1 files changed, 328 insertions, 0 deletions
diff --git a/src/canconfig.c b/src/canconfig.c
new file mode 100644
index 0000000..9207fe5
--- /dev/null
+++ b/src/canconfig.c
@@ -0,0 +1,328 @@
+/*
+ * canutils/canconfig.c
+ *
+ * Copyright (C) 2005 Marc Kleine-Budde <mkl@pengutronix.de>, Pengutronix
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License 
+ * as published by the Free Software Foundation
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ */
+
+#include <errno.h>
+#include <fcntl.h>
+#include <limits.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <termios.h>
+#include <string.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+
+#include <net/if.h>
+#include <netinet/in.h>
+#include <netinet/ether.h>
+
+#include <socket-can/can.h>
+
+#ifndef MIN
+#define MIN(a, b) ((a) < (b) ? (a) : (b))
+#endif
+				      
+int             s;
+struct ifreq	ifr;
+
+struct speed_map {
+	unsigned short speed;
+	unsigned short value;
+};
+
+static const struct speed_map speeds[] = {
+	{CAN_BAUD_10K,   10},
+	{CAN_BAUD_20K,   20},
+	{CAN_BAUD_50K,   50},
+	{CAN_BAUD_100K, 100},
+	{CAN_BAUD_125K, 125},
+	{CAN_BAUD_250K, 250},
+	{CAN_BAUD_500K, 500},
+	{CAN_BAUD_800K, 800},
+	{CAN_BAUD_1M,  1000},
+};
+
+static const int NUM_SPEEDS = (sizeof(speeds) / sizeof(struct speed_map));
+
+unsigned long can_baud_to_value(speed_t speed)
+{
+	int i = 0;
+
+	do {
+		if (speed == speeds[i].speed) {
+			return speeds[i].value;
+		}
+	} while (++i < NUM_SPEEDS);
+
+	return 0;
+}
+
+speed_t can_value_to_baud(unsigned long value)
+{
+	int i = 0;
+
+	do {
+		if (value == can_baud_to_value(speeds[i].speed)) {
+			return speeds[i].speed;
+		}
+	} while (++i < NUM_SPEEDS);
+
+	return (speed_t)-1;
+}
+
+
+void help(void)
+{
+    fprintf(stderr, "usage:\n\t"
+	    "canconfig <dev> baudrate { BR | BTR }\n\t\t"
+	    "BR := { 10 | 20 | 50 | 100 | 125 | 250 | 500 | 800 | 1000 }\n\t\t"
+	    "BTR := btr_sja1000 <brp> <sjw> <tseg1> <tseg2> <sam>\n\t\t"
+	    "BTR := btr_c_can <brp> <sjw> <tseg1> <tseg2>\n\t\t"
+	    "BTR := btr_nios <prescale> <timea> <timeb>\n\t"
+	    "canconfig <dev> mode MODE\n\t\t"
+	    "MODE := { start }\n\t"
+	    "canconfig <dev> state\n"
+	    );
+
+    exit(EXIT_FAILURE);
+}
+
+
+void do_show_baudrate(int argc, char* argv[])
+{
+	struct can_baudrate	*br = (struct can_baudrate *)&ifr.ifr_ifru;
+	int			i, value;
+	
+	i = ioctl(s, SIOCGCANBAUDRATE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+
+	switch (br->baudrate) {
+		case CAN_BAUD_BTR_SJA1000:
+			fprintf(stdout, "%s: sja1000 brp=%d sjw=%d tseg1=%d tseg2=%d sam=%d\n",
+				ifr.ifr_name,
+				br->btr.sja1000.brp,
+				br->btr.sja1000.sjw,
+				br->btr.sja1000.tseg1,
+				br->btr.sja1000.tseg2,
+				br->btr.sja1000.sam);
+			break;
+		case CAN_BAUD_BTR_C_CAN:
+			fprintf(stdout, "%s: C-Can brp=%d sjw=%d tseg1=%d tseg2=%d\n",
+				ifr.ifr_name,
+				br->btr.c_can.brp,
+				br->btr.c_can.sjw,
+				br->btr.c_can.tseg1,
+				br->btr.c_can.tseg2);
+			break;
+		case CAN_BAUD_BTR_NIOS:
+			fprintf(stdout, "%s: nios prescale=%d timea=%d timeb=%d\n",
+				ifr.ifr_name,
+				br->btr.nios.prescale,
+				br->btr.nios.timea,
+				br->btr.nios.timeb);
+			break;
+		default:
+			value = can_baud_to_value(br->baudrate);
+		if (value != 0)
+			fprintf(stdout,
+				"%s: baudrate %d\n", ifr.ifr_name, value);
+		else
+			fprintf(stdout, "baudrate not recognized. update canconfig?\n");
+		break;
+	}
+}
+
+
+void do_set_baudrate(int argc, char* argv[])
+{
+	struct can_baudrate	*br = (struct can_baudrate *)&ifr.ifr_ifru;
+	speed_t			baudrate;
+	int			value, i;
+
+	if (!strcmp(argv[3], "btr_sja1000")) {
+		struct can_baudrate_sja1000 *br_sja1000 = &br->btr.sja1000;
+
+		if (argc < 9)
+			help();
+
+		br->baudrate = CAN_BAUD_BTR_SJA1000;
+		br_sja1000->brp = strtol(argv[4], NULL, 0);
+		br_sja1000->sjw = strtol(argv[5], NULL, 0);
+		br_sja1000->tseg1 = strtol(argv[6], NULL, 0);
+		br_sja1000->tseg2 = strtol(argv[7], NULL, 0);
+		br_sja1000->sam = strtol(argv[8], NULL, 0);
+
+	} else if (!strcmp(argv[3], "btr_c_can")) {
+		struct can_baudrate_c_can *br_c_can = &br->btr.c_can;
+
+		if (argc < 8)
+			help();
+
+		br->baudrate = CAN_BAUD_BTR_C_CAN;
+		br_c_can->brp = strtol(argv[4], NULL, 0);
+		br_c_can->sjw = strtol(argv[5], NULL, 0);
+		br_c_can->tseg1 = strtol(argv[6], NULL, 0);
+		br_c_can->tseg2 = strtol(argv[7], NULL, 0);
+
+	} else if (!strcmp(argv[3], "btr_nios")) {
+		struct can_baudrate_nios *br_nios = &br->btr.nios;
+
+		if (argc < 7)
+			help();
+
+		br->baudrate = CAN_BAUD_BTR_NIOS;
+		br_nios->prescale = strtol(argv[4], NULL, 0);
+		br_nios->timea = strtol(argv[5], NULL, 0);
+		br_nios->timeb = strtol(argv[6], NULL, 0);
+
+	} else {
+		value = atoi(argv[3]);
+		baudrate = can_value_to_baud(value);
+		if ( baudrate == -1) {
+			fprintf(stderr, "invalid baudrate\n");
+			exit(EXIT_FAILURE);
+		}
+		br->baudrate = baudrate;
+	}
+
+	i = ioctl(s, SIOCSCANBAUDRATE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+}
+
+
+void cmd_baudrate(int argc, char *argv[])
+{
+	if (argc >= 4) {
+		do_set_baudrate(argc, argv);
+	}
+	do_show_baudrate(argc, argv);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+void cmd_mode(int argc, char *argv[])
+{
+	union can_settings *settings = (union can_settings *)&ifr.ifr_ifru;
+	int i;
+
+	if (argc < 4 )
+		help();
+
+	if (!strcmp(argv[3], "start")) {
+		settings->mode = CAN_MODE_START;
+	} else {
+		help();
+	}
+
+	i = ioctl(s, SIOCSCANMODE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+		
+	exit(EXIT_SUCCESS);
+}
+
+
+void do_show_state(int argc, char *argv[])
+{
+	union can_settings *settings = (union can_settings *)&ifr.ifr_ifru;
+	enum CAN_STATE state;
+	char *str;
+	int i;
+
+	i = ioctl(s, SIOCGCANSTATE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+
+	state = settings->state;
+	fprintf(stdout, "%s: state ", ifr.ifr_name);
+	switch (state) {
+	case CAN_STATE_BUS_PASSIVE:
+		str = "bus passive";
+		break;
+	case CAN_STATE_ACTIVE:
+		str = "active";
+		break;
+	case CAN_STATE_BUS_OFF:
+		str = "bus off";
+		break;
+	default:
+		str = "<unknown>";
+	}
+	fprintf(stdout, "%s \n", str);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+void cmd_state(int argc, char *argv[])
+{
+	do_show_state(argc, argv);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+void cmd_show_interface(int argc, char *argv[])
+{
+	do_show_baudrate(argc, argv);
+	do_show_state(argc, argv);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+int main(int argc, char *argv[])
+{
+	if ((argc < 2) || !strcmp(argv[1], "--help"))
+		help();
+	
+	if ((s = socket(AF_CAN, SOCK_RAW, 0)) < 0) {
+		perror("socket");
+		exit(EXIT_FAILURE);
+	}
+
+	strncpy(ifr.ifr_name, argv[1], IFNAMSIZ);
+
+	if (argc < 3)
+		cmd_show_interface(argc, argv);
+
+	if (!strcmp(argv[2], "baudrate"))
+		cmd_baudrate(argc, argv);
+	if (!strcmp(argv[2], "mode"))
+		cmd_mode(argc, argv);
+	if (!strcmp(argv[2], "state"))
+		cmd_state(argc, argv);
+
+	help();
+
+	return 0;
+}