ip/iplink_can.c - pub/scm/network/iproute2/iproute2 - Git at Google

 /*
  * iplink_can.c	CAN device support
  *
  *		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.
  *
  * Authors:	Wolfgang Grandegger <wg@grandegger.com>
  */

 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>

 #include <linux/can/netlink.h>

 #include "rt_names.h"
 #include "utils.h"
 #include "ip_common.h"

 static void print_usage(FILE *f)
 {
 	fprintf(f,
 		"Usage: ip link set DEVICE type can\n"
 		"\t[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |\n"
 		"\t[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1\n \t  phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n"
 		"\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"
 		"\t[ triple-sampling { on | off } ]\n"
 		"\t[ one-shot { on | off } ]\n"
 		"\t[ berr-reporting { on | off } ]\n"
 		"\t[ fd { on | off } ]\n"
 		"\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"
 		"\n"
 		"\t[ termination { 0..65535 } ]\n"
 		"\n"
 		"\tWhere: BITRATE	:= { NUMBER in bps }\n"
 		"\t	  SAMPLE-POINT	:= { 0.000..0.999 }\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	  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"
 		);
 }

 static void usage(void)
 {
 	print_usage(stderr);
 }

 static int get_float(float *val, const char *arg)
 {
 	float res;
 	char *ptr;

 	if (!arg || !*arg)
 		return -1;
 	res = strtof(arg, &ptr);
 	if (!ptr || ptr == arg || *ptr)
 		return -1;
 	*val = res;
 	return 0;
 }

 static void set_ctrlmode(char *name, char *arg,
 			 struct can_ctrlmode *cm, __u32 flags)
 {
 	if (strcmp(arg, "on") == 0) {
 		cm->flags |= flags;
 	} else if (strcmp(arg, "off") != 0) {
 		fprintf(stderr,
 			"Error: argument of \"%s\" must be \"on\" or \"off\", not \"%s\"\n",
 			name, arg);
 		exit(-1);
 	}
 	cm->mask |= flags;
 }

 static void print_flag(enum output_type t, __u32 *flags, __u32 flag,
 		       const char* name)
 {
 	if (*flags & flag) {
 		*flags &= ~flag;
 		print_string(t, NULL, *flags ? "%s," : "%s", name);
 	}
 }

 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");
 	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);

 	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 };
 	struct rtattr *tdc;
 	__u32 tdcv = -1, tdco = -1, tdcf = -1;

 	while (argc > 0) {
 		if (matches(*argv, "bitrate") == 0) {
 			NEXT_ARG();
 			if (get_u32(&bt.bitrate, *argv, 0))
 				invarg("invalid \"bitrate\" value\n", *argv);
 		} else if (matches(*argv, "sample-point") == 0) {
 			float sp;

 			NEXT_ARG();
 			if (get_float(&sp, *argv))
 				invarg("invalid \"sample-point\" value\n",
 				       *argv);
 			bt.sample_point = (__u32)(sp * 1000);
 		} else if (matches(*argv, "tq") == 0) {
 			NEXT_ARG();
 			if (get_u32(&bt.tq, *argv, 0))
 				invarg("invalid \"tq\" value\n", *argv);
 		} else if (matches(*argv, "prop-seg") == 0) {
 			NEXT_ARG();
 			if (get_u32(&bt.prop_seg, *argv, 0))
 				invarg("invalid \"prop-seg\" value\n", *argv);
 		} else if (matches(*argv, "phase-seg1") == 0) {
 			NEXT_ARG();
 			if (get_u32(&bt.phase_seg1, *argv, 0))
 				invarg("invalid \"phase-seg1\" value\n", *argv);
 		} else if (matches(*argv, "phase-seg2") == 0) {
 			NEXT_ARG();
 			if (get_u32(&bt.phase_seg2, *argv, 0))
 				invarg("invalid \"phase-seg2\" value\n", *argv);
 		} else if (matches(*argv, "sjw") == 0) {
 			NEXT_ARG();
 			if (get_u32(&bt.sjw, *argv, 0))
 				invarg("invalid \"sjw\" value\n", *argv);
 		} else if (matches(*argv, "dbitrate") == 0) {
 			NEXT_ARG();
 			if (get_u32(&dbt.bitrate, *argv, 0))
 				invarg("invalid \"dbitrate\" value\n", *argv);
 		} else if (matches(*argv, "dsample-point") == 0) {
 			float sp;

 			NEXT_ARG();
 			if (get_float(&sp, *argv))
 				invarg("invalid \"dsample-point\" value\n", *argv);
 			dbt.sample_point = (__u32)(sp * 1000);
 		} else if (matches(*argv, "dtq") == 0) {
 			NEXT_ARG();
 			if (get_u32(&dbt.tq, *argv, 0))
 				invarg("invalid \"dtq\" value\n", *argv);
 		} else if (matches(*argv, "dprop-seg") == 0) {
 			NEXT_ARG();
 			if (get_u32(&dbt.prop_seg, *argv, 0))
 				invarg("invalid \"dprop-seg\" value\n", *argv);
 		} else if (matches(*argv, "dphase-seg1") == 0) {
 			NEXT_ARG();
 			if (get_u32(&dbt.phase_seg1, *argv, 0))
 				invarg("invalid \"dphase-seg1\" value\n", *argv);
 		} else if (matches(*argv, "dphase-seg2") == 0) {
 			NEXT_ARG();
 			if (get_u32(&dbt.phase_seg2, *argv, 0))
 				invarg("invalid \"dphase-seg2\" value\n", *argv);
 		} else if (matches(*argv, "dsjw") == 0) {
 			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,
 				     CAN_CTRLMODE_LOOPBACK);
 		} else if (matches(*argv, "listen-only") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("listen-only", *argv, &cm,
 				     CAN_CTRLMODE_LISTENONLY);
 		} else if (matches(*argv, "triple-sampling") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("triple-sampling", *argv, &cm,
 				     CAN_CTRLMODE_3_SAMPLES);
 		} else if (matches(*argv, "one-shot") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("one-shot", *argv, &cm,
 				     CAN_CTRLMODE_ONE_SHOT);
 		} else if (matches(*argv, "berr-reporting") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("berr-reporting", *argv, &cm,
 				     CAN_CTRLMODE_BERR_REPORTING);
 		} else if (matches(*argv, "fd") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("fd", *argv, &cm,
 				     CAN_CTRLMODE_FD);
 		} else if (matches(*argv, "fd-non-iso") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("fd-non-iso", *argv, &cm,
 				     CAN_CTRLMODE_FD_NON_ISO);
 		} else if (matches(*argv, "presume-ack") == 0) {
 			NEXT_ARG();
 			set_ctrlmode("presume-ack", *argv, &cm,
 				     CAN_CTRLMODE_PRESUME_ACK);
 		} else if (matches(*argv, "cc-len8-dlc") == 0) {
 			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;

 			addattr32(n, 1024, IFLA_CAN_RESTART, val);
 		} else if (matches(*argv, "restart-ms") == 0) {
 			__u32 val;

 			NEXT_ARG();
 			if (get_u32(&val, *argv, 0))
 				invarg("invalid \"restart-ms\" value\n", *argv);
 			addattr32(n, 1024, IFLA_CAN_RESTART_MS, val);
 		} else if (matches(*argv, "termination") == 0) {
 			__u16 val;

 			NEXT_ARG();
 			if (get_u16(&val, *argv, 0))
 				invarg("invalid \"termination\" value\n",
 				       *argv);
 			addattr16(n, 1024, IFLA_CAN_TERMINATION, val);
 		} else if (matches(*argv, "help") == 0) {
 			usage();
 			return -1;
 		} else {
 			fprintf(stderr, "can: unknown option \"%s\"\n", *argv);
 			usage();
 			return -1;
 		}
 		argc--, argv++;
 	}

 	if (bt.bitrate || bt.tq)
 		addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
 	if (dbt.bitrate || dbt.tq)
 		addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt));
 	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;
 }

 static const char *can_state_names[CAN_STATE_MAX] = {
 	[CAN_STATE_ERROR_ACTIVE] = "ERROR-ACTIVE",
 	[CAN_STATE_ERROR_WARNING] = "ERROR-WARNING",
 	[CAN_STATE_ERROR_PASSIVE] = "ERROR-PASSIVE",
 	[CAN_STATE_BUS_OFF] = "BUS-OFF",
 	[CAN_STATE_STOPPED] = "STOPPED",
 	[CAN_STATE_SLEEPING] = "SLEEPING"
 };

 static void can_print_nl_indent(void)
 {
 	print_nl();
 	print_string(PRINT_FP, NULL, "%s", "\t ");
 }

 static void __attribute__((format(printf, 2, 0)))
 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();
 }

 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_ctrlmode_ext(FILE *f, struct rtattr *ctrlmode_ext_attr,
 				   __u32 cm_flags)
 {
 	struct rtattr *tb[IFLA_CAN_CTRLMODE_MAX + 1];

 	parse_rtattr_nested(tb, IFLA_CAN_CTRLMODE_MAX, ctrlmode_ext_attr);
 	if (tb[IFLA_CAN_CTRLMODE_SUPPORTED]) {
 		__u32 *supported = RTA_DATA(tb[IFLA_CAN_CTRLMODE_SUPPORTED]);

 		print_ctrlmode(PRINT_JSON, *supported, "ctrlmode_supported");
 		print_ctrlmode(PRINT_JSON, cm_flags & ~*supported, "ctrlmode_static");
 	}
 }

 static void can_print_opt(struct link_util *lu, FILE *f, struct rtattr *tb[])
 {
 	if (!tb)
 		return;

 	if (tb[IFLA_CAN_CTRLMODE]) {
 		struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]);

 		print_ctrlmode(PRINT_ANY, cm->flags, "ctrlmode");
 		if (tb[IFLA_CAN_CTRLMODE_EXT])
 			can_print_ctrlmode_ext(f, tb[IFLA_CAN_CTRLMODE_EXT],
 					       cm->flags);
 	}

 	if (tb[IFLA_CAN_STATE]) {
 		uint32_t state = rta_getattr_u32(tb[IFLA_CAN_STATE]);

 		print_string(PRINT_ANY, "state", "state %s ", state < CAN_STATE_MAX ?
 			can_state_names[state] : "UNKNOWN");
 	}

 	if (tb[IFLA_CAN_BERR_COUNTER]) {
 		struct can_berr_counter *bc =
 			RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]);

 		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_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]);
 		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);
 		print_uint(PRINT_ANY, "brp", " brp %u", bt->brp);
 		close_json_object();
 	}

 	/* bittiming const is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_BITTIMING_CONST] && !tb[IFLA_CAN_BITRATE_CONST]) {
 		struct can_bittiming_const *btc =
 			RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);

 		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]) {
 		__u32 *bitrate_const = RTA_DATA(tb[IFLA_CAN_BITRATE_CONST]);
 		int bitrate_cnt = RTA_PAYLOAD(tb[IFLA_CAN_BITRATE_CONST]) /
 			sizeof(*bitrate_const);
 		int i;
 		__u32 bitrate = 0;

 		if (tb[IFLA_CAN_BITTIMING]) {
 			struct can_bittiming *bt =
 				RTA_DATA(tb[IFLA_CAN_BITTIMING]);
 			bitrate = bt->bitrate;
 		}

 		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", "     ");
 			}
 			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]);
 		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);
 		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();
 	}

 	/* data bittiming const is irrelevant if fixed bitrate is defined */
 	if (tb[IFLA_CAN_DATA_BITTIMING_CONST] &&
 	    !tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 		struct can_bittiming_const *dbtc =
 			RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);

 		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);

 		if (tb[IFLA_CAN_TDC])
 			can_print_tdc_const_opt(f, tb[IFLA_CAN_TDC]);

 		close_json_object();
 	}

 	if (tb[IFLA_CAN_DATA_BITRATE_CONST]) {
 		__u32 *dbitrate_const =
 			RTA_DATA(tb[IFLA_CAN_DATA_BITRATE_CONST]);
 		int dbitrate_cnt =
 			RTA_PAYLOAD(tb[IFLA_CAN_DATA_BITRATE_CONST]) /
 			sizeof(*dbitrate_const);
 		int i;
 		__u32 dbitrate = 0;

 		if (tb[IFLA_CAN_DATA_BITTIMING]) {
 			struct can_bittiming *dbt =
 				RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
 			dbitrate = dbt->bitrate;
 		}

 		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", "     ");
 			}
 			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]) {
 		__u16 *trm = RTA_DATA(tb[IFLA_CAN_TERMINATION]);
 		__u16 *trm_const = RTA_DATA(tb[IFLA_CAN_TERMINATION_CONST]);
 		int trm_cnt = RTA_PAYLOAD(tb[IFLA_CAN_TERMINATION_CONST]) /
 			sizeof(*trm_const);
 		int 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]);

 		can_print_nl_indent();
 		print_uint(PRINT_ANY, "clock", " clock %u ", clock->freq);
 	}

 }

 static void can_print_xstats(struct link_util *lu,
 			     FILE *f, struct rtattr *xstats)
 {
 	struct can_device_stats *stats;

 	if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) {
 		stats = RTA_DATA(xstats);

 		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)
 {
 	print_usage(f);
 }

 struct link_util can_link_util = {
 	.id		= "can",
 	.maxattr	= IFLA_CAN_MAX,
 	.parse_opt	= can_parse_opt,
 	.print_opt	= can_print_opt,
 	.print_xstats	= can_print_xstats,
 	.print_help	= can_print_help,
 };
	/*
	* iplink_can.c CAN device support
	*
	* 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.
	*
	* Authors: Wolfgang Grandegger <wg@grandegger.com>
	*/

	#include <stdio.h>
	#include <stdlib.h>
	#include <string.h>

	#include <linux/can/netlink.h>

	#include "rt_names.h"
	#include "utils.h"
	#include "ip_common.h"

	static void print_usage(FILE *f)
	{
	fprintf(f,
	"Usage: ip link set DEVICE type can\n"
	"\t[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] \|\n"
	"\t[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1\n \t phase-seg2 PHASE-SEG2 [ sjw SJW ] ]\n"
	"\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"
	"\t[ triple-sampling { on \| off } ]\n"
	"\t[ one-shot { on \| off } ]\n"
	"\t[ berr-reporting { on \| off } ]\n"
	"\t[ fd { on \| off } ]\n"
	"\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"
	"\n"
	"\t[ termination { 0..65535 } ]\n"
	"\n"
	"\tWhere: BITRATE := { NUMBER in bps }\n"
	"\t SAMPLE-POINT := { 0.000..0.999 }\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 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"
	);
	}

	static void usage(void)
	{
	print_usage(stderr);
	}

	static int get_float(float val, const char arg)
	{
	float res;
	char *ptr;

	if (!arg \|\| !*arg)
	return -1;
	res = strtof(arg, &ptr);
	if (!ptr \|\| ptr == arg \|\| *ptr)
	return -1;
	*val = res;
	return 0;
	}

	static void set_ctrlmode(char name, char arg,
	struct can_ctrlmode *cm, __u32 flags)
	{
	if (strcmp(arg, "on") == 0) {
	cm->flags \|= flags;
	} else if (strcmp(arg, "off") != 0) {
	fprintf(stderr,
	"Error: argument of \"%s\" must be \"on\" or \"off\", not \"%s\"\n",
	name, arg);
	exit(-1);
	}
	cm->mask \|= flags;
	}

	static void print_flag(enum output_type t, __u32 *flags, __u32 flag,
	const char* name)
	{
	if (*flags & flag) {
	*flags &= ~flag;
	print_string(t, NULL, *flags ? "%s," : "%s", name);
	}
	}

	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");
	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);

	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 };
	struct rtattr *tdc;
	__u32 tdcv = -1, tdco = -1, tdcf = -1;

	while (argc > 0) {
	if (matches(*argv, "bitrate") == 0) {
	NEXT_ARG();
	if (get_u32(&bt.bitrate, *argv, 0))
	invarg("invalid \"bitrate\" value\n", *argv);
	} else if (matches(*argv, "sample-point") == 0) {
	float sp;

	NEXT_ARG();
	if (get_float(&sp, *argv))
	invarg("invalid \"sample-point\" value\n",
	*argv);
	bt.sample_point = (__u32)(sp * 1000);
	} else if (matches(*argv, "tq") == 0) {
	NEXT_ARG();
	if (get_u32(&bt.tq, *argv, 0))
	invarg("invalid \"tq\" value\n", *argv);
	} else if (matches(*argv, "prop-seg") == 0) {
	NEXT_ARG();
	if (get_u32(&bt.prop_seg, *argv, 0))
	invarg("invalid \"prop-seg\" value\n", *argv);
	} else if (matches(*argv, "phase-seg1") == 0) {
	NEXT_ARG();
	if (get_u32(&bt.phase_seg1, *argv, 0))
	invarg("invalid \"phase-seg1\" value\n", *argv);
	} else if (matches(*argv, "phase-seg2") == 0) {
	NEXT_ARG();
	if (get_u32(&bt.phase_seg2, *argv, 0))
	invarg("invalid \"phase-seg2\" value\n", *argv);
	} else if (matches(*argv, "sjw") == 0) {
	NEXT_ARG();
	if (get_u32(&bt.sjw, *argv, 0))
	invarg("invalid \"sjw\" value\n", *argv);
	} else if (matches(*argv, "dbitrate") == 0) {
	NEXT_ARG();
	if (get_u32(&dbt.bitrate, *argv, 0))
	invarg("invalid \"dbitrate\" value\n", *argv);
	} else if (matches(*argv, "dsample-point") == 0) {
	float sp;

	NEXT_ARG();
	if (get_float(&sp, *argv))
	invarg("invalid \"dsample-point\" value\n", *argv);
	dbt.sample_point = (__u32)(sp * 1000);
	} else if (matches(*argv, "dtq") == 0) {
	NEXT_ARG();
	if (get_u32(&dbt.tq, *argv, 0))
	invarg("invalid \"dtq\" value\n", *argv);
	} else if (matches(*argv, "dprop-seg") == 0) {
	NEXT_ARG();
	if (get_u32(&dbt.prop_seg, *argv, 0))
	invarg("invalid \"dprop-seg\" value\n", *argv);
	} else if (matches(*argv, "dphase-seg1") == 0) {
	NEXT_ARG();
	if (get_u32(&dbt.phase_seg1, *argv, 0))
	invarg("invalid \"dphase-seg1\" value\n", *argv);
	} else if (matches(*argv, "dphase-seg2") == 0) {
	NEXT_ARG();
	if (get_u32(&dbt.phase_seg2, *argv, 0))
	invarg("invalid \"dphase-seg2\" value\n", *argv);
	} else if (matches(*argv, "dsjw") == 0) {
	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,
	CAN_CTRLMODE_LOOPBACK);
	} else if (matches(*argv, "listen-only") == 0) {
	NEXT_ARG();
	set_ctrlmode("listen-only", *argv, &cm,
	CAN_CTRLMODE_LISTENONLY);
	} else if (matches(*argv, "triple-sampling") == 0) {
	NEXT_ARG();
	set_ctrlmode("triple-sampling", *argv, &cm,
	CAN_CTRLMODE_3_SAMPLES);
	} else if (matches(*argv, "one-shot") == 0) {
	NEXT_ARG();
	set_ctrlmode("one-shot", *argv, &cm,
	CAN_CTRLMODE_ONE_SHOT);
	} else if (matches(*argv, "berr-reporting") == 0) {
	NEXT_ARG();
	set_ctrlmode("berr-reporting", *argv, &cm,
	CAN_CTRLMODE_BERR_REPORTING);
	} else if (matches(*argv, "fd") == 0) {
	NEXT_ARG();
	set_ctrlmode("fd", *argv, &cm,
	CAN_CTRLMODE_FD);
	} else if (matches(*argv, "fd-non-iso") == 0) {
	NEXT_ARG();
	set_ctrlmode("fd-non-iso", *argv, &cm,
	CAN_CTRLMODE_FD_NON_ISO);
	} else if (matches(*argv, "presume-ack") == 0) {
	NEXT_ARG();
	set_ctrlmode("presume-ack", *argv, &cm,
	CAN_CTRLMODE_PRESUME_ACK);
	} else if (matches(*argv, "cc-len8-dlc") == 0) {
	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;

	addattr32(n, 1024, IFLA_CAN_RESTART, val);
	} else if (matches(*argv, "restart-ms") == 0) {
	__u32 val;

	NEXT_ARG();
	if (get_u32(&val, *argv, 0))
	invarg("invalid \"restart-ms\" value\n", *argv);
	addattr32(n, 1024, IFLA_CAN_RESTART_MS, val);
	} else if (matches(*argv, "termination") == 0) {
	__u16 val;

	NEXT_ARG();
	if (get_u16(&val, *argv, 0))
	invarg("invalid \"termination\" value\n",
	*argv);
	addattr16(n, 1024, IFLA_CAN_TERMINATION, val);
	} else if (matches(*argv, "help") == 0) {
	usage();
	return -1;
	} else {
	fprintf(stderr, "can: unknown option \"%s\"\n", *argv);
	usage();
	return -1;
	}
	argc--, argv++;
	}

	if (bt.bitrate \|\| bt.tq)
	addattr_l(n, 1024, IFLA_CAN_BITTIMING, &bt, sizeof(bt));
	if (dbt.bitrate \|\| dbt.tq)
	addattr_l(n, 1024, IFLA_CAN_DATA_BITTIMING, &dbt, sizeof(dbt));
	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;
	}

	static const char *can_state_names[CAN_STATE_MAX] = {
	[CAN_STATE_ERROR_ACTIVE] = "ERROR-ACTIVE",
	[CAN_STATE_ERROR_WARNING] = "ERROR-WARNING",
	[CAN_STATE_ERROR_PASSIVE] = "ERROR-PASSIVE",
	[CAN_STATE_BUS_OFF] = "BUS-OFF",
	[CAN_STATE_STOPPED] = "STOPPED",
	[CAN_STATE_SLEEPING] = "SLEEPING"
	};

	static void can_print_nl_indent(void)
	{
	print_nl();
	print_string(PRINT_FP, NULL, "%s", "\t ");
	}

	static void __attribute__((format(printf, 2, 0)))
	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();
	}

	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_ctrlmode_ext(FILE f, struct rtattr ctrlmode_ext_attr,
	__u32 cm_flags)
	{
	struct rtattr *tb[IFLA_CAN_CTRLMODE_MAX + 1];

	parse_rtattr_nested(tb, IFLA_CAN_CTRLMODE_MAX, ctrlmode_ext_attr);
	if (tb[IFLA_CAN_CTRLMODE_SUPPORTED]) {
	__u32 *supported = RTA_DATA(tb[IFLA_CAN_CTRLMODE_SUPPORTED]);

	print_ctrlmode(PRINT_JSON, *supported, "ctrlmode_supported");
	print_ctrlmode(PRINT_JSON, cm_flags & ~*supported, "ctrlmode_static");
	}
	}

	static void can_print_opt(struct link_util lu, FILE f, struct rtattr *tb[])
	{
	if (!tb)
	return;

	if (tb[IFLA_CAN_CTRLMODE]) {
	struct can_ctrlmode *cm = RTA_DATA(tb[IFLA_CAN_CTRLMODE]);

	print_ctrlmode(PRINT_ANY, cm->flags, "ctrlmode");
	if (tb[IFLA_CAN_CTRLMODE_EXT])
	can_print_ctrlmode_ext(f, tb[IFLA_CAN_CTRLMODE_EXT],
	cm->flags);
	}

	if (tb[IFLA_CAN_STATE]) {
	uint32_t state = rta_getattr_u32(tb[IFLA_CAN_STATE]);

	print_string(PRINT_ANY, "state", "state %s ", state < CAN_STATE_MAX ?
	can_state_names[state] : "UNKNOWN");
	}

	if (tb[IFLA_CAN_BERR_COUNTER]) {
	struct can_berr_counter *bc =
	RTA_DATA(tb[IFLA_CAN_BERR_COUNTER]);

	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_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]);
	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);
	print_uint(PRINT_ANY, "brp", " brp %u", bt->brp);
	close_json_object();
	}

	/* bittiming const is irrelevant if fixed bitrate is defined */
	if (tb[IFLA_CAN_BITTIMING_CONST] && !tb[IFLA_CAN_BITRATE_CONST]) {
	struct can_bittiming_const *btc =
	RTA_DATA(tb[IFLA_CAN_BITTIMING_CONST]);

	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]) {
	__u32 *bitrate_const = RTA_DATA(tb[IFLA_CAN_BITRATE_CONST]);
	int bitrate_cnt = RTA_PAYLOAD(tb[IFLA_CAN_BITRATE_CONST]) /
	sizeof(*bitrate_const);
	int i;
	__u32 bitrate = 0;

	if (tb[IFLA_CAN_BITTIMING]) {
	struct can_bittiming *bt =
	RTA_DATA(tb[IFLA_CAN_BITTIMING]);
	bitrate = bt->bitrate;
	}

	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", " ");
	}
	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]);
	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);
	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();
	}

	/* data bittiming const is irrelevant if fixed bitrate is defined */
	if (tb[IFLA_CAN_DATA_BITTIMING_CONST] &&
	!tb[IFLA_CAN_DATA_BITRATE_CONST]) {
	struct can_bittiming_const *dbtc =
	RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING_CONST]);

	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);

	if (tb[IFLA_CAN_TDC])
	can_print_tdc_const_opt(f, tb[IFLA_CAN_TDC]);

	close_json_object();
	}

	if (tb[IFLA_CAN_DATA_BITRATE_CONST]) {
	__u32 *dbitrate_const =
	RTA_DATA(tb[IFLA_CAN_DATA_BITRATE_CONST]);
	int dbitrate_cnt =
	RTA_PAYLOAD(tb[IFLA_CAN_DATA_BITRATE_CONST]) /
	sizeof(*dbitrate_const);
	int i;
	__u32 dbitrate = 0;

	if (tb[IFLA_CAN_DATA_BITTIMING]) {
	struct can_bittiming *dbt =
	RTA_DATA(tb[IFLA_CAN_DATA_BITTIMING]);
	dbitrate = dbt->bitrate;
	}

	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", " ");
	}
	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]) {
	__u16 *trm = RTA_DATA(tb[IFLA_CAN_TERMINATION]);
	__u16 *trm_const = RTA_DATA(tb[IFLA_CAN_TERMINATION_CONST]);
	int trm_cnt = RTA_PAYLOAD(tb[IFLA_CAN_TERMINATION_CONST]) /
	sizeof(*trm_const);
	int 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]);

	can_print_nl_indent();
	print_uint(PRINT_ANY, "clock", " clock %u ", clock->freq);
	}

	}

	static void can_print_xstats(struct link_util *lu,
	FILE f, struct rtattr xstats)
	{
	struct can_device_stats *stats;

	if (xstats && RTA_PAYLOAD(xstats) == sizeof(*stats)) {
	stats = RTA_DATA(xstats);

	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)
	{
	print_usage(f);
	}

	struct link_util can_link_util = {
	.id = "can",
	.maxattr = IFLA_CAN_MAX,
	.parse_opt = can_parse_opt,
	.print_opt = can_print_opt,
	.print_xstats = can_print_xstats,
	.print_help = can_print_help,
	};