@@ -134,12 +134,31 @@ enum {
IFLA_CAN_BITRATE_CONST,
IFLA_CAN_DATA_BITRATE_CONST,
IFLA_CAN_BITRATE_MAX,
- __IFLA_CAN_MAX
-};
+ IFLA_CAN_TDC,
-#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1)
+ /* add new constants above here */
+ __IFLA_CAN_MAX,
+ IFLA_CAN_MAX = __IFLA_CAN_MAX - 1
+};
/* u16 termination range: 1..65535 Ohms */
#define CAN_TERMINATION_DISABLED 0
+/*
+ * CAN FD Transmitter Delay Compensation (TDC)
+ */
+enum {
+ IFLA_CAN_TDC_UNSPEC,
+ IFLA_CAN_TDC_TDCV_MAX, /* u32 */
+ IFLA_CAN_TDC_TDCO_MAX, /* u32 */
+ IFLA_CAN_TDC_TDCF_MAX, /* u32 */
+ IFLA_CAN_TDC_TDCV, /* u32 */
+ IFLA_CAN_TDC_TDCO, /* u32 */
+ IFLA_CAN_TDC_TDCF, /* u32 */
+
+ /* add new constants above here */
+ __IFLA_CAN_TDC,
+ IFLA_CAN_TDC_MAX = __IFLA_CAN_TDC - 1
+};
+
#endif /* !_UAPI_CAN_NETLINK_H */
@@ -28,6 +28,7 @@ static void print_usage(FILE *f)
"\n"
"\t[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |\n"
"\t[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1\n \t dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]\n"
+ "\t[ tdcv TDCV tdco TDCO tdcf TDCF ]\n"
"\n"
"\t[ loopback { on | off } ]\n"
"\t[ listen-only { on | off } ]\n"
@@ -52,6 +53,9 @@ static void print_usage(FILE *f)
"\t PHASE-SEG2 := { 1..8 }\n"
"\t SJW := { 1..4 }\n"
"\t RESTART-MS := { 0 | NUMBER }\n"
+ "\t TDCV := { NUMBER }\n"
+ "\t TDCO := { NUMBER }\n"
+ "\t TDCF := { NUMBER }\n"
);
}
@@ -116,6 +120,8 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
{
struct can_bittiming bt = {}, dbt = {};
struct can_ctrlmode cm = {0, 0};
+ struct rtattr *tdc;
+ __u32 tdcv = -1, tdco = -1, tdcf = -1;
while (argc > 0) {
if (matches(*argv, "bitrate") == 0) {
@@ -181,6 +187,18 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
NEXT_ARG();
if (get_u32(&dbt.sjw, *argv, 0))
invarg("invalid \"dsjw\" value\n", *argv);
+ } else if (matches(*argv, "tdcv") == 0) {
+ NEXT_ARG();
+ if (get_u32(&tdcv, *argv, 0))
+ invarg("invalid \"tdcv\" value\n", *argv);
+ } else if (matches(*argv, "tdco") == 0) {
+ NEXT_ARG();
+ if (get_u32(&tdco, *argv, 0))
+ invarg("invalid \"tdco\" value\n", *argv);
+ } else if (matches(*argv, "tdcf") == 0) {
+ NEXT_ARG();
+ if (get_u32(&tdcf, *argv, 0))
+ invarg("invalid \"tdcf\" value\n", *argv);
} else if (matches(*argv, "loopback") == 0) {
NEXT_ARG();
set_ctrlmode("loopback", *argv, &cm,
@@ -254,6 +272,15 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
if (cm.mask)
addattr_l(n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm));
+ tdc = addattr_nest(n, 1024, IFLA_CAN_TDC | NLA_F_NESTED);
+ if (tdcv != -1)
+ addattr32(n, 1024, IFLA_CAN_TDC_TDCV, tdcv);
+ if (tdco != -1)
+ addattr32(n, 1024, IFLA_CAN_TDC_TDCO, tdco);
+ if (tdcf != -1)
+ addattr32(n, 1024, IFLA_CAN_TDC_TDCF, tdcf);
+ addattr_nest_end(n, tdc);
+
return 0;
}
@@ -294,6 +321,40 @@ static void can_print_data_timing_min_max(const char *attr, int min, int max)
can_print_timing_min_max(attr, min, max);
}
+static void can_print_tdc_opt(FILE *f, struct rtattr *tdc_attr)
+{
+ struct rtattr *tb[IFLA_CAN_TDC_MAX + 1];
+
+ parse_rtattr_nested(tb, IFLA_CAN_TDC_MAX, tdc_attr);
+ if (tb[IFLA_CAN_TDC_TDCV] && tb[IFLA_CAN_TDC_TDCO] &&
+ tb[IFLA_CAN_TDC_TDCF]) {
+ __u32 *tdcv = RTA_DATA(tb[IFLA_CAN_TDC_TDCV]);
+ __u32 *tdco = RTA_DATA(tb[IFLA_CAN_TDC_TDCO]);
+ __u32 *tdcf = RTA_DATA(tb[IFLA_CAN_TDC_TDCF]);
+
+ open_json_object("tdc");
+ can_print_nl_indent();
+ print_uint(PRINT_ANY, "tdcv", "tdcv %u", *tdcv);
+ print_uint(PRINT_ANY, "tdco", " tdco %u", *tdco);
+ print_uint(PRINT_ANY, "tdcf", " tdcf %u", *tdcf);
+ close_json_object();
+ }
+
+ if (tb[IFLA_CAN_TDC_TDCV_MAX] && tb[IFLA_CAN_TDC_TDCO_MAX] &&
+ tb[IFLA_CAN_TDC_TDCF_MAX]) {
+ __u32 *tdcv_max = RTA_DATA(tb[IFLA_CAN_TDC_TDCV_MAX]);
+ __u32 *tdco_max = RTA_DATA(tb[IFLA_CAN_TDC_TDCO_MAX]);
+ __u32 *tdcf_max = RTA_DATA(tb[IFLA_CAN_TDC_TDCF_MAX]);
+
+ open_json_object("tdc_const");
+ can_print_nl_indent();
+ print_uint(PRINT_ANY, "tdcv_max", "tdcv_max %u", *tdcv_max);
+ print_uint(PRINT_ANY, "tdco_max", " tdco_max %u", *tdco_max);
+ print_uint(PRINT_ANY, "tdcf_max", " tdcf_max %u", *tdcf_max);
+ close_json_object();
+ }
+}
+
static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
{
if (!tb)
@@ -478,6 +539,9 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
close_json_array(PRINT_JSON, " ]");
}
+ if (tb[IFLA_CAN_TDC])
+ can_print_tdc_opt(f, tb[IFLA_CAN_TDC]);
+
if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
__u16 *trm = RTA_DATA(tb[IFLA_CAN_TERMINATION]);
__u16 *trm_const = RTA_DATA(tb[IFLA_CAN_TERMINATION_CONST]);
At high bit rates, the propagation delay from the TX pin to the RX pin of the transceiver causes measurement errors: the sample point on the RX pin might occur on the previous bit. This issue is addressed in ISO 11898-1 section 11.3.3 "Transmitter delay compensation" (TDC). This patch brings command line support to six TDC parameters which were recently added to the kernel's CAN netlink interface in order to implement TDC: - IFLA_CAN_TDC_TDCV_MAX: Transmitter Delay Compensation Value maximum value - IFLA_CAN_TDC_TDCO_MAX: Transmitter Delay Compensation Offset maximum value - IFLA_CAN_TDC_TDCF_MAX: Transmitter Delay Compensation Filter window maximum value - IFLA_CAN_TDC_TDCV: Transmitter Delay Compensation Value - IFLA_CAN_TDC_TDCO: Transmitter Delay Compensation Offset - IFLA_CAN_TDC_TDCF: Transmitter Delay Compensation Filter window All those new parameters are nested together into the attribute IFLA_CAN_TDC. Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr> --- include/uapi/linux/can/netlink.h | 25 +++++++++++-- ip/iplink_can.c | 64 ++++++++++++++++++++++++++++++++ 2 files changed, 86 insertions(+), 3 deletions(-)