso") == 0) {
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NEXT_ARG();
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set_ctrlmode("fd-non-iso", *argv, &cm,
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CAN_CTRLMODE_FD_NON_ISO);
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} else if (matches(*argv, "presume-ack") == 0) {
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NEXT_ARG();
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set_ctrlmode("presume-ack", *argv, &cm,
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CAN_CTRLMODE_PRESUME_ACK);
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} else if (matches(*argv, "restart") == 0) {
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__u32 val = 1;
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addattr32(n, 1024, IFLA_CAN_RESTART, val);
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} else if (matches(*argv, "restart-ms") == 0) {
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__u32 val;
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NEXT_ARG();
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if (get_u32(&val, *argv, 0))
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invarg("invalid \"restart-ms\" value\n", *argv);
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addattr32(n, 1024, IFLA_CAN_RESTART_MS, val);
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} else if (matches(*argv, "termination") == 0) {
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__u16 val;
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NEXT_ARG();
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if (get_u16(&val, *argv, 0))
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invarg("invalid \"termination\" value\n",
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*argv);
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addattr16(n, 1024, IFLA_CAN_TERMINATION, val);
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} else if (matches(*argv, "help") == 0) {
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usage();
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return -1;
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} else {
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fprintf(stderr, "can: unknown option \"%s\"\n", *argv);
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usage();
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return -1;
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}
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argc--, argv++;
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}
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if (bt.bitrate || bt.tq)
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addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
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if (dbt.bitrate || dbt.tq)
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addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt));
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if (cm.mask)
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addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm));
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return 0;
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}
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static const char *can_state_names[CAN_STATE_MAX] = {
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[CAN_STATE_ERROR_ACTIVE] = "ERROR-ACTIVE",
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[CAN_STATE_ERROR_WARNING] = "ERROR-WARNING",
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[CAN_STATE_ERROR_PASSIVE] = "ERROR-PASSIVE",
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[CAN_STATE_BUS_OFF] = "BUS-OFF",
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[CAN_STATE_STOPPED] = "STOPPED",
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[CAN_STATE_SLEEPING] = "SLEEPING"
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};
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static void can_print_json_timing_min_max(const char *attr, int min, int max)
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{
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open_json_object(attr);
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print_int(PRINT_JSON, "min", NULL, min);
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print_int(PRINT_JSON, "max", NULL, max);
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close_json_object();
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}
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static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
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{
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if (!tb)
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return;
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if (tb[IFLA_CAN_CTRLMODE]) {
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struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]);
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if (cm->flags)
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print_ctrlmode(f, cm->flags);
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}
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if (tb[IFLA_CAN_STATE]) {
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uint32_t state = rta_getattr_u32(tb[IFLA_CAN_STATE]);
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fprintf(f, "state %s ", state < CAN_STATE_MAX ?
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can_state_names[state] : "UNKNOWN");
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}
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if (tb[IFLA_CAN_BERR_COUNTER]) {
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struct can_berr_counter *bc =
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RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]);
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if (is_json_context()) {
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open_json_object("berr_counter");
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print_int(PRINT_JSON, "tx", NULL, bc->txerr);
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print_int(PRINT_JSON, "rx", NULL, bc->rxerr);
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close_json_object();
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} else {
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fprintf(f, "(berr-counter tx %d rx %d) ",
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bc->txerr, bc->rxerr);
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}
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}
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if (tb[IFLA_CAN_RESTART_MS]) {
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__u32 *restart_ms = RTA_DATA(tb[IFLA_CAN_RESTART_MS]);
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print_int(PRINT_ANY,
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"restart_ms",
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"restart-ms %d ",
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*restart_ms);
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}
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/* bittiming is irrelevant if fixed bitrate is defined */
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if (tb[IFLA_CAN_BITTIMING] && !tb[IFLA_CAN_BITRATE_CONST]) {
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struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);
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if (is_json_context()) {
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open_json_object("bittiming");
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print_int(PRINT_ANY, "bitrate", NULL, bt->bitrate);
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jsonw_float_field_fmt(get_json_writer(),
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"sample_point", "%.3f",
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(float) bt->sample_point / 1000.);
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print_int(PRINT_ANY, "tq", NULL, bt->tq);
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print_int(PRINT_ANY, "prop_seg", NULL, bt->prop_seg);
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print_int(PRINT_ANY, "phase_seg1",
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NULL, bt->phase_seg1);
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print_int(PRINT_ANY, "phase_seg2",
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NULL, bt->phase_seg2);
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print_int(PRINT_ANY, "sjw", NULL, bt->sjw);
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close_json_object();
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} else {
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fprintf(f, "\n bitrate %d sample-point %.3f ",
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bt->bitrate, (float) bt->sample_point / 1000.);
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fprintf(f,
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"\n tq %d prop-seg %d phase-seg1 %d phase-seg2 %d sjw %d",
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bt->tq, bt->prop_seg,
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bt->phase_seg1, bt->phase_seg2,
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bt->sjw);
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}
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}
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/* bittiming const is irrelevant if fixed bitrate is defined */
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if (tb[IFLA_CAN_BITTIMING_CONST] && !tb[IFLA_CAN_BITRATE_CONST]) {
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struct can_bittiming_const *btc =
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RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);
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if (is_json_context()) {
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open_json_object("bittiming_const");
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print_string(PRINT_JSON, "name", NULL, btc->name);
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can_print_json_timing_min_max("tseg1",
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btc->tseg1_min,
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btc->tseg1_max);
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can_print_json_timing_min_max("tseg2",
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btc->tseg2_min,
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btc->tseg2_max);
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can_print_json_timing_min_max("sjw", 1, btc->sjw_max);
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can_print_json_timing_min_max("brp",
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btc->brp_min,
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btc->brp_max);
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print_int(PRINT_JSON, "brp_inc", NULL, btc->brp_inc);
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close_json_object();
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} else {
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fprintf(f, "\n %s: tseg1 %d..%d tseg2 %d..%d "
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"sjw 1..%d brp %d..%d brp-inc %d",
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btc->name, btc->tseg1_min, btc->tseg1_max,
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btc->tseg2_min, btc->tseg2_max, btc->sjw_max,
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btc->brp_min, btc->brp_max, btc->brp_inc);
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}
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}
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if (tb[IFLA_CAN_BITRATE_CONST]) {
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__u32 *bitrate_const = RTA_DATA(tb[IFLA_CAN_BITRATE_CONST]);
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int bitrate_cnt = RTA_PAYLOAD(tb[IFLA_CAN_BITRATE_CONST]) /
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sizeof(*bitrate_const);
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int i;
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__u32 bitrate = 0;
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if (tb[IFLA_CAN_BITTIMING]) {
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struct can_bittiming *bt =
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RTA_DATA(tb[IFLA_CAN_BITTIMING]);
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bitrate = bt->bitrate;
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}
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if (is_json_context()) {
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print_uint(PRINT_JSON,
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"bittiming_bitrate",
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NULL, bitrate);
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open_json_array(PRINT_JSON, "bitrate_const");
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for (i = 0; i < bitrate_cnt; ++i)
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print_uint(PRINT_JSON, NULL, NULL,
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bitrate_const[i]);
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close_json_array(PRINT_JSON, NULL);
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} else {
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fprintf(f, "\n bitrate %u", bitrate);
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fprintf(f, "\n [");
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for (i = 0; i < bitrate_cnt - 1; ++i) {
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/* This will keep lines below 80 signs */
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if (!(i % 6) && i)
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fprintf(f, "\n ");
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fprintf(f, "%8u, ", bitrate_const[i]);
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}
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if (!(i % 6) && i)
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fprintf(f, "\n ");
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fprintf(f, "%8u ]", bitrate_const[i]);
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}
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}
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/* data bittiming is irrelevant if fixed bitrate is defined */
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if (tb[IFLA_CAN_DATA_BITTIMING] && !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
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struct can_bittiming *dbt =
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RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
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if (is_json_context()) {
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open_json_object("data_bittiming");
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print_int(PRINT_JSON, "bitrate", NULL, dbt->bitrate);
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jsonw_float_field_fmt(get_json_writer(),
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"sample_point",
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"%.3f",
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(float) dbt->sample_point / 1000.);
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print_int(PRINT_JSON, "tq", NULL, dbt->tq);
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print_int(PRINT_JSON, "prop_seg", NULL, dbt->prop_seg);
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print_int(PRINT_JSON, "phase_seg1",
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NULL, dbt->phase_seg1);
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print_int(PRINT_JSON, "phase_seg2",
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NULL, dbt->phase_seg2);
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print_int(PRINT_JSON, "sjw", NULL, dbt->sjw);
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close_json_object();
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} else {
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fprintf(f, "\n dbitrate %d dsample-point %.3f ",
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dbt->bitrate,
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(float) dbt->sample_point / 1000.);
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fprintf(f, "\n dtq %d dprop-seg %d dphase-seg1 %d "
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"dphase-seg2 %d dsjw %d",
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dbt->tq, dbt->prop_seg, dbt->phase_seg1,
|
|
dbt->phase_seg2, dbt->sjw);
|
|
}
|
|
}
|
|
|
|
/* data bittiming const is irrelevant if fixed bitrate is defined */
|
|
if (tb[IFLA_CAN_DATA_BITTIMING_CONST] &&
|
|
!tb[IFLA_CAN_DATA_BITRATE_CONST]) {
|
|
struct can_bittiming_const *dbtc =
|
|
RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);
|
|
|
|
if (is_json_context()) {
|
|
open_json_object("data_bittiming_const");
|
|
print_string(PRINT_JSON, "name", NULL, dbtc->name);
|
|
can_print_json_timing_min_max("tseg1",
|
|
dbtc->tseg1_min,
|
|
dbtc->tseg1_max);
|
|
can_print_json_timing_min_max("tseg2",
|
|
dbtc->tseg2_min,
|
|
dbtc->tseg2_max);
|
|
can_print_json_timing_min_max("sjw", 1, dbtc->sjw_max);
|
|
can_print_json_timing_min_max("brp",
|
|
dbtc->brp_min,
|
|
dbtc->brp_max);
|
|
|
|
print_int(PRINT_JSON, "brp_inc", NULL, dbtc->brp_inc);
|
|
close_json_object();
|
|
} else {
|
|
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_DATA_BITRATE_CONST]) {
|
|
__u32 *dbitrate_const =
|
|
RTA_DATA(tb[IFLA_CAN_DATA_BITRATE_CONST]);
|
|
int dbitrate_cnt =
|
|
RTA_PAYLOAD(tb[IFLA_CAN_DATA_BITRATE_CONST]) /
|
|
sizeof(*dbitrate_const);
|
|
int i;
|
|
__u32 dbitrate = 0;
|
|
|
|
if (tb[IFLA_CAN_DATA_BITTIMING]) {
|
|
struct can_bittiming *dbt =
|
|
RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
|
|
dbitrate = dbt->bitrate;
|
|
}
|
|
|
|
if (is_json_context()) {
|
|
print_uint(PRINT_JSON, "data_bittiming_bitrate",
|
|
NULL, dbitrate);
|
|
open_json_array(PRINT_JSON, "data_bitrate_const");
|
|
for (i = 0; i < dbitrate_cnt; ++i)
|
|
print_uint(PRINT_JSON, NULL, NULL,
|
|
dbitrate_const[i]);
|
|
close_json_array(PRINT_JSON, NULL);
|
|
} else {
|
|
fprintf(f, "\n dbitrate %u", dbitrate);
|
|
fprintf(f, "\n [");
|
|
|
|
for (i = 0; i < dbitrate_cnt - 1; ++i) {
|
|
/* This will keep lines below 80 signs */
|
|
if (!(i % 6) && i)
|
|
fprintf(f, "\n ");
|
|
|
|
fprintf(f, "%8u, ", dbitrate_const[i]);
|
|
}
|
|
|
|
if (!(i % 6) && i)
|
|
fprintf(f, "\n ");
|
|
fprintf(f, "%8u ]", dbitrate_const[i]);
|
|
}
|
|
}
|
|
|
|
if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
|
|
__u16 *trm = RTA_DATA(tb[IFLA_CAN_TERMINATION]);
|
|
__u16 *trm_const = RTA_DATA(tb[IFLA_CAN_TERMINATION_CONST]);
|
|
int trm_cnt = RTA_PAYLOAD(tb[IFLA_CAN_TERMINATION_CONST]) /
|
|
sizeof(*trm_const);
|
|
int i;
|
|
|
|
if (is_json_context()) {
|
|
print_hu(PRINT_JSON, "termination", NULL, *trm);
|
|
open_json_array(PRINT_JSON, "termination_const");
|
|
for (i = 0; i < trm_cnt; ++i)
|
|
print_hu(PRINT_JSON, NULL, NULL, trm_const[i]);
|
|
close_json_array(PRINT_JSON, NULL);
|
|
} else {
|
|
fprintf(f, "\n termination %hu [ ", *trm);
|
|
|
|
for (i = 0; i < trm_cnt - 1; ++i)
|
|
fprintf(f, "%hu, ", trm_const[i]);
|
|
|
|
fprintf(f, "%hu ]", trm_const[i]);
|
|
}
|
|
}
|
|
|
|
if (tb[IFLA_CAN_CLOCK]) {
|
|
struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);
|
|
|
|
print_int(PRINT_ANY,
|
|
"clock",
|
|
"\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);
|
|
|
|
if (is_json_context()) {
|
|
print_int(PRINT_JSON, "restarts",
|
|
NULL, stats->restarts);
|
|
print_int(PRINT_JSON, "bus_error",
|
|
NULL, stats->bus_error);
|
|
print_int(PRINT_JSON, "arbitration_lost",
|
|
NULL, stats->arbitration_lost);
|
|
print_int(PRINT_JSON, "error_warning",
|
|
NULL, stats->error_warning);
|
|
print_int(PRINT_JSON, "error_passive",
|
|
NULL, stats->error_passive);
|
|
print_int(PRINT_JSON, "bus_off", NULL, stats->bus_off);
|
|
} else {
|
|
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);
|
|
}
|
|
}
|
|
}
|
|
|
|
static void can_print_help(struct link_util *lu, int argc, char **argv,
|
|
FILE *f)
|
|
{
|
|
print_usage(f);
|
|
}
|
|
|
|
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,
|
|
.print_help = can_print_help,
|
|
};
|