Module Name: src
Committed By: bouyer
Date: Mon Apr 17 20:48:36 UTC 2017
Modified Files:
src/distrib/sets/lists/base [bouyer-socketcan]: mi
src/distrib/sets/lists/debug [bouyer-socketcan]: mi
src/distrib/sets/lists/man [bouyer-socketcan]: mi
src/sbin [bouyer-socketcan]: Makefile
Added Files:
src/sbin/canconfig [bouyer-socketcan]: Makefile canconfig.8 canconfig.c
Log Message:
Add canconfig(8), an utility to configure CAN interfaces.
Compile-tested only.
To generate a diff of this commit:
cvs rdiff -u -r1.1150.2.1 -r1.1150.2.2 src/distrib/sets/lists/base/mi
cvs rdiff -u -r1.191.2.1 -r1.191.2.2 src/distrib/sets/lists/debug/mi
cvs rdiff -u -r1.1545 -r1.1545.2.1 src/distrib/sets/lists/man/mi
cvs rdiff -u -r1.129 -r1.129.4.1 src/sbin/Makefile
cvs rdiff -u -r0 -r1.1.2.1 src/sbin/canconfig/Makefile \
src/sbin/canconfig/canconfig.8 src/sbin/canconfig/canconfig.c
Please note that diffs are not public domain; they are subject to the
copyright notices on the relevant files.
Modified files:
Index: src/distrib/sets/lists/base/mi
diff -u src/distrib/sets/lists/base/mi:1.1150.2.1 src/distrib/sets/lists/base/mi:1.1150.2.2
--- src/distrib/sets/lists/base/mi:1.1150.2.1 Mon Apr 17 20:35:00 2017
+++ src/distrib/sets/lists/base/mi Mon Apr 17 20:48:36 2017
@@ -1,4 +1,4 @@
-# $NetBSD: mi,v 1.1150.2.1 2017/04/17 20:35:00 bouyer Exp $
+# $NetBSD: mi,v 1.1150.2.2 2017/04/17 20:48:36 bouyer Exp $
#
# Note: Don't delete entries from here - mark them as "obsolete" instead,
# unless otherwise stated below.
@@ -445,6 +445,7 @@
./sbin/blacklistctl base-sysutil-root
./sbin/blacklistd base-sysutil-root
./sbin/brconfig base-netutil-root
+./sbin/canconfig base-netutil-root
./sbin/ccdconfig base-sysutil-root
./sbin/cgdconfig base-sysutil-root
./sbin/chown base-sysutil-root
Index: src/distrib/sets/lists/debug/mi
diff -u src/distrib/sets/lists/debug/mi:1.191.2.1 src/distrib/sets/lists/debug/mi:1.191.2.2
--- src/distrib/sets/lists/debug/mi:1.191.2.1 Mon Apr 17 20:35:00 2017
+++ src/distrib/sets/lists/debug/mi Mon Apr 17 20:48:36 2017
@@ -1,4 +1,4 @@
-# $NetBSD: mi,v 1.191.2.1 2017/04/17 20:35:00 bouyer Exp $
+# $NetBSD: mi,v 1.191.2.2 2017/04/17 20:48:36 bouyer Exp $
./etc/mtree/set.debug comp-sys-root
./usr/lib comp-sys-usr compatdir
./usr/lib/i18n/libBIG5_g.a comp-c-debuglib debuglib,compatfile
@@ -307,6 +307,7 @@
./usr/libdata/debug/sbin/blacklistctl.debug comp-sysutil-debug debug
./usr/libdata/debug/sbin/blacklistd.debug comp-sysutil-debug debug
./usr/libdata/debug/sbin/brconfig.debug comp-netutil-debug debug
+./usr/libdata/debug/sbin/canconfig.debug comp-netutil-debug debug
./usr/libdata/debug/sbin/ccdconfig.debug comp-sysutil-debug debug
./usr/libdata/debug/sbin/cgdconfig.debug comp-sysutil-debug debug
./usr/libdata/debug/sbin/chown.debug comp-sysutil-debug debug
Index: src/distrib/sets/lists/man/mi
diff -u src/distrib/sets/lists/man/mi:1.1545 src/distrib/sets/lists/man/mi:1.1545.2.1
--- src/distrib/sets/lists/man/mi:1.1545 Sat Jan 7 20:49:23 2017
+++ src/distrib/sets/lists/man/mi Mon Apr 17 20:48:36 2017
@@ -1,4 +1,4 @@
-# $NetBSD: mi,v 1.1545 2017/01/07 20:49:23 christos Exp $
+# $NetBSD: mi,v 1.1545.2.1 2017/04/17 20:48:36 bouyer Exp $
#
# Note: don't delete entries from here - mark them as "obsolete" instead.
#
@@ -2365,6 +2365,7 @@
./usr/share/man/cat8/bounce.0 man-postfix-catman postfix,.cat
./usr/share/man/cat8/bozohttpd.0 man-netutil-catman .cat
./usr/share/man/cat8/brconfig.0 man-netutil-catman .cat
+./usr/share/man/cat8/canconfig.0 man-netutil-catman .cat
./usr/share/man/cat8/btattach.0 man-sysutil-catman .cat
./usr/share/man/cat8/btconfig.0 man-sysutil-catman .cat
./usr/share/man/cat8/btcontrol.0 man-obsolete obsolete
@@ -5337,6 +5338,7 @@
./usr/share/man/html8/bounce.html man-postfix-htmlman postfix,html
./usr/share/man/html8/bozohttpd.html man-netutil-htmlman html
./usr/share/man/html8/brconfig.html man-netutil-htmlman html
+./usr/share/man/html8/canconfig.html man-netutil-htmlman html
./usr/share/man/html8/btattach.html man-sysutil-htmlman html
./usr/share/man/html8/btconfig.html man-sysutil-htmlman html
./usr/share/man/html8/btdevctl.html man-sysutil-htmlman html
@@ -8344,6 +8346,7 @@
./usr/share/man/man8/bounce.8 man-postfix-man postfix,.man
./usr/share/man/man8/bozohttpd.8 man-netutil-man .man
./usr/share/man/man8/brconfig.8 man-netutil-man .man
+./usr/share/man/man8/canconfig.8 man-netutil-man .man
./usr/share/man/man8/btattach.8 man-sysutil-man .man
./usr/share/man/man8/btconfig.8 man-sysutil-man .man
./usr/share/man/man8/btcontrol.8 man-obsolete obsolete
Index: src/sbin/Makefile
diff -u src/sbin/Makefile:1.129 src/sbin/Makefile:1.129.4.1
--- src/sbin/Makefile:1.129 Fri Jul 1 22:50:50 2016
+++ src/sbin/Makefile Mon Apr 17 20:48:35 2017
@@ -1,4 +1,4 @@
-# $NetBSD: Makefile,v 1.129 2016/07/01 22:50:50 christos Exp $
+# $NetBSD: Makefile,v 1.129.4.1 2017/04/17 20:48:35 bouyer Exp $
# @(#)Makefile 8.5 (Berkeley) 3/31/94
# Not ported: XNSrouted enpload scsiformat startslip
@@ -6,8 +6,9 @@
.include <bsd.own.mk>
-SUBDIR= amrctl apmlabel atactl badsect bioctl brconfig ccdconfig cgdconfig \
- chown devpubd disklabel dkctl dkscan_bsdlabel dmesg dmctl \
+SUBDIR= amrctl apmlabel atactl badsect bioctl brconfig \
+ canconfig ccdconfig cgdconfig chown \
+ devpubd disklabel dkctl dkscan_bsdlabel dmesg dmctl \
drvctl fastboot fdisk fsck fsirand gpt ifconfig init ldconfig luactl \
mbrlabel mknod modload modstat modunload mount \
newbtconf nologin nvmectl \
Added files:
Index: src/sbin/canconfig/Makefile
diff -u /dev/null src/sbin/canconfig/Makefile:1.1.2.1
--- /dev/null Mon Apr 17 20:48:36 2017
+++ src/sbin/canconfig/Makefile Mon Apr 17 20:48:36 2017
@@ -0,0 +1,6 @@
+# $NetBSD: Makefile,v 1.1.2.1 2017/04/17 20:48:36 bouyer Exp $
+
+PROG= canconfig
+MAN= canconfig.8
+
+.include <bsd.prog.mk>
Index: src/sbin/canconfig/canconfig.8
diff -u /dev/null src/sbin/canconfig/canconfig.8:1.1.2.1
--- /dev/null Mon Apr 17 20:48:36 2017
+++ src/sbin/canconfig/canconfig.8 Mon Apr 17 20:48:36 2017
@@ -0,0 +1,118 @@
+.\" $NetBSD: canconfig.8,v 1.1.2.1 2017/04/17 20:48:36 bouyer Exp $
+.\"
+.\" Copyright (c) 2017 Manuel Bouyer.
+ *
+.\" Redistribution and use in source and binary forms, with or without
+.\" modification, are permitted provided that the following conditions
+.\" are met:
+.\" 1. Redistributions of source code must retain the above copyright
+.\" notice, this list of conditions and the following disclaimer.
+.\" 2. Redistributions in binary form must reproduce the above copyright
+.\" notice, this list of conditions and the following disclaimer in the
+.\" documentation and/or other materials provided with the distribution.
+ *
+.\" THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+.\" IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+.\" OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+.\" IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+.\" INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+.\" NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+.\" DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+.\" THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+.\" (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+.\" THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+.\"
+.Dd Apris 15, 2017
+.Dt CANCONFIG 8
+.Os
+.Sh NAME
+.Nm canconfig
+.Nd configure CAN network interface parameters
+.Sh SYNOPSIS
+.Nm
+.Fl a
+.Nm
+.Ar canif
+.Nm
+.Ar can
+.Ar command
+.Op Ar args ...
+.Sh DESCRIPTION
+The
+.Nm
+utility is used to configure CAN network interface parameters and retrieve
+CAN network interface parameters and status from the kernel.
+.Ss Timing
+.Pp
+The base time unit used to define the network bit rate is the time quanta (tq),
+its value is defined by the input clock freqency and the prescaler value
+as (1/ freq * prescaler).
+.Pp
+The network bit time is split in 4 segments:
+.Bl -tag -width "phase_seg1" -offset indent -compact
+.It sync_seg
+fixed to 1 tq
+.It prop_seg
+.It phase_seg1
+.It phase_seg2
+.El
+The network bit time is (1 + prop_seg + phase_seg1 + phase_seg2), in tq.
+The sample point is between phase_seg1 and phase_seg2.
+.Pp
+The receiver hardware is allowed to shorten prop_seg or phase_seg2 to
+resynchronise with the sender. The swj (Synchronisation Jump Width) parameter
+defines by how much the hardware can shorten these segments.
+.Pp
+Some hardware can use 3 sample points instead of one, and keep the majority as
+the final value.
+.Ss Options
+.Pp
+The options are as follows:
+.Bl -tag -width indent
+.It Fl a
+Display the status of all CAN devices present on the system.
+This flag is mutually exclusive with all other sub-commands.
+.El
+.Pp
+All other operations require that a CAN interface be specified.
+If a CAN interface is specified with no sub-commands,
+the status of that interface is displayed.
+.Pp
+The following sub-commands are available:
+.Pp
+.Bl -tag -width indent
+.It Cm up
+Start network operations on the interface. Requires that all timing parameters
+have been set.
+.It Cm down
+Stop network operations on the interface.
+.It Cm brp Ar value
+Set the value of the baud rate prescaler.
+.It Cm prop_seg Ar value
+set the number of tq for the propagation segment.
+.It Cm phase_seg1 Ar value
+set the number of tq for the phase segment 1.
+.It Cm phase_seg2 Ar value
+set the number of tq for the phase segment 2.
+.It Cm sjw Ar value
+set the number of tq for the Synchronisation Jump Width.
+.It Cm 3samples
+enables triple-sampling.
+.It Cm -3samples
+disables triple-sampling.
+.El
+.Sh EXAMPLES
+TODO
+.Sh SEE ALSO
+.Xr ifconfig.if 5 ,
+.Xr ifconfig 8 ,
+.Sh HISTORY
+The
+.Nm
+utility first appeared in
+.Nx 8.0 .
+.Sh AUTHORS
+This version of the
+.Nm
+utility was written by
+.An Manuel Bouyer .
Index: src/sbin/canconfig/canconfig.c
diff -u /dev/null src/sbin/canconfig/canconfig.c:1.1.2.1
--- /dev/null Mon Apr 17 20:48:36 2017
+++ src/sbin/canconfig/canconfig.c Mon Apr 17 20:48:36 2017
@@ -0,0 +1,517 @@
+/* $NetBSD: canconfig.c,v 1.1.2.1 2017/04/17 20:48:36 bouyer Exp $ */
+
+/*
+ * Copyright 2001 Wasabi Systems, Inc.
+ * All rights reserved.
+ *
+ * Written by Jason R. Thorpe for Wasabi Systems, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * 3. All advertising materials mentioning features or use of this software
+ * must display the following acknowledgement:
+ * This product includes software developed for the NetBSD Project by
+ * Wasabi Systems, Inc.
+ * 4. The name of Wasabi Systems, Inc. may not be used to endorse
+ * or promote products derived from this software without specific prior
+ * written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC
+ * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <sys/cdefs.h>
+
+#ifndef lint
+__RCSID("$NetBSD: canconfig.c,v 1.1.2.1 2017/04/17 20:48:36 bouyer Exp $");
+#endif
+
+
+#include <sys/param.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <net/if.h>
+#include <netcan/can.h>
+#include <netcan/can_link.h>
+#include <ifaddrs.h>
+
+#include <ctype.h>
+#include <err.h>
+#include <errno.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+struct command {
+ const char *cmd_keyword;
+ int cmd_argcnt;
+ int cmd_flags;
+ void (*cmd_func)(const struct command *, int, const char *,
+ char **);
+};
+
+#define CMD_INVERT 0x01 /* "invert" the sense of the command */
+
+static void cmd_up(const struct command *, int, const char *, char **);
+static void cmd_down(const struct command *, int, const char *, char **);
+static void cmd_brp(const struct command *, int, const char *, char **);
+static void cmd_prop_seg(const struct command *, int, const char *, char **);
+static void cmd_phase_seg1(const struct command *, int, const char *, char **);
+static void cmd_phase_seg2(const struct command *, int, const char *, char **);
+static void cmd_sjw(const struct command *, int, const char *, char **);
+static void cmd_3samples(const struct command *, int, const char *, char **);
+
+static const struct command command_table[] = {
+ { "up", 0, 0, cmd_up },
+ { "down", 0, 0, cmd_down },
+
+ { "brp", 1, 0, cmd_brp },
+ { "prop_seg", 1, 0, cmd_prop_seg },
+ { "phase_seg1", 1, 0, cmd_phase_seg1 },
+ { "phase_seg2", 1, 0, cmd_phase_seg2 },
+ { "sjw", 1, 0, cmd_sjw },
+
+ { "3samples", 0, 0, cmd_3samples },
+ { "-3samples", 0, CMD_INVERT, cmd_3samples },
+
+ { NULL, 0, 0, NULL },
+};
+
+static void printall(int);
+static void status(int, const char *);
+static void show_timings(int, const char *, const char *);
+static int is_can(int s, const char *);
+static int get_val(const char *, u_long *);
+#define do_cmd(a,b,c,d,e,f) do_cmd2((a),(b),(c),(d),(e),NULL,(f))
+static int do_cmd2(int, const char *, u_long, void *, size_t, size_t *, int);
+__dead static void usage(void);
+
+static int aflag;
+static struct ifreq g_ifr;
+static int g_ifr_updated = 0;
+
+struct can_link_timecaps g_cltc;
+struct can_link_timings g_clt;
+static int g_clt_updated = 0;
+
+int
+main(int argc, char *argv[])
+{
+ const struct command *cmd;
+ char *canifname;
+ int sock, ch;
+
+ if (argc < 2)
+ usage();
+
+ while ((ch = getopt(argc, argv, "a")) != -1) {
+ switch (ch) {
+ case 'a':
+ aflag = 1;
+ break;
+
+ default:
+ usage();
+ }
+ }
+
+ argc -= optind;
+ argv += optind;
+
+ if (aflag) {
+ if (argc != 0)
+ usage();
+ sock = socket(AF_CAN, SOCK_RAW, CAN_RAW);
+ if (sock < 0)
+ err(1, "socket");
+
+ printall(sock);
+ exit(0);
+ }
+
+ if (argc == 0)
+ usage();
+
+ sock = socket(AF_CAN, SOCK_RAW, CAN_RAW);
+ if (sock < 0)
+ err(1, "socket");
+
+ canifname = argv[0];
+
+ if (is_can(sock, canifname) == 0)
+ errx(1, "%s is not a can interface", canifname);
+
+ /* Get a copy of the interface flags. */
+ strlcpy(g_ifr.ifr_name, canifname, sizeof(g_ifr.ifr_name));
+ if (ioctl(sock, SIOCGIFFLAGS, &g_ifr) < 0)
+ err(1, "unable to get interface flags");
+
+ argc--;
+ argv++;
+
+ if (argc == 0) {
+ status(sock, canifname);
+ exit(0);
+ }
+
+ if (do_cmd(sock, canifname, CANGLINKTIMECAP, &g_cltc, sizeof(g_cltc), 0)
+ < 0)
+ err(1, "unable to get can link timecaps");
+
+ if (do_cmd(sock, canifname, CANGLINKTIMINGS, &g_clt, sizeof(g_clt), 0) < 0)
+ err(1, "unable to get can link timings");
+
+ while (argc != 0) {
+ for (cmd = command_table; cmd->cmd_keyword != NULL; cmd++) {
+ if (strcmp(cmd->cmd_keyword, argv[0]) == 0)
+ break;
+ }
+ if (cmd->cmd_keyword == NULL)
+ errx(1, "unknown command: %s", argv[0]);
+
+ argc--;
+ argv++;
+
+ if (argc < cmd->cmd_argcnt)
+ errx(1, "command %s requires %d argument%s",
+ cmd->cmd_keyword, cmd->cmd_argcnt,
+ cmd->cmd_argcnt == 1 ? "" : "s");
+
+ (*cmd->cmd_func)(cmd, sock, canifname, argv);
+
+ argc -= cmd->cmd_argcnt;
+ argv += cmd->cmd_argcnt;
+ }
+
+ /* If the timings changed, update them. */
+ if (g_clt_updated &&
+ do_cmd(sock, canifname, CANGLINKTIMINGS, &g_clt, sizeof(g_clt), 1) < 0)
+ err(1, "unable to set can link timings");
+
+ /* If the flags changed, update them. */
+ if (g_ifr_updated && ioctl(sock, SIOCSIFFLAGS, &g_ifr) < 0)
+ err(1, "unable to set interface flags");
+
+ exit (0);
+}
+
+static void
+usage(void)
+{
+ static const char *usage_strings[] = {
+ "-a",
+ "<canif>",
+ "<canif> up|down",
+ "<canif> brp <value>",
+ "<canif> prop_seg <value>",
+ "<canif> phase_seg1 <value>",
+ "<canif> phase_seg2 <value>",
+ "<canif> sjw <value>",
+ "<canif> 3samples | -3samples",
+ NULL,
+ };
+ extern const char *__progname;
+ int i;
+
+ for (i = 0; usage_strings[i] != NULL; i++)
+ fprintf(stderr, "%s %s %s\n",
+ i == 0 ? "usage:" : " ",
+ __progname, usage_strings[i]);
+
+ exit(1);
+}
+
+static int
+is_can(int s, const char *canif)
+{
+ uint32_t linkmode;
+
+ if (do_cmd(s, canif, CANGLINKMODE, &linkmode, sizeof(linkmode), 0) < 0)
+ return (0);
+
+ return (1);
+}
+
+static void
+printb(const char *s, u_int v, const char *bits)
+{
+ int i, any = 0;
+ char c;
+
+ if (bits && *bits == 8)
+ printf("%s=%o", s, v);
+ else
+ printf("%s=%x", s, v);
+ if (bits) {
+ bits++;
+ putchar('<');
+ while ((i = *bits++) != 0) {
+ if (v & (1 << (i-1))) {
+ if (any)
+ putchar(',');
+ any = 1;
+ for (; (c = *bits) > 32; bits++)
+ putchar(c);
+ } else
+ for (; *bits > 32; bits++)
+ ;
+ }
+ putchar('>');
+ }
+}
+
+static void
+printall(int sock)
+{
+ struct ifaddrs *ifap, *ifa;
+ char *p;
+
+ if (getifaddrs(&ifap) != 0)
+ err(1, "getifaddrs");
+ p = NULL;
+ for (ifa = ifap; ifa != NULL; ifa = ifa->ifa_next) {
+ if (is_can(sock, ifa->ifa_name) == 0)
+ continue;
+ if (p != NULL && strcmp(p, ifa->ifa_name) == 0)
+ continue;
+ p = ifa->ifa_name;
+ status(sock, ifa->ifa_name);
+ }
+
+ freeifaddrs(ifap);
+}
+
+static void
+status(int sock, const char *canifname)
+{
+ struct ifreq ifr;
+
+ memset(&ifr, 0, sizeof(ifr));
+
+ strlcpy(ifr.ifr_name, canifname, sizeof(ifr.ifr_name));
+ if (ioctl(sock, SIOCGIFFLAGS, &ifr) < 0)
+ err(1, "unable to get flags");
+
+ printf("%s: ", canifname);
+ printb("flags", ifr.ifr_flags, IFFBITS);
+ printf("\n");
+
+ printf("\tTimings:\n");
+ show_timings(sock, canifname, "\t\t");
+
+}
+
+static void
+show_timings(int sock, const char *canifname, const char *prefix)
+{
+ struct can_link_timecaps cltc;
+ struct can_link_timings clt;
+ u_int32_t linkmode;
+ char hbuf[8];
+
+ if (do_cmd(sock, canifname, CANGLINKTIMECAP, &cltc, sizeof(cltc), 0)
+ < 0)
+ err(1, "unable to get can link timecaps");
+
+ if (do_cmd(sock, canifname, CANGLINKTIMINGS, &clt, sizeof(clt), 0) < 0)
+ err(1, "unable to get can link timings");
+
+ if (do_cmd(sock, canifname, CANGLINKMODE, &linkmode, sizeof(linkmode),
+ 0) < 0)
+ err(1, "unable to get can link mode");
+
+ humanize_number(hbuf, sizeof(hbuf), cltc.cltc_clock_freq, "Hz", 0,
+ HN_AUTOSCALE | HN_NOSPACE | HN_DIVISOR_1000);
+
+ printf("%scaps:\n", prefix);
+ printf("%s clock %s, brp [%d..%d]/%d, prop_seg [%d..%d]\n",
+ prefix, hbuf,
+ cltc.cltc_brp_min, cltc.cltc_brp_max, cltc.cltc_brp_inc,
+ cltc.cltc_prop_min, cltc.cltc_prop_max);
+ printf("%s phase_seg1 [%d..%d], phase_seg2 [%d..%d], sjw [0..%d]\n",
+ prefix,
+ cltc.cltc_ps1_min, cltc.cltc_ps1_max,
+ cltc.cltc_ps2_min, cltc.cltc_ps2_max,
+ cltc.cltc_sjw_max);
+ printf("%s ", prefix);
+ printb("capabilities", cltc.cltc_linkmode_caps, CAN_IFFBITS);
+ printf("%soperational:\n", prefix);
+ printf("%s brp %d prop_seg %d, phase_seg1 %d, phase_seg2 %d, sjw %d\n",
+ prefix,
+ clt.clt_brp, clt.clt_prop, clt.clt_ps1, clt.clt_ps2, clt.clt_sjw);
+ printf("%s ", prefix);
+ printb("mode", linkmode, CAN_IFFBITS);
+}
+
+static int
+get_val(const char *cp, u_long *valp)
+{
+ char *endptr;
+ u_long val;
+
+ errno = 0;
+ val = strtoul(cp, &endptr, 0);
+ if (cp[0] == '\0' || endptr[0] != '\0' || errno == ERANGE)
+ return (-1);
+
+ *valp = val;
+ return (0);
+}
+
+static int
+do_cmd2(int sock, const char *canifname, u_long op, void *arg, size_t argsize,
+ size_t *outsizep, int set)
+{
+ struct ifdrv ifd;
+ int error;
+
+ memset(&ifd, 0, sizeof(ifd));
+
+ strlcpy(ifd.ifd_name, canifname, sizeof(ifd.ifd_name));
+ ifd.ifd_cmd = op;
+ ifd.ifd_len = argsize;
+ ifd.ifd_data = arg;
+
+ error = ioctl(sock, set ? SIOCSDRVSPEC : SIOCGDRVSPEC, &ifd);
+
+ if (outsizep)
+ *outsizep = ifd.ifd_len;
+
+ return error;
+}
+
+static void
+do_ifflag(int sock, const char *canifname, int flag, int set)
+{
+
+ if (set)
+ g_ifr.ifr_flags |= flag;
+ else
+ g_ifr.ifr_flags &= ~flag;
+
+ g_ifr_updated = 1;
+}
+
+static int
+do_canflag(int sock, const char *canifname, uint32_t flag, int set)
+{
+ int cmd;
+ if (set)
+ cmd = CANSLINKMODE;
+ else
+ cmd = CANCLINKMODE;
+ return do_cmd(sock, canifname, cmd, &flag, sizeof(flag), 1);
+}
+
+static void
+cmd_up(const struct command *cmd, int sock, const char *canifname,
+ char **argv)
+{
+
+ do_ifflag(sock, canifname, IFF_UP, 1);
+}
+
+static void
+cmd_down(const struct command *cmd, int sock, const char *canifname,
+ char **argv)
+{
+
+ do_ifflag(sock, canifname, IFF_UP, 0);
+}
+
+static void
+cmd_brp(const struct command *cmd, int sock, const char *bridge,
+ char **argv)
+{
+ u_long val;
+
+ if (get_val(argv[0], &val) < 0 || (val & ~0xffffffff) != 0)
+ errx(1, "%s: invalid value: %s", cmd->cmd_keyword, argv[0]);
+ if (val < g_cltc.cltc_brp_min || val > g_cltc.cltc_brp_max)
+ errx(1, "%s: out of range value: %s", cmd->cmd_keyword, argv[0]);
+ g_clt.clt_brp = val;
+ g_clt_updated=1;
+}
+
+static void
+cmd_prop_seg(const struct command *cmd, int sock, const char *bridge,
+ char **argv)
+{
+ u_long val;
+
+ if (get_val(argv[0], &val) < 0 || (val & ~0xffffffff) != 0)
+ errx(1, "%s: invalid value: %s", cmd->cmd_keyword, argv[0]);
+ if (val < g_cltc.cltc_prop_min || val > g_cltc.cltc_prop_max)
+ errx(1, "%s: out of range value: %s", cmd->cmd_keyword, argv[0]);
+ g_clt.clt_prop = val;
+ g_clt_updated=1;
+}
+
+static void
+cmd_phase_seg1(const struct command *cmd, int sock, const char *bridge,
+ char **argv)
+{
+ u_long val;
+
+ if (get_val(argv[0], &val) < 0 || (val & ~0xffffffff) != 0)
+ errx(1, "%s: invalid value: %s", cmd->cmd_keyword, argv[0]);
+ if (val < g_cltc.cltc_ps1_min || val > g_cltc.cltc_ps1_max)
+ errx(1, "%s: out of range value: %s", cmd->cmd_keyword, argv[0]);
+ g_clt.clt_ps1 = val;
+ g_clt_updated=1;
+}
+
+static void
+cmd_phase_seg2(const struct command *cmd, int sock, const char *bridge,
+ char **argv)
+{
+ u_long val;
+
+ if (get_val(argv[0], &val) < 0 || (val & ~0xffffffff) != 0)
+ errx(1, "%s: invalid value: %s", cmd->cmd_keyword, argv[0]);
+ if (val < g_cltc.cltc_ps2_min || val > g_cltc.cltc_ps2_max)
+ errx(1, "%s: out of range value: %s", cmd->cmd_keyword, argv[0]);
+ g_clt.clt_ps2 = val;
+ g_clt_updated=1;
+}
+
+static void
+cmd_sjw(const struct command *cmd, int sock, const char *bridge,
+ char **argv)
+{
+ u_long val;
+
+ if (get_val(argv[0], &val) < 0 || (val & ~0xffffffff) != 0)
+ errx(1, "%s: invalid value: %s", cmd->cmd_keyword, argv[0]);
+ if (val > g_cltc.cltc_sjw_max)
+ errx(1, "%s: out of range value: %s", cmd->cmd_keyword, argv[0]);
+ g_clt.clt_sjw = val;
+ g_clt_updated=1;
+}
+
+static void
+cmd_3samples(const struct command *cmd, int sock, const char *canifname,
+ char **argv)
+{
+ if (do_canflag(sock, canifname, CAN_LINKMODE_3SAMPLES,
+ (cmd->cmd_flags & CMD_INVERT) ? 0 : 1) < 0)
+ err(1, "%s", cmd->cmd_keyword);
+
+}
