[PATCH iproute2-next 5.16 v6 0/5] iplink_can: cleaning, fixes and adding TDC support.

[PATCH iproute2-next 5.16 v6 0/5] iplink_can: cleaning, fixes and adding TDC support.

[Vincent Mailhol]

The main purpose is to add commandline support for Transmitter Delay
Compensation (TDC) in iproute. Other issues found during the
development of this feature also get addressed.

This patch series contains four patches which respectively:

  1. Correct the bittiming ranges in the print_usage function and add
  the units to give more clarity: some parameters are in milliseconds,
  some in nano seconds, some in time quantum and the newly TDC
  parameters introduced in this series would be in clock period.

  2. Do some code refactoring on function print_ctrlmode().

  3. factorize the many print_*(PRINT_JSON, ...) and fprintf
  occurrences in a single print_*(PRINT_ANY, ...) call and fix the
  signedness while doing that.

  4. report the value of the bitrate prescalers (brp and dbrp).

  5. adds command line support for the TDC in iproute and goes together
  with below series in the kernel:
  https://lore.kernel.org/linux-can/20210814091750.73931-1-mailhol.vincent@wanadoo.fr/T/#t


** Changelog **

From RFC v5 to v6:
  * Dropped the RFC tag because the related patch series on the kernel
    side were pulled into net-next.
  * Remove the changes in include/uapi/linux/can/netlink.h because
    these should be pulled separately.
  * Add another patch (the second of this series) to do some cleanup
    on function print_ctrlmode().
  * Minor fixes in the patch comments (grammar, rephrasing).

From RFC v4 to RFC v5:
  * Add the unit (bps, tq, ns or ms) in print_usage()
  * Rewrote void can_print_timing_min_max() to better factorize the
    code.
  * Rewrote the commit message of the two last patches (those related
    to TDC) to either add clarification of fix inacurracies.

From v3 to RFC v4:
  * Reflect the changes made on the kernel side.

From RFC v2 to v3:
  * Dropped the RFC tag. Now that the kernel patch reach the testing
    branch, I am finaly ready.
  * Regression fix: configuring a link with only nominal bittiming
    returned -EOPNOTSUPP
  * Added two more patches to the series:
      - iplink_can: fix configuration ranges in print_usage()
      - iplink_can: print brp and dbrp bittiming variables
  * Other small fixes on formatting.

From RFC v1 to RFC v2:
  * Add an additional patch to the series to fix the issues reported
    by Stephen Hemminger
    Ref: https://lore.kernel.org/linux-can/20210506112007.1666738-1-mailhol.vincent@wanadoo.fr/T/#t

Vincent Mailhol (5):
  iplink_can: fix configuration ranges in print_usage() and add unit
  iplink_can: code refactoring of print_ctrlmode()
  iplink_can: use PRINT_ANY to factorize code and fix signedness
  iplink_can: print brp and dbrp bittiming variables
  iplink_can: add new CAN FD bittiming parameters: Transmitter Delay
    Compensation (TDC)

 ip/iplink_can.c | 512 ++++++++++++++++++++++++++----------------------
 1 file changed, 282 insertions(+), 230 deletions(-)

-- 
2.32.0

[PATCH iproute2-next 5.16 v6 1/5] iplink_can: fix configuration ranges in print_usage() and add unit

[Vincent Mailhol]

The configuration ranges in print_usage() are taken from "Table 8 -
Time segments' minimum configuration ranges" in section 11.3.1.2
"Configuration of the bit time parameters" of ISO 11898-1.

The standard clearly specifies that "implementations may allow time
segments that exceed the minimum required configuration ranges
specified in Table 8".

Because no maximum ranges are given in the standard, all given ranges
{ a..b } are simply replaced with { NUMBER }.

The actual ranges are specific to each device and can be confirmed
doing:

$ ip --details link show can0
1: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
    link/can  promiscuity 0 minmtu 0 maxmtu 0
    can state STOPPED restart-ms 0
	  ES582.1/ES584.1: tseg1 2..256 tseg2 2..128 sjw 1..128 brp 1..512 brp-inc 1
	  ES582.1/ES584.1: dtseg1 2..32 dtseg2 1..16 dsjw 1..8 dbrp 1..32 dbrp-inc 1
	  clock 80000000 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535

Finally, the unit (bps, tq, ns or ms) are given. The rationale to add
the units is that the TDC parameters (that will be introduced in the
upcoming patches) are measured in a different unit than the other
bittiming parameters: clock period (a.k.a. minimum time quantum)
instead of time quantum. Adding the units disambiguates things.

For reference, before the change:
$ ip link set can0 type can help
Usage: ip link set DEVICE type can
	[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |
	[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1
 	  phase-seg2 PHASE-SEG2 [ sjw SJW ] ]

	[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |
	[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1
 	  dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]

	[ loopback { on | off } ]
	[ listen-only { on | off } ]
	[ triple-sampling { on | off } ]
	[ one-shot { on | off } ]
	[ berr-reporting { on | off } ]
	[ fd { on | off } ]
	[ fd-non-iso { on | off } ]
	[ presume-ack { on | off } ]

	[ restart-ms TIME-MS ]
	[ restart ]

	[ termination { 0..65535 } ]

	Where: BITRATE	:= { 1..1000000 }
		  SAMPLE-POINT	:= { 0.000..0.999 }
		  TQ		:= { NUMBER }
		  PROP-SEG	:= { 1..8 }
		  PHASE-SEG1	:= { 1..8 }
		  PHASE-SEG2	:= { 1..8 }
		  SJW		:= { 1..4 }
		  RESTART-MS	:= { 0 | NUMBER }

...and after it:
$ ip link set can0 type can help
Usage: ip link set DEVICE type can
	[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |
	[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1
 	  phase-seg2 PHASE-SEG2 [ sjw SJW ] ]

	[ dbitrate BITRATE [ dsample-point SAMPLE-POINT] ] |
	[ dtq TQ dprop-seg PROP_SEG dphase-seg1 PHASE-SEG1
 	  dphase-seg2 PHASE-SEG2 [ dsjw SJW ] ]

	[ loopback { on | off } ]
	[ listen-only { on | off } ]
	[ triple-sampling { on | off } ]
	[ one-shot { on | off } ]
	[ berr-reporting { on | off } ]
	[ fd { on | off } ]
	[ fd-non-iso { on | off } ]
	[ presume-ack { on | off } ]
	[ cc-len8-dlc { on | off } ]

	[ restart-ms TIME-MS ]
	[ restart ]

	[ termination { 0..65535 } ]

	Where: BITRATE	:= { NUMBER in bps }
		  SAMPLE-POINT	:= { 0.000..0.999 }
		  TQ		:= { NUMBER in ns }
		  PROP-SEG	:= { NUMBER in tq }
		  PHASE-SEG1	:= { NUMBER in tq }
		  PHASE-SEG2	:= { NUMBER in tq }
		  SJW		:= { NUMBER in tq }
		  RESTART-MS	:= { 0 | NUMBER in ms }

Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
 ip/iplink_can.c | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index 6a26f3ff..0b2ff8a3 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -44,14 +44,14 @@ static void print_usage(FILE *f)
 		"\n"
 		"\t[ termination { 0..65535 } ]\n"
 		"\n"
-		"\tWhere: BITRATE	:= { 1..1000000 }\n"
+		"\tWhere: BITRATE	:= { NUMBER in bps }\n"
 		"\t	  SAMPLE-POINT	:= { 0.000..0.999 }\n"
-		"\t	  TQ		:= { NUMBER }\n"
-		"\t	  PROP-SEG	:= { 1..8 }\n"
-		"\t	  PHASE-SEG1	:= { 1..8 }\n"
-		"\t	  PHASE-SEG2	:= { 1..8 }\n"
-		"\t	  SJW		:= { 1..4 }\n"
-		"\t	  RESTART-MS	:= { 0 | NUMBER }\n"
+		"\t	  TQ		:= { NUMBER in ns }\n"
+		"\t	  PROP-SEG	:= { NUMBER in tq }\n"
+		"\t	  PHASE-SEG1	:= { NUMBER in tq }\n"
+		"\t	  PHASE-SEG2	:= { NUMBER in tq }\n"
+		"\t	  SJW		:= { NUMBER in tq }\n"
+		"\t	  RESTART-MS	:= { 0 | NUMBER in ms }\n"
 		);
 }
 
-- 
2.32.0

[PATCH iproute2-next 5.16 v6 2/5] iplink_can: code refactoring of print_ctrlmode()

[Vincent Mailhol]

This patch only does cleanup and do not introduce any functional
changes.

We do some code refactoring of print_ctrlmode() in prevision of the
upcoming patch:

  - remove the first argument of print_ctrlmode(). It is a pointer to
    FILE and is never used.

  - add a new function argument: enum output_type t in order to
    specify the output type (i.e. PRINT_{FP,JSON,ANY}).

  - add a new function argument: const char *key in order to specify
    the name of the json array (e.g. "ctrlmode").

  - replace the _PF() macro with the print_flag() function to increase
    readability.

  - directly return if none of the flags are set (previously, this
    check was done before calling the function).

Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
 ip/iplink_can.c | 52 ++++++++++++++++++++++++++++---------------------
 1 file changed, 30 insertions(+), 22 deletions(-)

diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index 0b2ff8a3..c910365d 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -88,34 +88,43 @@ static void set_ctrlmode(char *name, char *arg,
 	cm->mask |= flags;
 }
 
-static void print_ctrlmode(FILE *f, __u32 cm)
+static void print_flag(enum output_type t, __u32 *flags, __u32 flag,
+		       const char* name)
 {
-	open_json_array(PRINT_ANY, is_json_context() ? "ctrlmode" : "<");
-#define _PF(cmflag, cmname)						\
-	if (cm & cmflag) {						\
-		cm &= ~cmflag;						\
-		print_string(PRINT_ANY, NULL, cm ? "%s," : "%s", cmname); \
+	if (*flags & flag) {
+		*flags &= ~flag;
+		print_string(t, NULL, *flags ? "%s," : "%s", name);
 	}
-	_PF(CAN_CTRLMODE_LOOPBACK, "LOOPBACK");
-	_PF(CAN_CTRLMODE_LISTENONLY, "LISTEN-ONLY");
-	_PF(CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING");
-	_PF(CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT");
-	_PF(CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING");
-	_PF(CAN_CTRLMODE_FD, "FD");
-	_PF(CAN_CTRLMODE_FD_NON_ISO, "FD-NON-ISO");
-	_PF(CAN_CTRLMODE_PRESUME_ACK, "PRESUME-ACK");
-	_PF(CAN_CTRLMODE_CC_LEN8_DLC, "CC-LEN8-DLC");
-#undef _PF
-	if (cm)
-		print_hex(PRINT_ANY, NULL, "%x", cm);
-	close_json_array(PRINT_ANY, "> ");
+}
+
+static void print_ctrlmode(enum output_type t, __u32 flags, const char* key)
+{
+	if (!flags)
+		return;
+
+	open_json_array(t, is_json_context() ? key : "<");
+
+	print_flag(t, &flags, CAN_CTRLMODE_LOOPBACK, "LOOPBACK");
+	print_flag(t, &flags, CAN_CTRLMODE_LISTENONLY, "LISTEN-ONLY");
+	print_flag(t, &flags, CAN_CTRLMODE_3_SAMPLES, "TRIPLE-SAMPLING");
+	print_flag(t, &flags, CAN_CTRLMODE_ONE_SHOT, "ONE-SHOT");
+	print_flag(t, &flags, CAN_CTRLMODE_BERR_REPORTING, "BERR-REPORTING");
+	print_flag(t, &flags, CAN_CTRLMODE_FD, "FD");
+	print_flag(t, &flags, CAN_CTRLMODE_FD_NON_ISO, "FD-NON-ISO");
+	print_flag(t, &flags, CAN_CTRLMODE_PRESUME_ACK, "PRESUME-ACK");
+	print_flag(t, &flags, CAN_CTRLMODE_CC_LEN8_DLC, "CC-LEN8-DLC");
+
+	if (flags)
+		print_hex(t, NULL, "%x", flags);
+
+	close_json_array(t, "> ");
 }
 
 static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 			 struct nlmsghdr *n)
 {
 	struct can_bittiming bt = {}, dbt = {};
-	struct can_ctrlmode cm = {0, 0};
+	struct can_ctrlmode cm = { 0 };
 
 	while (argc > 0) {
 		if (matches(*argv, "bitrate") == 0) {
@@ -282,8 +291,7 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 	if (tb[IFLA_CAN_CTRLMODE]) {
 		struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]);
 
-		if (cm->flags)
-			print_ctrlmode(f, cm->flags);
+		print_ctrlmode(PRINT_ANY, cm->flags, "ctrlmode");
 	}
 
 	if (tb[IFLA_CAN_STATE]) {
-- 
2.32.0

[PATCH iproute2-next 5.16 v6 3/5] iplink_can: use PRINT_ANY to factorize code and fix signedness

[Vincent Mailhol]

Current implementation heavily relies on some "if (is_json_context())"
switches to decide the context and then does some print_*(PRINT_JSON,
...) when in json context and some fprintf(...) else.

Furthermore, current implementation uses either print_int() or the
conversion specifier %d to print unsigned integers.

This patch factorizes each pairs of print_*(PRINT_JSON, ...) and
fprintf() into a single print_*(PRINT_ANY, ...) call. While doing this
replacement, it uses proper unsigned function print_uint() as well as
the conversion specifier %u when the parameter is an unsigned integer.

Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
 ip/iplink_can.c | 331 +++++++++++++++++++-----------------------------
 1 file changed, 130 insertions(+), 201 deletions(-)

diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index c910365d..c0165237 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -275,11 +275,19 @@ static const char *can_state_names[CAN_STATE_MAX] = {
 	[CAN_STATE_SLEEPING] = "SLEEPING"
 };
 
-static void can_print_json_timing_min_max(const char *attr, int min, int max)
+static void can_print_nl_indent(void)
 {
-	open_json_object(attr);
-	print_int(PRINT_JSON, "min", NULL, min);
-	print_int(PRINT_JSON, "max", NULL, max);
+	print_nl();
+	print_string(PRINT_FP, NULL, "%s", "\t ");
+}
+
+static void can_print_timing_min_max(const char *json_attr, const char *fp_attr,
+				     int min, int max)
+{
+	print_null(PRINT_FP, NULL, fp_attr, NULL);
+	open_json_object(json_attr);
+	print_uint(PRINT_ANY, "min", " %d", min);
+	print_uint(PRINT_ANY, "max", "..%d", max);
 	close_json_object();
 }
 
@@ -305,56 +313,38 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 		struct can_berr_counter *bc =
 			RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]);
 
-		if (is_json_context()) {
-			open_json_object("berr_counter");
-			print_int(PRINT_JSON, "tx", NULL, bc->txerr);
-			print_int(PRINT_JSON, "rx", NULL, bc->rxerr);
-			close_json_object();
-		} else {
-			fprintf(f, "(berr-counter tx %d rx %d) ",
-				bc->txerr, bc->rxerr);
-		}
+		open_json_object("berr_counter");
+		print_uint(PRINT_ANY, "tx", "(berr-counter tx %u", bc->txerr);
+		print_uint(PRINT_ANY, "rx", " rx %u) ", bc->rxerr);
+		close_json_object();
 	}
 
 	if (tb[IFLA_CAN_RESTART_MS]) {
 		__u32 *restart_ms = RTA_DATA(tb[IFLA_CAN_RESTART_MS]);
 
-		print_int(PRINT_ANY,
-			  "restart_ms",
-			  "restart-ms %d ",
-			  *restart_ms);
+		print_uint(PRINT_ANY, "restart_ms", "restart-ms %u ",
+			   *restart_ms);
 	}
 
 	/* bittiming is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_BITTIMING] && !tb[IFLA_CAN_BITRATE_CONST]) {
 		struct can_bittiming *bt = RTA_DATA(tb[IFLA_CAN_BITTIMING]);
-
-		if (is_json_context()) {
-			json_writer_t *jw;
-
-			open_json_object("bittiming");
-			print_int(PRINT_ANY, "bitrate", NULL, bt->bitrate);
-			jw = get_json_writer();
-			jsonw_name(jw, "sample_point");
-			jsonw_printf(jw, "%.3f",
-				     (float) bt->sample_point / 1000);
-			print_int(PRINT_ANY, "tq", NULL, bt->tq);
-			print_int(PRINT_ANY, "prop_seg", NULL, bt->prop_seg);
-			print_int(PRINT_ANY, "phase_seg1",
-				  NULL, bt->phase_seg1);
-			print_int(PRINT_ANY, "phase_seg2",
-				  NULL, bt->phase_seg2);
-			print_int(PRINT_ANY, "sjw", NULL, bt->sjw);
-			close_json_object();
-		} else {
-			fprintf(f, "\n	  bitrate %d sample-point %.3f ",
-				bt->bitrate, (float) bt->sample_point / 1000.);
-			fprintf(f,
-				"\n	  tq %d prop-seg %d phase-seg1 %d phase-seg2 %d sjw %d",
-				bt->tq, bt->prop_seg,
-				bt->phase_seg1, bt->phase_seg2,
-				bt->sjw);
-		}
+		char sp[6];
+
+		open_json_object("bittiming");
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "bitrate", " bitrate %u", bt->bitrate);
+		snprintf(sp, sizeof(sp), "%.3f", bt->sample_point / 1000.);
+		print_string(PRINT_ANY, "sample_point", " sample-point %s", sp);
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "tq", " tq %u", bt->tq);
+		print_uint(PRINT_ANY, "prop_seg", " prop-seg %u", bt->prop_seg);
+		print_uint(PRINT_ANY, "phase_seg1", " phase-seg1 %u",
+			   bt->phase_seg1);
+		print_uint(PRINT_ANY, "phase_seg2", " phase-seg2 %u",
+			   bt->phase_seg2);
+		print_uint(PRINT_ANY, "sjw", " sjw %u", bt->sjw);
+		close_json_object();
 	}
 
 	/* bittiming const is irrelevant if fixed bitrate is defined */
@@ -362,28 +352,18 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 		struct can_bittiming_const *btc =
 			RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);
 
-		if (is_json_context()) {
-			open_json_object("bittiming_const");
-			print_string(PRINT_JSON, "name", NULL, btc->name);
-			can_print_json_timing_min_max("tseg1",
-						      btc->tseg1_min,
-						      btc->tseg1_max);
-			can_print_json_timing_min_max("tseg2",
-						      btc->tseg2_min,
-						      btc->tseg2_max);
-			can_print_json_timing_min_max("sjw", 1, btc->sjw_max);
-			can_print_json_timing_min_max("brp",
-						      btc->brp_min,
-						      btc->brp_max);
-			print_int(PRINT_JSON, "brp_inc", NULL, btc->brp_inc);
-			close_json_object();
-		} else {
-			fprintf(f, "\n	  %s: tseg1 %d..%d tseg2 %d..%d "
-				"sjw 1..%d brp %d..%d brp-inc %d",
-				btc->name, btc->tseg1_min, btc->tseg1_max,
-				btc->tseg2_min, btc->tseg2_max, btc->sjw_max,
-				btc->brp_min, btc->brp_max, btc->brp_inc);
-		}
+		open_json_object("bittiming_const");
+		can_print_nl_indent();
+		print_string(PRINT_ANY, "name", " %s:", btc->name);
+		can_print_timing_min_max("tseg1", " tseg1",
+					 btc->tseg1_min, btc->tseg1_max);
+		can_print_timing_min_max("tseg2", " tseg2",
+					 btc->tseg2_min, btc->tseg2_max);
+		can_print_timing_min_max("sjw", " sjw", 1, btc->sjw_max);
+		can_print_timing_min_max("brp", " brp",
+					 btc->brp_min, btc->brp_max);
+		print_uint(PRINT_ANY, "brp_inc", " brp_inc %u", btc->brp_inc);
+		close_json_object();
 	}
 
 	if (tb[IFLA_CAN_BITRATE_CONST]) {
@@ -399,64 +379,47 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 			bitrate = bt->bitrate;
 		}
 
-		if (is_json_context()) {
-			print_uint(PRINT_JSON,
-				   "bittiming_bitrate",
-				   NULL, bitrate);
-			open_json_array(PRINT_JSON, "bitrate_const");
-			for (i = 0; i < bitrate_cnt; ++i)
-				print_uint(PRINT_JSON, NULL, NULL,
-					   bitrate_const[i]);
-			close_json_array(PRINT_JSON, NULL);
-		} else {
-			fprintf(f, "\n	  bitrate %u", bitrate);
-			fprintf(f, "\n	     [");
-
-			for (i = 0; i < bitrate_cnt - 1; ++i) {
-				/* This will keep lines below 80 signs */
-				if (!(i % 6) && i)
-					fprintf(f, "\n	      ");
-
-				fprintf(f, "%8u, ", bitrate_const[i]);
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "bittiming_bitrate", " bitrate %u",
+			   bitrate);
+		can_print_nl_indent();
+		open_json_array(PRINT_ANY, is_json_context() ?
+				"bitrate_const" : "    [");
+		for (i = 0; i < bitrate_cnt; ++i) {
+			/* This will keep lines below 80 signs */
+			if (!(i % 6) && i) {
+				can_print_nl_indent();
+				print_string(PRINT_FP, NULL, "%s", "     ");
 			}
-
-			if (!(i % 6) && i)
-				fprintf(f, "\n	      ");
-			fprintf(f, "%8u ]", bitrate_const[i]);
+			print_uint(PRINT_ANY, NULL,
+				   i < bitrate_cnt - 1 ? "%8u, " : "%8u",
+				   bitrate_const[i]);
 		}
+		close_json_array(PRINT_JSON, " ]");
 	}
 
 	/* data bittiming is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_DATA_BITTIMING] && !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 		struct can_bittiming *dbt =
 			RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
-
-		if (is_json_context()) {
-			json_writer_t *jw;
-
-			open_json_object("data_bittiming");
-			print_int(PRINT_JSON, "bitrate", NULL, dbt->bitrate);
-			jw = get_json_writer();
-			jsonw_name(jw, "sample_point");
-			jsonw_printf(jw, "%.3f",
-				     (float) dbt->sample_point / 1000.);
-			print_int(PRINT_JSON, "tq", NULL, dbt->tq);
-			print_int(PRINT_JSON, "prop_seg", NULL, dbt->prop_seg);
-			print_int(PRINT_JSON, "phase_seg1",
-				  NULL, dbt->phase_seg1);
-			print_int(PRINT_JSON, "phase_seg2",
-				  NULL, dbt->phase_seg2);
-			print_int(PRINT_JSON, "sjw", NULL, dbt->sjw);
-			close_json_object();
-		} else {
-			fprintf(f, "\n	  dbitrate %d dsample-point %.3f ",
-				dbt->bitrate,
-				(float) dbt->sample_point / 1000.);
-			fprintf(f, "\n	  dtq %d dprop-seg %d dphase-seg1 %d "
-				"dphase-seg2 %d dsjw %d",
-				dbt->tq, dbt->prop_seg, dbt->phase_seg1,
-				dbt->phase_seg2, dbt->sjw);
-		}
+		char dsp[6];
+
+		open_json_object("data_bittiming");
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "bitrate", " dbitrate %u", dbt->bitrate);
+		snprintf(dsp, sizeof(dsp), "%.3f", dbt->sample_point / 1000.);
+		print_string(PRINT_ANY, "sample_point", " dsample-point %s",
+			     dsp);
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "tq", " dtq %u", dbt->tq);
+		print_uint(PRINT_ANY, "prop_seg", " dprop-seg %u",
+			   dbt->prop_seg);
+		print_uint(PRINT_ANY, "phase_seg1", " dphase-seg1 %u",
+			   dbt->phase_seg1);
+		print_uint(PRINT_ANY, "phase_seg2", " dphase-seg2 %u",
+			   dbt->phase_seg2);
+		print_uint(PRINT_ANY, "sjw", " dsjw %u", dbt->sjw);
+		close_json_object();
 	}
 
 	/* data bittiming const is irrelevant if fixed bitrate is defined */
@@ -465,29 +428,18 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 		struct can_bittiming_const *dbtc =
 			RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);
 
-		if (is_json_context()) {
-			open_json_object("data_bittiming_const");
-			print_string(PRINT_JSON, "name", NULL, dbtc->name);
-			can_print_json_timing_min_max("tseg1",
-						      dbtc->tseg1_min,
-						      dbtc->tseg1_max);
-			can_print_json_timing_min_max("tseg2",
-						      dbtc->tseg2_min,
-						      dbtc->tseg2_max);
-			can_print_json_timing_min_max("sjw", 1, dbtc->sjw_max);
-			can_print_json_timing_min_max("brp",
-						      dbtc->brp_min,
-						      dbtc->brp_max);
-
-			print_int(PRINT_JSON, "brp_inc", NULL, dbtc->brp_inc);
-			close_json_object();
-		} else {
-			fprintf(f, "\n	  %s: dtseg1 %d..%d dtseg2 %d..%d "
-				"dsjw 1..%d dbrp %d..%d dbrp-inc %d",
-				dbtc->name, dbtc->tseg1_min, dbtc->tseg1_max,
-				dbtc->tseg2_min, dbtc->tseg2_max, dbtc->sjw_max,
-				dbtc->brp_min, dbtc->brp_max, dbtc->brp_inc);
-		}
+		open_json_object("data_bittiming_const");
+		can_print_nl_indent();
+		print_string(PRINT_ANY, "name", " %s:", dbtc->name);
+		can_print_timing_min_max("tseg1", " dtseg1",
+					 dbtc->tseg1_min, dbtc->tseg1_max);
+		can_print_timing_min_max("tseg2", " dtseg2",
+					 dbtc->tseg2_min, dbtc->tseg2_max);
+		can_print_timing_min_max("sjw", " dsjw", 1, dbtc->sjw_max);
+		can_print_timing_min_max("brp", " dbrp",
+					 dbtc->brp_min, dbtc->brp_max);
+		print_uint(PRINT_ANY, "brp_inc", " dbrp_inc %u", dbtc->brp_inc);
+		close_json_object();
 	}
 
 	if (tb[IFLA_CAN_DATA_BITRATE_CONST]) {
@@ -505,30 +457,23 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 			dbitrate = dbt->bitrate;
 		}
 
-		if (is_json_context()) {
-			print_uint(PRINT_JSON, "data_bittiming_bitrate",
-				   NULL, dbitrate);
-			open_json_array(PRINT_JSON, "data_bitrate_const");
-			for (i = 0; i < dbitrate_cnt; ++i)
-				print_uint(PRINT_JSON, NULL, NULL,
-					   dbitrate_const[i]);
-			close_json_array(PRINT_JSON, NULL);
-		} else {
-			fprintf(f, "\n	  dbitrate %u", dbitrate);
-			fprintf(f, "\n	     [");
-
-			for (i = 0; i < dbitrate_cnt - 1; ++i) {
-				/* This will keep lines below 80 signs */
-				if (!(i % 6) && i)
-					fprintf(f, "\n	      ");
-
-				fprintf(f, "%8u, ", dbitrate_const[i]);
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "data_bittiming_bitrate", " dbitrate %u",
+			   dbitrate);
+		can_print_nl_indent();
+		open_json_array(PRINT_ANY, is_json_context() ?
+				"data_bitrate_const" : "    [");
+		for (i = 0; i < dbitrate_cnt; ++i) {
+			/* This will keep lines below 80 signs */
+			if (!(i % 6) && i) {
+				can_print_nl_indent();
+				print_string(PRINT_FP, NULL, "%s", "     ");
 			}
-
-			if (!(i % 6) && i)
-				fprintf(f, "\n	      ");
-			fprintf(f, "%8u ]", dbitrate_const[i]);
+			print_uint(PRINT_ANY, NULL,
+				   i < dbitrate_cnt - 1 ? "%8u, " : "%8u",
+				   dbitrate_const[i]);
 		}
+		close_json_array(PRINT_JSON, " ]");
 	}
 
 	if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
@@ -538,29 +483,21 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 			sizeof(*trm_const);
 		int i;
 
-		if (is_json_context()) {
-			print_hu(PRINT_JSON, "termination", NULL, *trm);
-			open_json_array(PRINT_JSON, "termination_const");
-			for (i = 0; i < trm_cnt; ++i)
-				print_hu(PRINT_JSON, NULL, NULL, trm_const[i]);
-			close_json_array(PRINT_JSON, NULL);
-		} else {
-			fprintf(f, "\n	  termination %hu [ ", *trm);
-
-			for (i = 0; i < trm_cnt - 1; ++i)
-				fprintf(f, "%hu, ", trm_const[i]);
-
-			fprintf(f, "%hu ]", trm_const[i]);
-		}
+		can_print_nl_indent();
+		print_hu(PRINT_ANY, "termination", " termination %hu [ ", *trm);
+		open_json_array(PRINT_JSON, "termination_const");
+		for (i = 0; i < trm_cnt; ++i)
+			print_hu(PRINT_ANY, NULL,
+				 i < trm_cnt - 1 ? "%hu, " : "%hu",
+				 trm_const[i]);
+		close_json_array(PRINT_JSON, " ]");
 	}
 
 	if (tb[IFLA_CAN_CLOCK]) {
 		struct can_clock *clock = RTA_DATA(tb[IFLA_CAN_CLOCK]);
 
-		print_int(PRINT_ANY,
-			  "clock",
-			  "\n	  clock %d ",
-			  clock->freq);
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "clock", " clock %u ", clock->freq);
 	}
 
 }
@@ -573,31 +510,23 @@ static void can_print_xstats(struct link_util *lu,
 	if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) {
 		stats = RTA_DATA(xstats);
 
-		if (is_json_context()) {
-			print_int(PRINT_JSON, "restarts",
-				  NULL, stats->restarts);
-			print_int(PRINT_JSON, "bus_error",
-				  NULL, stats->bus_error);
-			print_int(PRINT_JSON, "arbitration_lost",
-				  NULL, stats->arbitration_lost);
-			print_int(PRINT_JSON, "error_warning",
-				  NULL, stats->error_warning);
-			print_int(PRINT_JSON, "error_passive",
-				  NULL, stats->error_passive);
-			print_int(PRINT_JSON, "bus_off", NULL, stats->bus_off);
-		} else {
-			fprintf(f, "\n	  re-started bus-errors arbit-lost "
-				"error-warn error-pass bus-off");
-			fprintf(f, "\n	  %-10d %-10d %-10d %-10d %-10d %-10d",
-				stats->restarts, stats->bus_error,
-				stats->arbitration_lost, stats->error_warning,
-				stats->error_passive, stats->bus_off);
-		}
+		can_print_nl_indent();
+		print_string(PRINT_FP, NULL, "%s",
+			     " re-started bus-errors arbit-lost error-warn error-pass bus-off");
+		can_print_nl_indent();
+		print_uint(PRINT_ANY, "restarts", " %-10u", stats->restarts);
+		print_uint(PRINT_ANY, "bus_error", " %-10u", stats->bus_error);
+		print_uint(PRINT_ANY, "arbitration_lost", " %-10u",
+			   stats->arbitration_lost);
+		print_uint(PRINT_ANY, "error_warning", " %-10u",
+			   stats->error_warning);
+		print_uint(PRINT_ANY, "error_passive", " %-10u",
+			   stats->error_passive);
+		print_uint(PRINT_ANY, "bus_off", " %-10u", stats->bus_off);
 	}
 }
 
-static void can_print_help(struct link_util *lu, int argc, char **argv,
-			   FILE *f)
+static void can_print_help(struct link_util *lu, int argc, char **argv, FILE *f)
 {
 	print_usage(f);
 }
-- 
2.32.0

[PATCH iproute2-next 5.16 v6 4/5] iplink_can: print brp and dbrp bittiming variables

[Vincent Mailhol]

Report the value of the bit-rate prescaler (brp) for both the nominal
and the data bittiming.

Currently, only the constant brp values (brp_{min,max,inc}) are being
reported. Also, brp is the only member of struct can_bittiming not
being reported.

Noticeably, brp could be calculated by hand from the other bittiming
parameters with below formula:

        brp = clock * tq / 1000000000

with clock in hertz and tq in nano second (thus the need of a 1
billion factor to convert it back to second).

But because above formula is not so trivial to remember and is
subjected to rounding errors, it makes sense to directly output
{d,}bpr.

Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
 ip/iplink_can.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index c0165237..cf6b06b8 100644
--- a/ip/iplink_can.c
+++ b/ip/iplink_can.c
@@ -344,6 +344,7 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 		print_uint(PRINT_ANY, "phase_seg2", " phase-seg2 %u",
 			   bt->phase_seg2);
 		print_uint(PRINT_ANY, "sjw", " sjw %u", bt->sjw);
+		print_uint(PRINT_ANY, "brp", " brp %u", bt->brp);
 		close_json_object();
 	}
 
@@ -419,6 +420,7 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 		print_uint(PRINT_ANY, "phase_seg2", " dphase-seg2 %u",
 			   dbt->phase_seg2);
 		print_uint(PRINT_ANY, "sjw", " dsjw %u", dbt->sjw);
+		print_uint(PRINT_ANY, "brp", " dbrp %u", dbt->brp);
 		close_json_object();
 	}
 
-- 
2.32.0

[PATCH iproute2-next 5.16 v6 5/5] iplink_can: add new CAN FD bittiming parameters: Transmitter Delay Compensation (TDC)

[Vincent Mailhol]

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 nine TDC parameters which
were recently added to the kernel's CAN netlink interface in order to
implement TDC:
  - IFLA_CAN_TDC_TDCV_MIN: Transmitter Delay Compensation Value
    minimum value
  - IFLA_CAN_TDC_TDCV_MAX: Transmitter Delay Compensation Value
    maximum value
  - IFLA_CAN_TDC_TDCO_MIN: Transmitter Delay Compensation Offset
    minimum value
  - IFLA_CAN_TDC_TDCO_MAX: Transmitter Delay Compensation Offset
    maximum value
  - IFLA_CAN_TDC_TDCF_MIN: Transmitter Delay Compensation Filter
    window minimum 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.

The TDC parameters extend the FD parameters. As such, the TDC
parameters must be specified together the "fd on" flag.

When "fd on" flag is provided, a tdc-mode parameter allows to specify
how to operate.  Valid options for tdc-mode are:

  * auto: the transmitter dynamically measures TDCV for each of the
    transmitted frames. As such, TDCV can not be manually provided. In
    this mode, the user must specify TDCO and may also specify TDCF if
    supported.

  * manual: use a static TDCV provided by the user. In this mode, the
    user must specify both TDCV and TDCO and may also specify TDCF if
    supported.

  * off: TDC is explicitly disabled.

  * tdc-mode parameter omitted (default mode): the kernel decides
    whether TDC should be enabled or not and if so, it calculates the
    TDC values. TDC parameters are an expert option and the average
    user is not expected to provide those, thus the presence of this
    "default mode".

If the fd flag is omitted, all the FD values (including TDC values)
remain unchanged.

If "fd off" flag is specified, all FD values (including TDC values)
are zeroed.

TDCV is always reported in manual mode. In auto mode, TDCV is reported
only if the value is available. Especially, the TDCV might not be
available if the controller has no feature to report it or if the
value in not yet available (i.e. no data sent yet and measurement did
not occur).

TDCF is reported only if tdcf_max is not zero (i.e. if supported by
the controller).

For reference, here are a few samples of how the output looks like:

| $ ip link set can0 type can bitrate 1000000 dbitrate 8000000 fd on tdco 7 tdcf 8 tdc-mode auto

| $ ip --details link show can0
| 1:  can0: <NOARP,ECHO> mtu 72 qdisc noop state DOWN mode DEFAULT group default qlen 10
|     link/can  promiscuity 0 minmtu 0 maxmtu 0
|     can <FD,TDC-AUTO> state STOPPED (berr-counter tx 0 rx 0) restart-ms 0
| 	  bitrate 1000000 sample-point 0.750
| 	  tq 12 prop-seg 29 phase-seg1 30 phase-seg2 20 sjw 1 brp 1
| 	  ES582.1/ES584.1: tseg1 2..256 tseg2 2..128 sjw 1..128 brp 1..512 brp_inc 1
| 	  dbitrate 8000000 dsample-point 0.700
| 	  dtq 12 dprop-seg 3 dphase-seg1 3 dphase-seg2 3 dsjw 1 dbrp 1
| 	  tdco 7 tdcf 8
| 	  ES582.1/ES584.1: dtseg1 2..32 dtseg2 1..16 dsjw 1..8 dbrp 1..32 dbrp_inc 1
| 	  tdco 0..127 tdcf 0..127
| 	  clock 80000000 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535

| $ ip --details --json --pretty link show can0
| [ {
|         "ifindex": 1,
|         "ifname": "can0",
|         "flags": [ "NOARP","ECHO" ],
|         "mtu": 72,
|         "qdisc": "noop",
|         "operstate": "DOWN",
|         "linkmode": "DEFAULT",
|         "group": "default",
|         "txqlen": 10,
|         "link_type": "can",
|         "promiscuity": 0,
|         "min_mtu": 0,
|         "max_mtu": 0,
|         "linkinfo": {
|             "info_kind": "can",
|             "info_data": {
|                 "ctrlmode": [ "FD","TDC-AUTO" ],
|                 "state": "STOPPED",
|                 "berr_counter": {
|                     "tx": 0,
|                     "rx": 0
|                 },
|                 "restart_ms": 0,
|                 "bittiming": {
|                     "bitrate": 1000000,
|                     "sample_point": "0.750",
|                     "tq": 12,
|                     "prop_seg": 29,
|                     "phase_seg1": 30,
|                     "phase_seg2": 20,
|                     "sjw": 1,
|                     "brp": 1
|                 },
|                 "bittiming_const": {
|                     "name": "ES582.1/ES584.1",
|                     "tseg1": {
|                         "min": 2,
|                         "max": 256
|                     },
|                     "tseg2": {
|                         "min": 2,
|                         "max": 128
|                     },
|                     "sjw": {
|                         "min": 1,
|                         "max": 128
|                     },
|                     "brp": {
|                         "min": 1,
|                         "max": 512
|                     },
|                     "brp_inc": 1
|                 },
|                 "data_bittiming": {
|                     "bitrate": 8000000,
|                     "sample_point": "0.700",
|                     "tq": 12,
|                     "prop_seg": 3,
|                     "phase_seg1": 3,
|                     "phase_seg2": 3,
|                     "sjw": 1,
|                     "brp": 1,
|                     "tdc": {
|                         "tdco": 7,
|                         "tdcf": 8
|                     }
|                 },
|                 "data_bittiming_const": {
|                     "name": "ES582.1/ES584.1",
|                     "tseg1": {
|                         "min": 2,
|                         "max": 32
|                     },
|                     "tseg2": {
|                         "min": 1,
|                         "max": 16
|                     },
|                     "sjw": {
|                         "min": 1,
|                         "max": 8
|                     },
|                     "brp": {
|                         "min": 1,
|                         "max": 32
|                     },
|                     "brp_inc": 1,
|                     "tdc": {
|                         "tdco": {
|                             "min": 0,
|                             "max": 127
|                         },
|                         "tdcf": {
|                             "min": 0,
|                             "max": 127
|                         }
|                     }
|                 },
|                 "clock": 80000000
|             }
|         },
|         "num_tx_queues": 1,
|         "num_rx_queues": 1,
|         "gso_max_size": 65536,
|         "gso_max_segs": 65535
|     } ]

Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
---
 ip/iplink_can.c | 113 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 113 insertions(+)

diff --git a/ip/iplink_can.c b/ip/iplink_can.c
index cf6b06b8..f4b37528 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"
@@ -38,6 +39,7 @@ static void print_usage(FILE *f)
 		"\t[ fd-non-iso { on | off } ]\n"
 		"\t[ presume-ack { on | off } ]\n"
 		"\t[ cc-len8-dlc { on | off } ]\n"
+		"\t[ tdc-mode { auto | manual | off } ]\n"
 		"\n"
 		"\t[ restart-ms TIME-MS ]\n"
 		"\t[ restart ]\n"
@@ -51,6 +53,9 @@ static void print_usage(FILE *f)
 		"\t	  PHASE-SEG1	:= { NUMBER in tq }\n"
 		"\t	  PHASE-SEG2	:= { NUMBER in tq }\n"
 		"\t	  SJW		:= { NUMBER in tq }\n"
+		"\t	  TDCV		:= { NUMBER in tc}\n"
+		"\t	  TDCO		:= { NUMBER in tc}\n"
+		"\t	  TDCF		:= { NUMBER in tc}\n"
 		"\t	  RESTART-MS	:= { 0 | NUMBER in ms }\n"
 		);
 }
@@ -113,6 +118,8 @@ static void print_ctrlmode(enum output_type t, __u32 flags, const char* key)
 	print_flag(t, &flags, CAN_CTRLMODE_FD_NON_ISO, "FD-NON-ISO");
 	print_flag(t, &flags, CAN_CTRLMODE_PRESUME_ACK, "PRESUME-ACK");
 	print_flag(t, &flags, CAN_CTRLMODE_CC_LEN8_DLC, "CC-LEN8-DLC");
+	print_flag(t, &flags, CAN_CTRLMODE_TDC_AUTO, "TDC-AUTO");
+	print_flag(t, &flags, CAN_CTRLMODE_TDC_MANUAL, "TDC-MANUAL");
 
 	if (flags)
 		print_hex(t, NULL, "%x", flags);
@@ -125,6 +132,8 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 {
 	struct can_bittiming bt = {}, dbt = {};
 	struct can_ctrlmode cm = { 0 };
+	struct rtattr *tdc;
+	__u32 tdcv = -1, tdco = -1, tdcf = -1;
 
 	while (argc > 0) {
 		if (matches(*argv, "bitrate") == 0) {
@@ -190,6 +199,18 @@ 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,
@@ -226,6 +247,23 @@ static int can_parse_opt(struct link_util *lu, int argc, char **argv,
 			NEXT_ARG();
 			set_ctrlmode("cc-len8-dlc", *argv, &cm,
 				     CAN_CTRLMODE_CC_LEN8_DLC);
+		} else if (matches(*argv, "tdc-mode") == 0) {
+			NEXT_ARG();
+			if (strcmp(*argv, "auto") == 0) {
+				cm.flags |= CAN_CTRLMODE_TDC_AUTO;
+				cm.mask |= CAN_CTRLMODE_TDC_AUTO;
+			} else if (strcmp(*argv, "manual") == 0) {
+				cm.flags |= CAN_CTRLMODE_TDC_MANUAL;
+				cm.mask |= CAN_CTRLMODE_TDC_MANUAL;
+			} else if (strcmp(*argv, "off") == 0) {
+				cm.mask |= CAN_CTRLMODE_TDC_AUTO |
+					   CAN_CTRLMODE_TDC_MANUAL;
+			} else {
+				fprintf(stderr,
+					"Error: argument of \"tdc-mode\" must be \"auto\", \"manual\" or \"off\", not \"%s\"\n",
+					*argv);
+				exit (-1);
+			}
 		} else if (matches(*argv, "restart") == 0) {
 			__u32 val = 1;
 
@@ -263,6 +301,17 @@ 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));
 
+	if (tdcv != -1 || tdco != -1 || tdcf != -1) {
+		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;
 }
 
@@ -291,6 +340,62 @@ static void can_print_timing_min_max(const char *json_attr, const char *fp_attr,
 	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]) {
+		open_json_object("tdc");
+		can_print_nl_indent();
+		if (tb[IFLA_CAN_TDC_TDCV]) {
+			__u32 *tdcv = RTA_DATA(tb[IFLA_CAN_TDC_TDCV]);
+
+			print_uint(PRINT_ANY, "tdcv", " tdcv %u", *tdcv);
+		}
+		if (tb[IFLA_CAN_TDC_TDCO]) {
+			__u32 *tdco = RTA_DATA(tb[IFLA_CAN_TDC_TDCO]);
+
+			print_uint(PRINT_ANY, "tdco", " tdco %u", *tdco);
+		}
+		if (tb[IFLA_CAN_TDC_TDCF]) {
+			__u32 *tdcf = RTA_DATA(tb[IFLA_CAN_TDC_TDCF]);
+
+			print_uint(PRINT_ANY, "tdcf", " tdcf %u", *tdcf);
+		}
+		close_json_object();
+	}
+}
+
+static void can_print_tdc_const_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);
+	open_json_object("tdc");
+	can_print_nl_indent();
+	if (tb[IFLA_CAN_TDC_TDCV_MIN] && tb[IFLA_CAN_TDC_TDCV_MAX]) {
+		__u32 *tdcv_min = RTA_DATA(tb[IFLA_CAN_TDC_TDCV_MIN]);
+		__u32 *tdcv_max = RTA_DATA(tb[IFLA_CAN_TDC_TDCV_MAX]);
+
+		can_print_timing_min_max("tdcv", " tdcv", *tdcv_min, *tdcv_max);
+	}
+	if (tb[IFLA_CAN_TDC_TDCO_MIN] && tb[IFLA_CAN_TDC_TDCO_MAX]) {
+		__u32 *tdco_min = RTA_DATA(tb[IFLA_CAN_TDC_TDCO_MIN]);
+		__u32 *tdco_max = RTA_DATA(tb[IFLA_CAN_TDC_TDCO_MAX]);
+
+		can_print_timing_min_max("tdco", " tdco", *tdco_min, *tdco_max);
+	}
+	if (tb[IFLA_CAN_TDC_TDCF_MIN] && tb[IFLA_CAN_TDC_TDCF_MAX]) {
+		__u32 *tdcf_min = RTA_DATA(tb[IFLA_CAN_TDC_TDCF_MIN]);
+		__u32 *tdcf_max = RTA_DATA(tb[IFLA_CAN_TDC_TDCF_MAX]);
+
+		can_print_timing_min_max("tdcf", " tdcf", *tdcf_min, *tdcf_max);
+	}
+	close_json_object();
+}
+
 static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 {
 	if (!tb)
@@ -421,6 +526,10 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 			   dbt->phase_seg2);
 		print_uint(PRINT_ANY, "sjw", " dsjw %u", dbt->sjw);
 		print_uint(PRINT_ANY, "brp", " dbrp %u", dbt->brp);
+
+		if (tb[IFLA_CAN_TDC])
+			can_print_tdc_opt(f, tb[IFLA_CAN_TDC]);
+
 		close_json_object();
 	}
 
@@ -441,6 +550,10 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 		can_print_timing_min_max("brp", " dbrp",
 					 dbtc->brp_min, dbtc->brp_max);
 		print_uint(PRINT_ANY, "brp_inc", " dbrp_inc %u", dbtc->brp_inc);
+
+		if (tb[IFLA_CAN_TDC])
+			can_print_tdc_const_opt(f, tb[IFLA_CAN_TDC]);
+
 		close_json_object();
 	}
 
-- 
2.32.0

Re: [PATCH iproute2-next 5.16 v6 0/5] iplink_can: cleaning, fixes and adding TDC support.

[patchwork-bot+netdevbpf]

Hello:

This series was applied to iproute2/iproute2-next.git (main)
by David Ahern <dsahern@kernel.org>:

On Thu,  4 Nov 2021 01:44:23 +0900 you wrote:
> The main purpose is to add commandline support for Transmitter Delay
> Compensation (TDC) in iproute. Other issues found during the
> development of this feature also get addressed.
> 
> This patch series contains four patches which respectively:
> 
>   1. Correct the bittiming ranges in the print_usage function and add
>   the units to give more clarity: some parameters are in milliseconds,
>   some in nano seconds, some in time quantum and the newly TDC
>   parameters introduced in this series would be in clock period.
> 
> [...]

Here is the summary with links:
  - [iproute2-next,5.16,v6,1/5] iplink_can: fix configuration ranges in print_usage() and add unit
    https://git.kernel.org/pub/scm/network/iproute2/iproute2-next.git/commit/?id=8316df6e6db4
  - [iproute2-next,5.16,v6,2/5] iplink_can: code refactoring of print_ctrlmode()
    https://git.kernel.org/pub/scm/network/iproute2/iproute2-next.git/commit/?id=fd5e958c494c
  - [iproute2-next,5.16,v6,3/5] iplink_can: use PRINT_ANY to factorize code and fix signedness
    https://git.kernel.org/pub/scm/network/iproute2/iproute2-next.git/commit/?id=67f3c7a5cc0d
  - [iproute2-next,5.16,v6,4/5] iplink_can: print brp and dbrp bittiming variables
    https://git.kernel.org/pub/scm/network/iproute2/iproute2-next.git/commit/?id=0f7bb8d842b1
  - [iproute2-next,5.16,v6,5/5] iplink_can: add new CAN FD bittiming parameters: Transmitter Delay Compensation (TDC)
    https://git.kernel.org/pub/scm/network/iproute2/iproute2-next.git/commit/?id=0c263d7c36ff

You are awesome, thank you!
-- 
Deet-doot-dot, I am a bot.
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Re: [PATCH iproute2-next 5.16 v6 3/5] iplink_can: use PRINT_ANY to factorize code and fix signedness

[Marc Kleine-Budde]

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On 04.11.2021 01:44:26, Vincent Mailhol wrote:
> Current implementation heavily relies on some "if (is_json_context())"
> switches to decide the context and then does some print_*(PRINT_JSON,
> ...) when in json context and some fprintf(...) else.
> 
> Furthermore, current implementation uses either print_int() or the
> conversion specifier %d to print unsigned integers.
> 
> This patch factorizes each pairs of print_*(PRINT_JSON, ...) and
> fprintf() into a single print_*(PRINT_ANY, ...) call. While doing this
> replacement, it uses proper unsigned function print_uint() as well as
> the conversion specifier %u when the parameter is an unsigned integer.
> 
> Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>

[...]

>  	if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
> @@ -538,29 +483,21 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
>  			sizeof(*trm_const);
>  		int i;
>  
> -		if (is_json_context()) {
> -			print_hu(PRINT_JSON, "termination", NULL, *trm);
> -			open_json_array(PRINT_JSON, "termination_const");
> -			for (i = 0; i < trm_cnt; ++i)
> -				print_hu(PRINT_JSON, NULL, NULL, trm_const[i]);
> -			close_json_array(PRINT_JSON, NULL);
> -		} else {
> -			fprintf(f, "\n	  termination %hu [ ", *trm);
> -
> -			for (i = 0; i < trm_cnt - 1; ++i)
> -				fprintf(f, "%hu, ", trm_const[i]);
> -
> -			fprintf(f, "%hu ]", trm_const[i]);
                                        ^
> -		}
> +		can_print_nl_indent();
> +		print_hu(PRINT_ANY, "termination", " termination %hu [ ", *trm);

Always '['

> +		open_json_array(PRINT_JSON, "termination_const");
> +		for (i = 0; i < trm_cnt; ++i)
> +			print_hu(PRINT_ANY, NULL,
> +				 i < trm_cnt - 1 ? "%hu, " : "%hu",
> +				 trm_const[i]);
> +		close_json_array(PRINT_JSON, " ]");

']' only for JSON.

>  	}

I just noticed that the non JSON output for termination is missing the
closing ']'. See the output in the documentation update by Daniel:

| https://lore.kernel.org/all/4514353.LvFx2qVVIh@daniel6430

Marc

-- 
Pengutronix e.K.                 | Marc Kleine-Budde           |
Embedded Linux                   | https://www.pengutronix.de  |
Vertretung West/Dortmund         | Phone: +49-231-2826-924     |
Amtsgericht Hildesheim, HRA 2686 | Fax:   +49-5121-206917-5555 |

[-- Attachment #2: signature.asc --]
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Re: [PATCH iproute2-next 5.16 v6 3/5] iplink_can: use PRINT_ANY to factorize code and fix signedness

[Vincent MAILHOL]

On Fri. 7 Oct. 2022 at 16:56, Marc Kleine-Budde <mkl@pengutronix.de> wrote:
> On 04.11.2021 01:44:26, Vincent Mailhol wrote:
> > Current implementation heavily relies on some "if (is_json_context())"
> > switches to decide the context and then does some print_*(PRINT_JSON,
> > ...) when in json context and some fprintf(...) else.
> >
> > Furthermore, current implementation uses either print_int() or the
> > conversion specifier %d to print unsigned integers.
> >
> > This patch factorizes each pairs of print_*(PRINT_JSON, ...) and
> > fprintf() into a single print_*(PRINT_ANY, ...) call. While doing this
> > replacement, it uses proper unsigned function print_uint() as well as
> > the conversion specifier %u when the parameter is an unsigned integer.
> >
> > Signed-off-by: Vincent Mailhol <mailhol.vincent@wanadoo.fr>
>
> [...]
>
> >       if (tb[IFLA_CAN_TERMINATION_CONST] && tb[IFLA_CAN_TERMINATION]) {
> > @@ -538,29 +483,21 @@ static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
> >                       sizeof(*trm_const);
> >               int i;
> >
> > -             if (is_json_context()) {
> > -                     print_hu(PRINT_JSON, "termination", NULL, *trm);
> > -                     open_json_array(PRINT_JSON, "termination_const");
> > -                     for (i = 0; i < trm_cnt; ++i)
> > -                             print_hu(PRINT_JSON, NULL, NULL, trm_const[i]);
> > -                     close_json_array(PRINT_JSON, NULL);
> > -             } else {
> > -                     fprintf(f, "\n    termination %hu [ ", *trm);
> > -
> > -                     for (i = 0; i < trm_cnt - 1; ++i)
> > -                             fprintf(f, "%hu, ", trm_const[i]);
> > -
> > -                     fprintf(f, "%hu ]", trm_const[i]);
>                                         ^
> > -             }
> > +             can_print_nl_indent();
> > +             print_hu(PRINT_ANY, "termination", " termination %hu [ ", *trm);
>
> Always '['
>
> > +             open_json_array(PRINT_JSON, "termination_const");
> > +             for (i = 0; i < trm_cnt; ++i)
> > +                     print_hu(PRINT_ANY, NULL,
> > +                              i < trm_cnt - 1 ? "%hu, " : "%hu",
> > +                              trm_const[i]);
> > +             close_json_array(PRINT_JSON, " ]");
>
> ']' only for JSON.

Thanks for the report

Actually, the second argument of close_json_array() is what should be
printed for the normal (non-json) output. Here it is correctly set to
" ]". *However*, this parameter gets ignored because the first
argument is PRINT_JSON instead of PRINT_ANY.

This is a lack of testing on my side (I do not have hardware which
supports the switchable termination resistors). After investigation,
the bitrate and dbitrate also have the same issue.

This is fixed in
https://lore.kernel.org/linux-can/20221010110118.66116-1-mailhol.vincent@wanadoo.fr/

> >       }
>
> I just noticed that the non JSON output for termination is missing the
> closing ']'. See the output in the documentation update by Daniel:
>
> | https://lore.kernel.org/all/4514353.LvFx2qVVIh@daniel6430

Yours sincerely,
Vincent Mailhol