add doxygen documentation
Signed-off-by: Luotao Fu <l.fu@pengutronix.de>pull/106/head^2
Luotao Fu
parent
7ee625b6f3
commit
6f0eac7ab9
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@ -0,0 +1,11 @@
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/** @mainpage libsocketcan
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This is libsocketcan, a userspace library to do some common tasks while dealing
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with the socketcan Framework.
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@defgroup extern External API
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@defgroup intern Interally used callbacks and structures
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*/
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@ -32,3 +32,10 @@ maintainer-clean-local:
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-chmod -R a+rw $(distdir)
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-rm -fr $(distdir)
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docs : htmldocs
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htmldocs:
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@echo 'Running doxygen with local Doxyfile'
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-doxygen Doxyfile
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@ -8,18 +8,23 @@
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* Software Foundation; either version 2.1 of the License, or (at your option)
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* any later version.
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*
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* This library is distributed in the hope that it will be useful, but WITHOUT
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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* FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
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* This library is distributed in the hope that it will be useful, but without
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* any warranty; without even the implied warranty of merchantability or fitness
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* for a particular purpose. see the gnu lesser general public license for more
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* details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this library; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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* you should have received a copy of the gnu lesser general public license
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* along with this library; if not, write to the free software foundation, inc.,
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* 59 temple place, suite 330, boston, ma 02111-1307 usa
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*/
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#ifndef _SOCKETCAN_NETLINK_H
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#define _SOCKETCAN_NETLINK_H
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#ifndef _socketcan_netlink_h
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#define _socketcan_netlink_h
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/**
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* @file
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* @brief API overview
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*/
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#include <linux/can/netlink.h>
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@ -1,5 +1,4 @@
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/*
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* libsocketcan.c
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/* libsocketcan.c
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*
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* (C) 2009 Luotao Fu <l.fu@pengutronix.de>
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*
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@ -18,6 +17,11 @@
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* @file
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* @brief library code
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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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@ -124,6 +128,19 @@ static int addattr_l(struct nlmsghdr *n, size_t maxlen, int type,
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return 0;
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}
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/**
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* @ingroup intern
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* @brief send_mod_request - send a linkinfo modification request
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*
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* @param fd decriptor to a priorly opened netlink socket
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* @param n netlink message containing the request
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*
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* sends a request to setup the the linkinfo to netlink layer and awaits the
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* status.
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*
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* @return 0 if success
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* @return negativ if failed
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*/
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static int send_mod_request(int fd, struct nlmsghdr *n)
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{
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int status;
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@ -197,6 +214,17 @@ static int send_mod_request(int fd, struct nlmsghdr *n)
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return 0;
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}
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/**
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* @ingroup intern
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* @brief send_dump_request - send a dump linkinfo request
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*
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* @param fd decriptor to a priorly opened netlink socket
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* @param family rt_gen message family
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* @param type netlink message header type
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*
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* @return 0 if success
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* @return negativ if failed
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*/
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static int send_dump_request(int fd, int family, int type)
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{
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struct get_req req;
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@ -214,6 +242,15 @@ static int send_dump_request(int fd, int family, int type)
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return send(fd, (void *)&req, sizeof(req), 0);
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}
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/**
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* @ingroup intern
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* @brief open_nl_sock - open a netlink socket
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*
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* opens a netlink socket and returns the socket descriptor
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*
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* @return 0 if success
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* @return negativ if failed
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*/
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static int open_nl_sock()
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{
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int fd;
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@ -257,6 +294,25 @@ static int open_nl_sock()
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return fd;
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}
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/**
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* @ingroup intern
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* @brief do_get_nl_link - get linkinfo
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*
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* @param fd socket file descriptor to a priorly opened netlink socket
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* @param acquire which parameter we want to get
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* @param name name of the can device. This is the netdev name, as ifconfig -a
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* shows in your system. usually it contains prefix "can" and the numer of the
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* can line. e.g. "can0"
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* @param res pointer to store the result
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*
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* This callback send a dump request into the netlink layer, collect the packet
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* containing the linkinfo and fill the pointer res points to depending on the
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* acquire mode set in param acquire.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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static int do_get_nl_link(int fd, __u8 acquire, const char *name, void *res)
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{
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struct sockaddr_nl peer;
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@ -407,6 +463,21 @@ static int do_get_nl_link(int fd, __u8 acquire, const char *name, void *res)
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return ret;
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}
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/**
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* @ingroup intern
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* @brief get_link - get linkinfo
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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* @param acquire which parameter we want to get
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* @param res pointer to store the result
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*
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* This is a wrapper for do_get_nl_link
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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static int get_link(const char *name, __u8 acquire, void *res)
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{
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int fd;
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@ -427,6 +498,27 @@ err_out:
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}
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/**
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* @ingroup intern
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* @brief do_set_nl_link - setup linkinfo
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*
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* @param fd socket file descriptor to a priorly opened netlink socket
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* @param if_state state of the interface we want to put the device into. this
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* parameter is only set if you want to use the callback to driver up/down the
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* device
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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* @param req_info request parameters
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*
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* This callback can do two different tasks:
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* - bring up/down the interface
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* - set up a netlink packet with request, as set up in req_info
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* Which task this callback will do depends on which parameters are set.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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static int do_set_nl_link(int fd, __u8 if_state, const char *name,
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struct req_info *req_info)
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{
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@ -503,6 +595,24 @@ static int do_set_nl_link(int fd, __u8 if_state, const char *name,
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return send_mod_request(fd, &req.n);
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}
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/**
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* @ingroup intern
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* @brief set_link - open a netlink socket and setup linkinfo
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a
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* shows in your system. usually it contains prefix "can" and the numer of the
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* can line. e.g. "can0"
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* @param if_state state of the interface we want to put the device into. this
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* parameter is only set if you want to use the callback to driver up/down the
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* device
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* @param req_info request parameters
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*
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* This is a wrapper for do_set_nl_link. It opens a netlink socket and sends
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* down the requests.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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static int set_link(const char *name, __u8 if_state, struct req_info *req_info)
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{
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int fd;
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@ -522,16 +632,59 @@ err_out:
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return err;
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}
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/**
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* @ingroup extern
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* can_do_start - start the can interface
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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*
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* This starts the can interface with the given name. It simply changes the if
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* state of the interface to up. All initialisation works will be done in
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* kernel. The if state can also be queried by a simple ifconfig.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_do_start(const char *name)
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{
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return set_link(name, IF_UP, NULL);
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}
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/**
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* @ingroup extern
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* can_do_stop - stop the can interface
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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*
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* This stops the can interface with the given name. It simply changes the if
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* state of the interface to down. Any running communication would be stopped.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_do_stop(const char *name)
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{
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return set_link(name, IF_DOWN, NULL);
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}
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/**
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* @ingroup extern
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* can_do_restart - restart the can interface
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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*
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* This triggers the start mode of the can device.
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*
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* NOTE:
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* - restart mode can only be triggerd if the device is in BUS_OFF and the auto
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* restart not turned on (restart_ms == 0)
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_do_restart(const char *name)
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{
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int fd;
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@ -579,6 +732,21 @@ err_out:
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return err;
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}
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/**
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* @ingroup extern
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* can_set_restart_ms - set interval of auto restart.
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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* @param restart_ms interval of auto restart in milliseconds
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*
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* This sets how often the device shall automatically restart the interface in
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* case that a bus_off is detected.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_set_restart_ms(const char *name, __u32 restart_ms)
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{
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struct req_info req_info = {
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@ -591,6 +759,58 @@ int can_set_restart_ms(const char *name, __u32 restart_ms)
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return set_link(name, 0, &req_info);
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}
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/**
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* @ingroup extern
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* can_set_ctrlmode - setup the control mode.
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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*
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* @param cm pointer of a can_ctrlmode struct
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*
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* This sets the control mode of the can device. There're currently three
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* different control modes:
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* - LOOPBACK
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* - LISTEN_ONLY
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* - TRIPPLE_SAMPLING
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*
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* You have to define the control mode struct yourself. a can_ctrlmode struct
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* is declared as:
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*
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* @code
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* struct can_ctrlmode {
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* __u32 mask;
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* __u32 flags;
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* }
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* @endcode
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*
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* You can use mask to select modes you want to control and flags to determine
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* if you want to turn the selected mode(s) on or off. Every control mode is
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* mapped to an own macro
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*
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* @code
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* #define CAN_CTRLMODE_LOOPBACK 0x1
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* #define CAN_CTRLMODE_LISTENONLY 0x2
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* #define CAN_CTRLMODE_3_SAMPLES 0x4
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* @endcode
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*
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* e.g. the following pseudocode
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*
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* @code
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* struct can_ctrlmode cm;
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* memset(&cm, 0, sizeof(cm));
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* cm.mask = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY;
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* cm.flags = CAN_CTRLMODE_LOOPBACK;
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* can_set_ctrlmode(candev, &cm);
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* @endcode
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*
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* will turn the loopback mode on and listenonly mode off.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm)
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{
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struct req_info req_info = {
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@ -600,6 +820,44 @@ int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm)
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return set_link(name, 0, &req_info);
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}
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/**
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* @ingroup extern
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* can_set_bittiming - setup the bittiming.
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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* @param bt pointer to a can_bittiming struct
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*
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* This sets the bittiming of the can device. This is for advantage usage. In
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* normal cases you should use can_set_bitrate to simply define the bitrate and
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* let the driver automatically calculate the bittiming. You will only need this
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* function if you wish to define the bittiming in expert mode with fully
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* manually defined timing values.
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* You have to define the bittiming struct yourself. a can_bittiming struct
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* consists of:
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*
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* @code
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* struct can_bittiming {
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* __u32 bitrate;
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* __u32 sample_point;
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* __u32 tq;
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* __u32 prop_seg;
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* __u32 phase_seg1;
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* __u32 phase_seg2;
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* __u32 sjw;
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* __u32 brp;
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* }
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* @endcode
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*
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* to define a customized bittiming, you have to define tq, prop_seq,
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* phase_seg1, phase_seg2 and sjw. See http://www.can-cia.org/index.php?id=88
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* for more information about bittiming and synchronizations on can bus.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_set_bittiming(const char *name, struct can_bittiming *bt)
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{
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struct req_info req_info = {
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@ -609,6 +867,25 @@ int can_set_bittiming(const char *name, struct can_bittiming *bt)
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return set_link(name, 0, &req_info);
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}
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/**
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* @ingroup extern
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* can_set_bitrate - setup the bitrate.
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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* @param bitrate bitrate of the can bus
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*
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* This is the recommended way to setup the bus bit timing. You only have to
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* give a bitrate value here. The exact bit timing will be calculated
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* automatically. To use this function, make sure that CONFIG_CAN_CALC_BITTIMING
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* is set to y in your kernel configuration. bitrate can be a value between
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* 1000(1kbit/s) and 1000000(1000kbit/s).
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_set_bitrate(const char *name, __u32 bitrate)
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{
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struct can_bittiming bt;
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@ -619,6 +896,23 @@ int can_set_bitrate(const char *name, __u32 bitrate)
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return can_set_bittiming(name, &bt);
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}
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/**
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* @ingroup extern
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* can_set_bitrate_samplepoint - setup the bitrate.
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*
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* @param name name of the can device. This is the netdev name, as ifconfig -a shows
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* in your system. usually it contains prefix "can" and the numer of the can
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* line. e.g. "can0"
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* @param bitrate bitrate of the can bus
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* @param sample_point sample point value
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*
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* This one is similar to can_set_bitrate, only you can additionally set up the
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* time point for sampling (sample point) customly instead of using the
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* CIA recommended value. sample_point can be a value between 0 and 999.
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*
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* @return 0 if success
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* @return -1 if failed
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*/
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int can_set_bitrate_samplepoint(const char *name, __u32 bitrate,
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__u32 sample_point)
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{
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||||
|
|
@ -631,31 +925,159 @@ int can_set_bitrate_samplepoint(const char *name, __u32 bitrate,
|
|||
return can_set_bittiming(name, &bt);
|
||||
}
|
||||
|
||||
/**
|
||||
* @ingroup extern
|
||||
* can_get_state - get the current state of the device
|
||||
*
|
||||
* @param name name of the can device. This is the netdev name, as ifconfig -a shows
|
||||
* in your system. usually it contains prefix "can" and the numer of the can
|
||||
* line. e.g. "can0"
|
||||
* @param state pointer to store the state
|
||||
*
|
||||
* This one stores the current state of the can interface into the given
|
||||
* pointer. Valid states are:
|
||||
* - CAN_STATE_ERROR_ACTIVE
|
||||
* - CAN_STATE_ERROR_WARNING
|
||||
* - CAN_STATE_ERROR_PASSIVE
|
||||
* - CAN_STATE_BUS_OFF
|
||||
* - CAN_STATE_STOPPED
|
||||
* - CAN_STATE_SLEEPING
|
||||
*
|
||||
* The first four states is determined by the value of RX/TX error counter.
|
||||
* Please see relevant can specification for more information about this. A
|
||||
* device in STATE_STOPPED is an inactive device. STATE_SLEEPING is not
|
||||
* implemented on all devices.
|
||||
*
|
||||
* @return 0 if success
|
||||
* @return -1 if failed
|
||||
*/
|
||||
|
||||
int can_get_state(const char *name, int *state)
|
||||
{
|
||||
return get_link(name, GET_STATE, state);
|
||||
}
|
||||
|
||||
/**
|
||||
* @ingroup extern
|
||||
* can_get_restart_ms - get the current interval of auto restarting.
|
||||
*
|
||||
* @param name name of the can device. This is the netdev name, as ifconfig -a shows
|
||||
* in your system. usually it contains prefix "can" and the numer of the can
|
||||
* line. e.g. "can0"
|
||||
* @param restart_ms pointer to store the value.
|
||||
*
|
||||
* This one stores the current interval of auto restarting into the given
|
||||
* pointer.
|
||||
*
|
||||
* The socketcan framework can automatically restart a device if it is in
|
||||
* bus_off in a given interval. This function gets this value in milliseconds.
|
||||
* restart_ms == 0 means that autorestarting is turned off.
|
||||
*
|
||||
* @return 0 if success
|
||||
* @return -1 if failed
|
||||
*/
|
||||
|
||||
int can_get_restart_ms(const char *name, __u32 *restart_ms)
|
||||
{
|
||||
return get_link(name, GET_RESTART_MS, restart_ms);
|
||||
}
|
||||
|
||||
/**
|
||||
* @ingroup extern
|
||||
* can_get_bittiming - get the current bittimnig configuration.
|
||||
*
|
||||
* @param name name of the can device. This is the netdev name, as ifconfig -a shows
|
||||
* in your system. usually it contains prefix "can" and the numer of the can
|
||||
* line. e.g. "can0"
|
||||
* @param bt pointer to the bittiming struct.
|
||||
*
|
||||
* This one stores the current bittiming configuration.
|
||||
*
|
||||
* Please see can_set_bittiming for more information about bit timing.
|
||||
*
|
||||
* @return 0 if success
|
||||
* @return -1 if failed
|
||||
*/
|
||||
int can_get_bittiming(const char *name, struct can_bittiming *bt)
|
||||
{
|
||||
return get_link(name, GET_BITTIMING, bt);
|
||||
}
|
||||
|
||||
/**
|
||||
* @ingroup extern
|
||||
* can_get_ctrlmode - get the current control mode.
|
||||
*
|
||||
* @param name name of the can device. This is the netdev name, as ifconfig -a shows
|
||||
* in your system. usually it contains prefix "can" and the numer of the can
|
||||
* line. e.g. "can0"
|
||||
* @param cm pointer to the ctrlmode struct.
|
||||
*
|
||||
* This one stores the current control mode configuration.
|
||||
*
|
||||
* Please see can_set_ctrlmode for more information about control modes.
|
||||
*
|
||||
* @return 0 if success
|
||||
* @return -1 if failed
|
||||
*/
|
||||
|
||||
int can_get_ctrlmode(const char *name, struct can_ctrlmode *cm)
|
||||
{
|
||||
return get_link(name, GET_CTRLMODE, cm);
|
||||
}
|
||||
|
||||
/**
|
||||
* @ingroup extern
|
||||
* can_get_clock - get the current clock struct.
|
||||
*
|
||||
* @param name: name of the can device. This is the netdev name, as ifconfig -a shows
|
||||
* in your system. usually it contains prefix "can" and the numer of the can
|
||||
* line. e.g. "can0"
|
||||
* @param clock pointer to the clock struct.
|
||||
*
|
||||
* This one stores the current clock configuration. At the time of writing the
|
||||
* can_clock struct only contains information about the clock frequecy. This
|
||||
* information is e.g. essential while setting up the bit timing.
|
||||
*
|
||||
* @return 0 if success
|
||||
* @return -1 if failed
|
||||
*/
|
||||
int can_get_clock(const char *name, struct can_clock *clock)
|
||||
{
|
||||
return get_link(name, GET_CLOCK, clock);
|
||||
}
|
||||
|
||||
/**
|
||||
* @ingroup extern
|
||||
* can_get_bittiming_const - get the current bittimnig constant.
|
||||
*
|
||||
* @param name name of the can device. This is the netdev name, as ifconfig -a shows
|
||||
* in your system. usually it contains prefix "can" and the numer of the can
|
||||
* line. e.g. "can0"
|
||||
* @param btc pointer to the bittiming constant struct.
|
||||
*
|
||||
* This one stores the hardware dependent bittiming constant. The
|
||||
* can_bittiming_const struct consists:
|
||||
*
|
||||
* @code
|
||||
* struct can_bittiming_const {
|
||||
* char name[16];
|
||||
* __u32 tseg1_min;
|
||||
* __u32 tseg1_max;
|
||||
* __u32 tseg2_min;
|
||||
* __u32 tseg2_max;
|
||||
* __u32 sjw_max;
|
||||
* __u32 brp_min;
|
||||
* __u32 brp_max;
|
||||
* __u32 brp_inc;
|
||||
* };
|
||||
* @endcode
|
||||
*
|
||||
* The information in this struct is used to calculate the bus bit timing
|
||||
* automatically.
|
||||
*
|
||||
* @return 0 if success
|
||||
* @return -1 if failed
|
||||
*/
|
||||
int can_get_bittiming_const(const char *name, struct can_bittiming_const *btc)
|
||||
{
|
||||
return get_link(name, GET_BITTIMING_CONST, btc);
|
||||
|
|
|
|||
Loading…
Reference in New Issue