cansequence: add support to send and receive CAN-FD
Marc Kleine-Budde
parent
6695f6f557
commit
bd835f2ca2
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@ -1,5 +1,5 @@
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/* SPDX-License-Identifier: GPL-2.0-only */
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// Copyright (c) 2007, 2008, 2009, 2010, 2014, 2015, 2019 Pengutronix,
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// Copyright (c) 2007, 2008, 2009, 2010, 2014, 2015, 2019, 2023 Pengutronix,
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// Marc Kleine-Budde <kernel@pengutronix.de>
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// Copyright (c) 2005 Pengutronix,
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// Sascha Hauer <kernel@pengutronix.de>
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@ -36,6 +36,7 @@ static int s = -1;
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static bool running = true;
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static volatile sig_atomic_t signal_num;
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static bool infinite = true;
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static bool canfd = false;
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static unsigned int drop_until_quit;
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static unsigned int drop_count;
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static bool use_poll = false;
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@ -43,8 +44,8 @@ static bool use_poll = false;
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static unsigned int loopcount = 1;
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static int verbose;
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static struct can_frame frame = {
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.can_dlc = 1,
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static struct canfd_frame frame = {
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.len = 1,
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};
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static struct can_filter filter[] = {
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{
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@ -64,6 +65,8 @@ static void print_usage(char *prg)
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"\n"
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"Options:\n"
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" -e, --extended send/receive extended frames\n"
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" -f, --canfd send/receive CAN-FD CAN frames\n"
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" -b, --brs send CAN-FD CAN frames with bitrate switch (BRS)\n"
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" -i, --identifier=ID CAN Identifier (default = %u)\n"
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" --loop=COUNT send message COUNT times\n"
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" -p, --poll use poll(2) to wait for buffer space while sending\n"
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@ -100,6 +103,12 @@ static void do_receive()
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uint32_t sequence = 0;
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unsigned int overflow_old = 0;
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can_err_mask_t err_mask = CAN_ERR_MASK;
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size_t mtu;
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if (canfd)
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mtu = CANFD_MTU;
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else
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mtu = CAN_MTU;
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if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
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&dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
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@ -121,7 +130,7 @@ static void do_receive()
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while ((infinite || loopcount--) && running) {
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ssize_t nbytes;
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msg.msg_iov[0].iov_len = sizeof(frame);
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msg.msg_iov[0].iov_len = mtu;
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msg.msg_controllen = sizeof(ctrlmsg);
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msg.msg_flags = 0;
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@ -197,6 +206,12 @@ static void do_send()
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{
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unsigned int seq_wrap = 0;
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uint8_t sequence = 0;
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size_t mtu;
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if (canfd)
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mtu = CANFD_MTU;
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else
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mtu = CAN_MTU;
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while ((infinite || loopcount--) && running) {
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ssize_t len;
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@ -205,7 +220,7 @@ static void do_send()
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printf("sending frame. sequence number: %d\n", sequence);
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again:
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len = write(s, &frame, sizeof(frame));
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len = write(s, &frame, mtu);
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if (len == -1) {
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switch (errno) {
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case ENOBUFS: {
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@ -254,6 +269,7 @@ int main(int argc, char **argv)
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};
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char *interface = "can0";
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bool extended = false;
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bool brs = false;
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bool receive = false;
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int opt;
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@ -263,6 +279,8 @@ int main(int argc, char **argv)
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struct option long_options[] = {
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{ "extended", no_argument, 0, 'e' },
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{ "canfd", no_argument, 0, 'f' },
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{ "brs", no_argument, 0, 'b' },
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{ "identifier", required_argument, 0, 'i' },
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{ "loop", required_argument, 0, 'l' },
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{ "poll", no_argument, 0, 'p' },
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@ -273,12 +291,21 @@ int main(int argc, char **argv)
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{ 0, 0, 0, 0 },
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};
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while ((opt = getopt_long(argc, argv, "ei:pq::rvh?", long_options, NULL)) != -1) {
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while ((opt = getopt_long(argc, argv, "efbi:pq::rvh?", long_options, NULL)) != -1) {
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switch (opt) {
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case 'e':
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extended = true;
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break;
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case 'f':
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canfd = true;
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break;
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case 'b':
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brs = true; /* bitrate switch implies CAN-FD */
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canfd = true;
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break;
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case 'i':
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filter->can_id = strtoul(optarg, NULL, 0);
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break;
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@ -360,6 +387,33 @@ int main(int argc, char **argv)
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exit(EXIT_FAILURE);
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}
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if (canfd) {
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const int enable_canfd = 1;
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struct ifreq ifr;
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strncpy(ifr.ifr_name, interface, sizeof(ifr.ifr_name));
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/* check if the frame fits into the CAN netdevice */
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if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
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perror("SIOCGIFMTU");
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exit(EXIT_FAILURE);
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}
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if (ifr.ifr_mtu != CANFD_MTU && ifr.ifr_mtu != CANXL_MTU) {
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printf("CAN interface is only Classical CAN capable - sorry.\n");
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exit(EXIT_FAILURE);
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}
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/* interface is ok - try to switch the socket into CAN FD mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable_canfd, sizeof(enable_canfd))) {
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printf("error when enabling CAN FD support\n");
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exit(EXIT_FAILURE);
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}
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}
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if (brs)
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frame.flags |= CANFD_BRS;
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if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind()");
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exit(EXIT_FAILURE);
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