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lib: make parse_canframe CAN XL aware

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Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
This commit is contained in:
Oliver Hartkopp
2024-02-28 22:00:19 +01:00
parent 3644a54d5b
commit 34a1cfad29
7 changed files with 164 additions and 71 deletions
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cansend.c
+35 -15
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@@ -92,9 +92,12 @@ int main(int argc, char **argv)
int s; /* can raw socket */
int required_mtu;
int mtu;
int enable_canfd = 1;
int enable_canfx = 1;
struct sockaddr_can addr;
struct canfd_frame frame;
struct can_raw_vcid_options vcid_opts = {
.flags = CAN_RAW_XL_VCID_TX_PASS,
};
static cu_t cu;
struct ifreq ifr;
/* check command line options */
@@ -104,7 +107,7 @@ int main(int argc, char **argv)
}
/* parse CAN frame */
required_mtu = parse_canframe(argv[2], &frame);
required_mtu = parse_canframe(argv[2], &cu);
if (!required_mtu) {
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
print_usage(argv[0]);
@@ -137,22 +140,39 @@ int main(int argc, char **argv)
}
mtu = ifr.ifr_mtu;
if (mtu != CANFD_MTU && mtu != CANXL_MTU) {
printf("CAN interface is only Classical CAN capable - sorry.\n");
return 1;
if (mtu == CANFD_MTU) {
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfx, sizeof(enable_canfx))){
printf("error when enabling CAN FD support\n");
return 1;
}
}
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
if (mtu >= CANXL_MIN_MTU) {
/* interface is ok - try to switch the socket into CAN XL mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
&enable_canfx, sizeof(enable_canfx))){
printf("error when enabling CAN XL support\n");
return 1;
}
/* try to enable the CAN XL VCID pass through mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
&vcid_opts, sizeof(vcid_opts))) {
printf("error when enabling CAN XL VCID pass through\n");
return 1;
}
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
frame.len = can_fd_dlc2len(can_fd_len2dlc(frame.len));
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
if (required_mtu == CANFD_MTU)
cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
/* CAN XL frames need real frame length for sending */
if (required_mtu == CANXL_MTU)
required_mtu = CANXL_HDR_SIZE + cu.xl.len;
/*
* disable default receive filter on this RAW socket This is
* obsolete as we do not read from the socket at all, but for
@@ -167,7 +187,7 @@ int main(int argc, char **argv)
}
/* send frame */
if (write(s, &frame, required_mtu) != required_mtu) {
if (write(s, &cu, required_mtu) != required_mtu) {
perror("write");
return 1;
}