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网上找到的。
- /*
- * canutils/canconfig.c
-
- */
- #include <errno.h>
- #include <fcntl.h>
- #include <limits.h>
- #include <stdio.h>
- #include <stdlib.h>
- #include <string.h>
- #include <unistd.h>
- #include <sys/socket.h>
- #include <sys/stat.h>
- #include <sys/types.h>
- #include <libsocketcan.h>
- #ifndef MIN
- #define MIN(a, b) ((a) < (b) ? (a) : (b))
- #endif
- const char *can_states[CAN_STATE_MAX] = {
- "ERROR-ACTIVE",
- "ERROR-WARNING",
- "ERROR-PASSIVE",
- "BUS-OFF",
- "STOPPED",
- "SLEEPING"
- };
- const char *config_keywords[] = {
- "baudrate", "bitrate", "bittiming", "ctrlmode", "restart",
- "start", "stop", "restart-ms", "state", "clockfreq",
- "bittiming-const", "berr-counter"};
- /* this is shamelessly stolen from iproute and slightly modified */
- #define NEXT_ARG() \
- do { \
- argv++; \
- if (--argc < 0) { \
- fprintf(stderr, "missing parameter for %s\n", *argv); \
- exit(EXIT_FAILURE);\
- }\
- } while(0)
- static inline int find_str(const char** haystack, unsigned int stack_size,
- const char* needle)
- {
- int i, found = 0;
- for (i = 0; i < stack_size; i++) {
- if (!strcmp(needle, haystack[i])) {
- found = 1;
- break;
- }
- }
- return found;
- }
- static void help(void)
- {
- fprintf(stderr, "usage:\n\t"
- "canconfig <dev> bitrate { BR } [sample-point { SP }]\n\t\t"
- "BR := <bitrate in Hz>\n\t\t"
- "SP := <sample-point {0...0.999}> (optional)\n\t"
- "canconfig <dev> bittiming [ VALs ]\n\t\t"
- "VALs := <tq | prop-seg | phase-seg1 | phase-seg2 | sjw>\n\t\t"
- "tq <time quantum in ns>\n\t\t"
- "prop-seg <no. in tq>\n\t\t"
- "phase-seg1 <no. in tq>\n\t\t"
- "phase-seg2 <no. in tq\n\t\t"
- "sjw <no. in tq> (optional)\n\t"
- "canconfig <dev> restart-ms { RESTART-MS }\n\t\t"
- "RESTART-MS := <autorestart interval in ms>\n\t"
- "canconfig <dev> ctrlmode { CTRLMODE }\n\t\t"
- "CTRLMODE := <[loopback | listen-only | triple-sampling | berr-reporting] [on|off]>\n\t"
- "canconfig <dev> {ACTION}\n\t\t"
- "ACTION := <[start|stop|restart]>\n\t"
- "canconfig <dev> clockfreq\n\t"
- "canconfig <dev> bittiming-constants\n\t"
- "canconfig <dev> berr-counter\n"
- );
- exit(EXIT_FAILURE);
- }
- static void do_show_bitrate(const char *name)
- {
- struct can_bittiming bt;
- if (can_get_bittiming(name, &bt) < 0) {
- fprintf(stderr, "%s: failed to get bitrate\n", name);
- exit(EXIT_FAILURE);
- } else
- fprintf(stdout,
- "%s bitrate: %u, sample-point: %0.3f\n",
- name, bt.bitrate,
- (float)((float)bt.sample_point / 1000));
- }
- static void do_set_bitrate(int argc, char *argv[], const char *name)
- {
- __u32 bitrate = 0;
- __u32 sample_point = 0;
- int err;
- while (argc > 0) {
- if (!strcmp(*argv, "bitrate")) {
- NEXT_ARG();
- bitrate = (__u32)strtoul(*argv, NULL, 0);
- } else if (!strcmp(*argv, "sample-point")) {
- NEXT_ARG();
- sample_point = (__u32)(strtod(*argv, NULL) * 1000);
- }
- argc--, argv++;
- }
- if (sample_point)
- err = can_set_bitrate_samplepoint(name, bitrate, sample_point);
- else
- err = can_set_bitrate(name, bitrate);
- if (err < 0) {
- fprintf(stderr, "failed to set bitrate of %s to %u\n",
- name, bitrate);
- exit(EXIT_FAILURE);
- }
- }
- static void cmd_bitrate(int argc, char *argv[], const char *name)
- {
- int show_only = 1;
- if (argc > 0)
- show_only = find_str(config_keywords,
- sizeof(config_keywords) / sizeof(char*),
- argv[1]);
- if (! show_only)
- do_set_bitrate(argc, argv, name);
- do_show_bitrate(name);
- }
- static void do_set_bittiming(int argc, char *argv[], const char *name)
- {
- struct can_bittiming bt;
- int bt_par_count = 0;
- memset(&bt, 0, sizeof(bt));
- while (argc > 0) {
- if (!strcmp(*argv, "tq")) {
- NEXT_ARG();
- bt.tq = (__u32)strtoul(*argv, NULL, 0);
- bt_par_count++;
- continue;
- }
- if (!strcmp(*argv, "prop-seg")) {
- NEXT_ARG();
- bt.prop_seg = (__u32)strtoul(*argv, NULL, 0);
- bt_par_count++;
- continue;
- }
- if (!strcmp(*argv, "phase-seg1")) {
- NEXT_ARG();
- bt.phase_seg1 = (__u32)strtoul(*argv, NULL, 0);
- bt_par_count++;
- continue;
- }
- if (!strcmp(*argv, "phase-seg2")) {
- NEXT_ARG();
- bt.phase_seg2 =
- (__u32)strtoul(*argv, NULL, 0);
- bt_par_count++;
- continue;
- }
- if (!strcmp(*argv, "sjw")) {
- NEXT_ARG();
- bt.sjw =
- (__u32)strtoul(*argv, NULL, 0);
- continue;
- }
- argc--, argv++;
- }
- /* kernel will take a default sjw value if it's zero. all other
- * parameters have to be set */
- if (bt_par_count < 4) {
- fprintf(stderr, "%s: missing bittiming parameters, "
- "try help to figure out the correct format\n",
- name);
- exit(1);
- }
- if (can_set_bittiming(name, &bt) < 0) {
- fprintf(stderr, "%s: unable to set bittiming\n", name);
- exit(EXIT_FAILURE);
- }
- }
- static void do_show_bittiming(const char *name)
- {
- struct can_bittiming bt;
- if (can_get_bittiming(name, &bt) < 0) {
- fprintf(stderr, "%s: failed to get bittiming\n", name);
- exit(EXIT_FAILURE);
- } else
- fprintf(stdout, "%s bittiming:\n\t"
- "tq: %u, prop-seq: %u phase-seq1: %u phase-seq2: %u "
- "sjw: %u, brp: %u\n",
- name, bt.tq, bt.prop_seg, bt.phase_seg1, bt.phase_seg2,
- bt.sjw, bt.brp);
- }
- static void cmd_bittiming(int argc, char *argv[], const char *name)
- {
- int show_only = 1;
- if (argc > 0)
- show_only = find_str(config_keywords,
- sizeof(config_keywords) / sizeof(char*),
- argv[1]);
- if (! show_only)
- do_set_bittiming(argc, argv, name);
- do_show_bittiming(name);
- do_show_bitrate(name);
- }
- static void do_show_bittiming_const(const char *name)
- {
- struct can_bittiming_const btc;
- if (can_get_bittiming_const(name, &btc) < 0) {
- fprintf(stderr, "%s: failed to get bittiming_const\n", name);
- exit(EXIT_FAILURE);
- } else
- fprintf(stdout, "%s bittiming-constants: name %s,\n\t"
- "tseg1-min: %u, tseg1-max: %u, "
- "tseg2-min: %u, tseg2-max: %u,\n\t"
- "sjw-max %u, brp-min: %u, brp-max: %u, brp-inc: %u,\n",
- name, 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);
- }
- static void cmd_bittiming_const(int argc, char *argv[], const char *name)
- {
- do_show_bittiming_const(name);
- }
- static void do_show_state(const char *name)
- {
- int state;
- if (can_get_state(name, &state) < 0) {
- fprintf(stderr, "%s: failed to get state \n", name);
- exit(EXIT_FAILURE);
- }
- if (state >= 0 && state < CAN_STATE_MAX)
- fprintf(stdout, "%s state: %s\n", name, can_states[state]);
- else
- fprintf(stderr, "%s: unknown state\n", name);
- }
- static void cmd_state(int argc, char *argv[], const char *name)
- {
- do_show_state(name);
- }
- static void do_show_clockfreq(const char *name)
- {
- struct can_clock clock;
- memset(&clock, 0, sizeof(struct can_clock));
- if (can_get_clock(name, &clock) < 0) {
- fprintf(stderr, "%s: failed to get clock parameters\n",
- name);
- exit(EXIT_FAILURE);
- }
- fprintf(stdout, "%s clock freq: %u\n", name, clock.freq);
- }
- static void cmd_clockfreq(int argc, char *argv[], const char *name)
- {
- do_show_clockfreq(name);
- }
- static void do_restart(const char *name)
- {
- if (can_do_restart(name) < 0) {
- fprintf(stderr, "%s: failed to restart\n", name);
- exit(EXIT_FAILURE);
- } else {
- fprintf(stdout, "%s restarted\n", name);
- }
- }
- static void cmd_restart(int argc, char *argv[], const char *name)
- {
- do_restart(name);
- }
- static void do_start(const char *name)
- {
- if (can_do_start(name) < 0) {
- fprintf(stderr, "%s: failed to start\n", name);
- exit(EXIT_FAILURE);
- } else {
- do_show_state(name);
- }
- }
- static void cmd_start(int argc, char *argv[], const char *name)
- {
- do_start(name);
- }
- static void do_stop(const char *name)
- {
- if (can_do_stop(name) < 0) {
- fprintf(stderr, "%s: failed to stop\n", name);
- exit(EXIT_FAILURE);
- } else {
- do_show_state(name);
- }
- }
- static void cmd_stop(int argc, char *argv[], const char *name)
- {
- do_stop(name);
- }
- static inline void print_ctrlmode(__u32 cm_flags)
- {
- fprintf(stdout,
- "loopback[%s], listen-only[%s], tripple-sampling[%s],"
- "one-shot[%s], berr-reporting[%s]\n",
- (cm_flags & CAN_CTRLMODE_LOOPBACK) ? "ON" : "OFF",
- (cm_flags & CAN_CTRLMODE_LISTENONLY) ? "ON" : "OFF",
- (cm_flags & CAN_CTRLMODE_3_SAMPLES) ? "ON" : "OFF",
- (cm_flags & CAN_CTRLMODE_ONE_SHOT) ? "ON" : "OFF",
- (cm_flags & CAN_CTRLMODE_BERR_REPORTING) ? "ON" : "OFF");
- }
- static void do_show_ctrlmode(const char *name)
- {
- struct can_ctrlmode cm;
- if (can_get_ctrlmode(name, &cm) < 0) {
- fprintf(stderr, "%s: failed to get controlmode\n", name);
- exit(EXIT_FAILURE);
- } else {
- fprintf(stdout, "%s ctrlmode: ", name);
- print_ctrlmode(cm.flags);
- }
- }
- /* this is shamelessly stolen from iproute and slightly modified */
- static inline void set_ctrlmode(char* name, char *arg,
- struct can_ctrlmode *cm, __u32 flags)
- {
- if (strcmp(arg, "on") == 0) {
- cm->flags |= flags;
- } else if (strcmp(arg, "off") != 0) {
- fprintf(stderr,
- "Error: argument of \"%s\" must be \"on\" or \"off\" %s\n",
- name, arg);
- exit(EXIT_FAILURE);
- }
- cm->mask |= flags;
- }
- static void do_set_ctrlmode(int argc, char* argv[], const char *name)
- {
- struct can_ctrlmode cm;
- memset(&cm, 0, sizeof(cm));
- while (argc > 0) {
- if (!strcmp(*argv, "loopback")) {
- NEXT_ARG();
- set_ctrlmode("loopback", *argv, &cm,
- CAN_CTRLMODE_LOOPBACK);
- } else if (!strcmp(*argv, "listen-only")) {
- NEXT_ARG();
- set_ctrlmode("listen-only", *argv, &cm,
- CAN_CTRLMODE_LISTENONLY);
- } else if (!strcmp(*argv, "triple-sampling")) {
- NEXT_ARG();
- set_ctrlmode("triple-sampling", *argv, &cm,
- CAN_CTRLMODE_3_SAMPLES);
- } else if (!strcmp(*argv, "one-shot")) {
- NEXT_ARG();
- set_ctrlmode("one-shot", *argv, &cm,
- CAN_CTRLMODE_ONE_SHOT);
- } else if (!strcmp(*argv, "berr-reporting")) {
- NEXT_ARG();
- set_ctrlmode("berr-reporting", *argv, &cm,
- CAN_CTRLMODE_BERR_REPORTING);
- }
- argc--, argv++;
- }
- if (can_set_ctrlmode(name, &cm) < 0) {
- fprintf(stderr, "%s: failed to set ctrlmode\n", name);
- exit(EXIT_FAILURE);
- }
- }
- static void cmd_ctrlmode(int argc, char *argv[], const char *name)
- {
- int show_only = 1;
- if (argc > 0)
- show_only = find_str(config_keywords,
- sizeof(config_keywords) / sizeof(char*),
- argv[1]);
- if (! show_only)
- do_set_ctrlmode(argc, argv, name);
- do_show_ctrlmode(name);
- }
- static void do_show_restart_ms(const char *name)
- {
- __u32 restart_ms;
- if (can_get_restart_ms(name, &restart_ms) < 0) {
- fprintf(stderr, "%s: failed to get restart_ms\n", name);
- exit(EXIT_FAILURE);
- } else
- fprintf(stdout,
- "%s restart-ms: %u\n", name, restart_ms);
- }
- static void do_set_restart_ms(int argc, char* argv[], const char *name)
- {
- if (can_set_restart_ms(name,
- (__u32)strtoul(argv[1], NULL, 10)) < 0) {
- fprintf(stderr, "failed to set restart_ms of %s to %lu\n",
- name, strtoul(argv[1], NULL, 10));
- exit(EXIT_FAILURE);
- }
- }
- static void cmd_restart_ms(int argc, char *argv[], const char *name)
- {
- int show_only = 1;
- if (argc > 0)
- show_only = find_str(config_keywords,
- sizeof(config_keywords) / sizeof(char*),
- argv[1]);
- if (! show_only)
- do_set_restart_ms(argc, argv, name);
- do_show_restart_ms(name);
- }
- static void do_show_berr_counter(const char *name)
- {
- struct can_berr_counter bc;
- struct can_ctrlmode cm;
- if (can_get_ctrlmode(name, &cm) < 0) {
- fprintf(stderr, "%s: failed to get controlmode\n", name);
- exit(EXIT_FAILURE);
- }
- if (cm.flags & CAN_CTRLMODE_BERR_REPORTING) {
- memset(&bc, 0, sizeof(struct can_berr_counter));
- if (can_get_berr_counter(name, &bc) < 0) {
- fprintf(stderr, "%s: failed to get berr counters\n",
- name);
- exit(EXIT_FAILURE);
- }
- fprintf(stdout, "%s txerr: %u rxerr: %u\n",
- name, bc.txerr, bc.rxerr);
- }
- }
- static void cmd_berr_counter(int argc, char *argv[], const char *name)
- {
- do_show_berr_counter(name);
- }
- static void cmd_baudrate(int argc, char *argv[], const char *name)
- {
- fprintf(stderr, "%s: baudrate is deprecated, pleae use bitrate\n",
- name);
- exit(EXIT_FAILURE);
- }
- static void cmd_show_interface(const char *name)
- {
- do_show_bitrate(name);
- do_show_bittiming(name);
- do_show_state(name);
- do_show_restart_ms(name);
- do_show_ctrlmode(name);
- do_show_clockfreq(name);
- do_show_bittiming_const(name);
- do_show_berr_counter(name);
- exit(EXIT_SUCCESS);
- }
- int main(int argc, char *argv[])
- {
- const char* name = argv[1];
- if ((argc < 2) || !strcmp(argv[1], "--help"))
- help();
- if (!strcmp(argv[1], "--version")) {
- printf("Version: %s\n", VERSION);
- exit(EXIT_SUCCESS);
- }
- if (argc < 3)
- cmd_show_interface(name);
- while (argc-- > 0) {
- if (!strcmp(argv[0], "baudrate"))
- cmd_baudrate(argc, argv, name);
- if (!strcmp(argv[0], "bitrate"))
- cmd_bitrate(argc, argv, name);
- if (!strcmp(argv[0], "bittiming"))
- cmd_bittiming(argc, argv, name);
- if (!strcmp(argv[0], "ctrlmode"))
- cmd_ctrlmode(argc, argv, name);
- if (!strcmp(argv[0], "restart"))
- cmd_restart(argc, argv, name);
- if (!strcmp(argv[0], "start"))
- cmd_start(argc, argv, name);
- if (!strcmp(argv[0], "stop"))
- cmd_stop(argc, argv, name);
- if (!strcmp(argv[0], "restart-ms"))
- cmd_restart_ms(argc, argv, name);
- if (!strcmp(argv[0], "state"))
- cmd_state(argc, argv, name);
- if (!strcmp(argv[0], "clockfreq"))
- cmd_clockfreq(argc, argv, name);
- if (!strcmp(argv[0], "bittiming-constants"))
- cmd_bittiming_const(argc, argv, name);
- if (!strcmp(argv[0], "berr-counter"))
- cmd_berr_counter(argc, argv, name);
- argv++;
- }
- exit(EXIT_SUCCESS);
- }
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