Hi Fu, Luotao Fu wrote: > Hi folks, > > I was trying to integrate socketcan control in an application the last days > and > spent quite a lot of time getting clear how to deal with the netlink > interface.
I can image. Such a library is on my to-do list since a long time, but so far I didn't find enough time to implement it. Thanks for the effort. > Besides I just couldn't remember the correct order of parameter when using the > iproute tool for can ;-). So I stripped some code from the iproute package and > put them with some own stuffs together in a library to access can > configuration > functions with netlink, which I call libsocketcan-nl. (nl stand for netlink, > not > netherland ;-)). The library provides some simple APIs to do common CAN > stuffs, > lacking of a proper documentation I'll start here with the content of the > header > file: > int scan_set_restart(const char *name); scan_do_restart() would be more appropriate. > int scan_set_bitrate(const char *name, __u32 bitrate); > int scan_set_restart_ms(const char *name, __u32 restart_ms); > int scan_set_ctrlmode(const char *name, __u32 mode, __u32 flags); > > int scan_get_state(const char *name, int *state); > int scan_get_restart_ms(const char *name, __u32 *restart_ms); > int scan_get_bittiming(const char *name, struct can_bittiming *bt); > int scan_get_ctrlmode(const char *name, struct can_ctrlmode *cm); > > Usage is quite straight forward. The functions await simply the name of the > can > interface and, if any, configuration values and return 0 for success and -1 if > something went wrong. > > This library provides some benefits, which the hookup code in iproute doesn't > do: > * more clear error messages and takes care of special cases, e.g. restarting a > device can only be done while the interface is in BUS_OFF. Neither kernel nor Hm, you cannot restart the device when it's not bus-off. The driver does not allow that. See: http://lxr.linux.no/#linux+v2.6.31/drivers/net/can/dev.c#L376 > the iproute tool provides some useful hint if restarting failed. > * simple portabilty > * API for use in own applications. > > I updated the canutils tool to make use of this library. Now we can finally > again use the canconfig tool with really simple parameters: > > r...@target:~ canconfig can0 > can0 bitrate: 250000 > can0 state: ACTIVE > can0 restart_ms: 1000 > can0 mode: loopback[OFF], listen-only[OFF], tripple-sampling[OFF] > > Setting works as well, usage is just like in the older versions: > > r...@target:~ canconfig can0 bitrate 125000 > can0 bitrate: 125000 > r...@target:~ canconfig can0 mode loopback on > can0 mode: loopback[ON], listen-only[OFF], tripple-sampling[OFF] > > and so on. > > The repository of the library can be obtained at > git://git.pengutronix.de/git/tools/libsocketcan-nl.git > Repo of Canutils can be found at > git://git.pengutronix.de/git/tools/canutils.git > > Additionally I put the recent version of the library and the tool in our ftp > server. They might stay there only as long as as I don't have a proper > webspace > for the stuff: > ftp://ftp.pengutronix.de/pub/socketcan/ > > The library is still not complete. For example there's still no documentation > for this, also we are only able to set the bitrate, but not the bittimings. I > will add these stuffs later. > > Comments, tests and reviews are highly welcome. That's great news for the CAN users, especially if they want to do a manual restart of the CAN devices from their application. We should add the libsocketcan and canconfig to the SVN trunk a.s.a.p., or some more appropriate place, e.g. GIT at BerliOS (or kernel.org). I will do some testing when time permits. Thanks, Wolfgang. _______________________________________________ Socketcan-core mailing list Socketcan-core@lists.berlios.de https://lists.berlios.de/mailman/listinfo/socketcan-core
