This additional patch adds command line support for the TDC in iproute
and goes together with below series:
https://lore.kernel.org/linux-can/[email protected]/T/#t
For now, I am only sending the patch to the CAN mailing list.
Vincent Mailhol (1):
iplink_can: add new CAN FD bittiming parameters: Transmitter Delay
Compensation (TDC)
include/uapi/linux/can/netlink.h | 25 +++++++++--
ip/iplink_can.c | 72 ++++++++++++++++++++++++++++++++
2 files changed, 94 insertions(+), 3 deletions(-)
--
2.26.3
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 <[email protected]>
---
include/uapi/linux/can/netlink.h | 25 +++++++++--
ip/iplink_can.c | 72 ++++++++++++++++++++++++++++++++
2 files changed, 94 insertions(+), 3 deletions(-)
diff --git a/include/uapi/linux/can/netlink.h b/include/uapi/linux/can/netlink.h
index 00c763df..d5cc2761 100644
--- a/include/uapi/linux/can/netlink.h
+++ b/include/uapi/linux/can/netlink.h
@@ -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 */
diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index 6a26f3ff..5be2dad7 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -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;
}
@@ -274,6 +301,48 @@ static void can_print_json_timing_min_max(const char *attr, int min, int max)
close_json_object();
}
+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]);
+
+ if (is_json_context()) {
+ open_json_object("tdc");
+ print_int(PRINT_JSON, "tdcv", NULL, *tdcv);
+ print_int(PRINT_JSON, "tdco", NULL, *tdco);
+ print_int(PRINT_JSON, "tdcf", NULL, *tdcf);
+ close_json_object();
+ } else {
+ fprintf(f, "\n tdcv %d tdco %d tdcf %d",
+ *tdcv, *tdco, *tdcf);
+ }
+ }
+
+ 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]);
+
+ if (is_json_context()) {
+ open_json_object("tdc_const");
+ print_int(PRINT_JSON, "tdcv_max", NULL, *tdcv_max);
+ print_int(PRINT_JSON, "tdco_max", NULL, *tdco_max);
+ print_int(PRINT_JSON, "tdcf_max", NULL, *tdcf_max);
+ close_json_object();
+ } else {
+ fprintf(f, "\n tdcv_max %d tdco_max %d tdcf_max %d",
+ *tdcv_max, *tdco_max, *tdcf_max);
+ }
+ }
+}
+
static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
{
if (!tb)
@@ -523,6 +592,9 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
}
}
+ 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]);
--
2.26.3
On Thu, 6 May 2021 20:20:07 +0900
Vincent Mailhol <[email protected]> wrote:
> + 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]);
> +
> + if (is_json_context()) {
> + open_json_object("tdc");
> + print_int(PRINT_JSON, "tdcv", NULL, *tdcv);
> + print_int(PRINT_JSON, "tdco", NULL, *tdco);
> + print_int(PRINT_JSON, "tdcf", NULL, *tdcf);
> + close_json_object();
> + } else {
> + fprintf(f, "\n tdcv %d tdco %d tdcf %d",
> + *tdcv, *tdco, *tdcf);
> + }
> + }
> +
The most common pattern in iproute2 is to let json/non-json be decided
inside the print routine. I search for all instances of fprintf as
indication of broken code. Also these are not signed values so please
print unsigned. The code should use print_nl() to handle the single line
case. Also, there is helper to handle
Something like:
__u32 tdc = rte_getattr_u32(tb[IFLA_CAN_TDC_TDCV]);
open_json_object("tdc");
print_nl();
print_u32(PRINT_ANY, "tdcv", " tdcv %u", tdcv);
...
On Fri. 7 Mai 2021 at 00:50, Stephen Hemminger
<[email protected]> wrote:
> On Thu, 6 May 2021 20:20:07 +0900
> Vincent Mailhol <[email protected]> wrote:
>
> > + 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]);
> > +
> > + if (is_json_context()) {
> > + open_json_object("tdc");
> > + print_int(PRINT_JSON, "tdcv", NULL, *tdcv);
> > + print_int(PRINT_JSON, "tdco", NULL, *tdco);
> > + print_int(PRINT_JSON, "tdcf", NULL, *tdcf);
> > + close_json_object();
> > + } else {
> > + fprintf(f, "\n tdcv %d tdco %d tdcf %d",
> > + *tdcv, *tdco, *tdcf);
> > + }
> > + }
> > +
>
> The most common pattern in iproute2 is to let json/non-json be decided
> inside the print routine. I search for all instances of fprintf as
> indication of broken code. Also these are not signed values so please
> print unsigned. The code should use print_nl() to handle the single line
> case. Also, there is helper to handle
Thanks for pointing out the issues! For my defence, all the
existing code of ip/iplink_can.c shares the exact same issues and
I just repeated those without using my brain...
I just sent a new v2 which fixes your remarks on both the
existing code and the new code introduced in my patch.
> Something like:
> __u32 tdc = rte_getattr_u32(tb[IFLA_CAN_TDC_TDCV]);
>
> open_json_object("tdc");
> print_nl();
> print_u32(PRINT_ANY, "tdcv", " tdcv %u", tdcv);
There is no print_u32 in iproute2. I guess you meant print_uint(). :)
Yours sincerely,
Vincent