rtcanconfig.c

/*
 * Program to configuring the CAN controller
 *
 * Copyright (C) 2006 Wolfgang Grandegger <wg@grandegger.com>
 *
 * Copyright (C) 2005, 2006 Sebastian Smolorz
 *                          <Sebastian.Smolorz@stud.uni-hannover.de>
 *
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * 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., 675 Mass Ave, Cambridge, MA 02139, USA.
 */

#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <string.h>
#include <time.h>
#include <errno.h>
#include <getopt.h>
#include <sys/mman.h>

#include <rtdm/rtcan.h>

static void print_usage(char *prg)
{
    fprintf(stderr,
            "Usage: %s <can-interface> [Options] [up|down|start|stop|sleep]\n"
            "Options:\n"
            " -v, --verbose            be verbose\n"
            " -h, --help               this help\n"
            " -c, --ctrlmode=CTRLMODE  listenonly, loopback or none\n"
            " -b, --baudrate=BPS       baudrate in bits/sec\n"
            " -B, --bittime=BTR0:BTR1  BTR or standard bit-time\n"
            " -B, --bittime=BRP:PROP_SEG:PHASE_SEG1:PHASE_SEG2:SJW:SAM\n",
            prg);
}

can_baudrate_t string_to_baudrate(char *str)
{
    can_baudrate_t baudrate;
    if (sscanf(str, "%i", &baudrate) != 1)
        return -1;
    return baudrate;
}

int string_to_mode(char *str)
{
    if ( !strcmp(str, "up") || !strcmp(str, "start") )
        return CAN_MODE_START;
    else if ( !strcmp(str, "down") || !strcmp(str, "stop") )
        return CAN_MODE_STOP;
    else if ( !strcmp(str, "sleep") )
        return CAN_MODE_SLEEP;
    return -EINVAL;
}

int string_to_ctrlmode(char *str)
{
    if ( !strcmp(str, "listenonly") )
        return CAN_CTRLMODE_LISTENONLY;
    else if ( !strcmp(str, "loopback") )
        return CAN_CTRLMODE_LOOPBACK;
    else if ( !strcmp(str, "none") )
        return 0;

    return -1;
}

int main(int argc, char *argv[])
{
    char    ifname[16];
    int     can_fd = -1;
    int     new_baudrate = -1;
    int     new_mode = -1;
    int     new_ctrlmode = 0, set_ctrlmode = 0;
    int     verbose = 0;
    int     bittime_count = 0, bittime_data[6];
    struct  ifreq ifr;
    can_baudrate_t *baudrate;
    can_ctrlmode_t *ctrlmode;
    can_mode_t *mode;
    struct can_bittime *bittime;
    int opt, ret;
    char* ptr;

    struct option long_options[] = {
        { "help", no_argument, 0, 'h' },
        { "verbose", no_argument, 0, 'v'},
        { "baudrate", required_argument, 0, 'b'},
        { "bittime", required_argument, 0, 'B'},
        { "ctrlmode", required_argument, 0, 'c'},
        { 0, 0, 0, 0},
    };

    while ((opt = getopt_long(argc, argv, "hvb:B:c:",
                              long_options, NULL)) != -1) {
        switch (opt) {
        case 'h':
            print_usage(argv[0]);
            exit(0);

        case 'v':
            verbose = 1;
            break;

        case 'b':
            new_baudrate = string_to_baudrate(optarg);
            if (new_baudrate == -1) {
                print_usage(argv[0]);
                exit(0);
            }
            break;

        case 'B':
            ptr = optarg;
            while (1) {
                bittime_data[bittime_count++] = strtoul(ptr, NULL, 0);
                if (!(ptr = strchr(ptr, ':')))
                    break;
                ptr++;
            }
            if (bittime_count != 2 && bittime_count != 6) {
                print_usage(argv[0]);
                exit(0);
            }
            break;

        case 'c':
            ret = string_to_ctrlmode(optarg);
            if (ret == -1) {
                print_usage(argv[0]);
                exit(0);
            }
            new_ctrlmode |= ret;
            set_ctrlmode = 1;
            break;

            break;

        default:
            fprintf(stderr, "Unknown option %c\n", opt);
            break;
        }
    }

    /* Get CAN interface name */
    if (optind != argc - 1 && optind != argc - 2) {
        print_usage(argv[0]);
        return 0;
    }

    strncpy(ifname, argv[optind], IFNAMSIZ);
    strncpy(ifr.ifr_name, ifname, IFNAMSIZ);

    if (optind == argc - 2) {   /* Get mode setting */
        new_mode = string_to_mode(argv[optind + 1]);
        if (verbose)
            printf("mode: %s (%#x)\n", argv[optind + 1], new_mode);
        if (new_mode < 0) {
            print_usage(argv[0]);
            return 0;
        }
    }

    can_fd = rt_dev_socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (can_fd < 0) {
        fprintf(stderr, "Cannot open RTDM CAN socket. Maybe driver not loaded? \n");
        return can_fd;
    }

    ret = rt_dev_ioctl(can_fd, SIOCGIFINDEX, &ifr);
    if (ret) {
        fprintf(stderr,"Can't get interface index for %s, code = %d\n", ifname, ret);
        return ret;
    }


    if (new_baudrate != -1) {
        if (verbose)
            printf("baudrate: %d\n", new_baudrate);
        baudrate = (can_baudrate_t *)&ifr.ifr_ifru;
        *baudrate = new_baudrate;
        ret = rt_dev_ioctl(can_fd, SIOCSCANBAUDRATE, &ifr);
        if (ret) {
            goto abort;
        }
    }

    if (bittime_count) {
        bittime = (struct can_bittime *)&ifr.ifr_ifru;
        if (bittime_count == 2) {
            bittime->type = CAN_BITTIME_BTR;
            bittime->btr.btr0 = bittime_data[0];
            bittime->btr.btr1 = bittime_data[1];
            if (verbose)
                printf("bit-time: btr0=0x%02x btr1=0x%02x\n",
                       bittime->btr.btr0, bittime->btr.btr1);
        } else {
            bittime->type = CAN_BITTIME_STD;
            bittime->std.brp = bittime_data[0];
            bittime->std.prop_seg = bittime_data[1];
            bittime->std.phase_seg1 = bittime_data[2];
            bittime->std.phase_seg2 = bittime_data[3];
            bittime->std.sjw = bittime_data[4];
            bittime->std.sam = bittime_data[5];
            if (verbose)
                printf("bit-time: brp=%d prop_seg=%d phase_seg1=%d "
                       "phase_seg2=%d sjw=%d sam=%d\n",
                       bittime->std.brp,
                       bittime->std.prop_seg,
                       bittime->std.phase_seg1,
                       bittime->std.phase_seg2,
                       bittime->std.sjw,
                       bittime->std.sam);
        }

        ret = rt_dev_ioctl(can_fd, SIOCSCANCUSTOMBITTIME, &ifr);
        if (ret) {
            goto abort;
        }

    }

    if (set_ctrlmode != 0) {
        ctrlmode = (can_ctrlmode_t *)&ifr.ifr_ifru;
        *ctrlmode = new_ctrlmode;
        if (verbose)
            printf("ctrlmode: %#x\n", new_ctrlmode);
        ret = rt_dev_ioctl(can_fd, SIOCSCANCTRLMODE, &ifr);
        if (ret) {
            goto abort;
        }
    }

    if (new_mode != -1) {
        mode = (can_mode_t *)&ifr.ifr_ifru;
        *mode = new_mode;
        ret = rt_dev_ioctl(can_fd, SIOCSCANMODE, &ifr);
        if (ret) {
            goto abort;
        }
    }

    rt_dev_close(can_fd);
    return 0;

 abort:
    rt_dev_close(can_fd);
    return ret;
}

---