can: j1939: use backquotes for code samples
This patch adds backquotes for code samples. Signed-off-by: Yegor Yefremov <yegorslists@googlemail.com> Link: https://lore.kernel.org/r/20201026094442.16587-1-yegorslists@googlemail.com Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
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@ -131,31 +131,31 @@ API Calls
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---------
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On CAN, you first need to open a socket for communicating over a CAN network.
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To use J1939, #include <linux/can/j1939.h>. From there, <linux/can.h> will be
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To use J1939, ``#include <linux/can/j1939.h>``. From there, ``<linux/can.h>`` will be
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included too. To open a socket, use:
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.. code-block:: C
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s = socket(PF_CAN, SOCK_DGRAM, CAN_J1939);
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J1939 does use SOCK_DGRAM sockets. In the J1939 specification, connections are
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J1939 does use ``SOCK_DGRAM`` sockets. In the J1939 specification, connections are
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mentioned in the context of transport protocol sessions. These still deliver
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packets to the other end (using several CAN packets). SOCK_STREAM is not
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packets to the other end (using several CAN packets). ``SOCK_STREAM`` is not
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supported.
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After the successful creation of the socket, you would normally use the bind(2)
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and/or connect(2) system call to bind the socket to a CAN interface. After
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binding and/or connecting the socket, you can read(2) and write(2) from/to the
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socket or use send(2), sendto(2), sendmsg(2) and the recv*() counterpart
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After the successful creation of the socket, you would normally use the ``bind(2)``
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and/or ``connect(2)`` system call to bind the socket to a CAN interface. After
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binding and/or connecting the socket, you can ``read(2)`` and ``write(2)`` from/to the
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socket or use ``send(2)``, ``sendto(2)``, ``sendmsg(2)`` and the ``recv*()`` counterpart
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operations on the socket as usual. There are also J1939 specific socket options
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described below.
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In order to send data, a bind(2) must have been successful. bind(2) assigns a
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In order to send data, a ``bind(2)`` must have been successful. ``bind(2)`` assigns a
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local address to a socket.
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Different from CAN is that the payload data is just the data that get sends,
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without its header info. The header info is derived from the sockaddr supplied
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to bind(2), connect(2), sendto(2) and recvfrom(2). A write(2) with size 4 will
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to ``bind(2)``, ``connect(2)``, ``sendto(2)`` and ``recvfrom(2)``. A ``write(2)`` with size 4 will
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result in a packet with 4 bytes.
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The sockaddr structure has extensions for use with J1939 as specified below:
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@ -180,47 +180,47 @@ The sockaddr structure has extensions for use with J1939 as specified below:
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} can_addr;
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}
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can_family & can_ifindex serve the same purpose as for other SocketCAN sockets.
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``can_family`` & ``can_ifindex`` serve the same purpose as for other SocketCAN sockets.
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can_addr.j1939.pgn specifies the PGN (max 0x3ffff). Individual bits are
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``can_addr.j1939.pgn`` specifies the PGN (max 0x3ffff). Individual bits are
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specified above.
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can_addr.j1939.name contains the 64-bit J1939 NAME.
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``can_addr.j1939.name`` contains the 64-bit J1939 NAME.
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can_addr.j1939.addr contains the address.
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``can_addr.j1939.addr`` contains the address.
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The bind(2) system call assigns the local address, i.e. the source address when
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sending packages. If a PGN during bind(2) is set, it's used as a RX filter.
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The ``bind(2)`` system call assigns the local address, i.e. the source address when
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sending packages. If a PGN during ``bind(2)`` is set, it's used as a RX filter.
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I.e. only packets with a matching PGN are received. If an ADDR or NAME is set
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it is used as a receive filter, too. It will match the destination NAME or ADDR
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of the incoming packet. The NAME filter will work only if appropriate Address
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Claiming for this name was done on the CAN bus and registered/cached by the
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kernel.
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On the other hand connect(2) assigns the remote address, i.e. the destination
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address. The PGN from connect(2) is used as the default PGN when sending
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On the other hand ``connect(2)`` assigns the remote address, i.e. the destination
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address. The PGN from ``connect(2)`` is used as the default PGN when sending
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packets. If ADDR or NAME is set it will be used as the default destination ADDR
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or NAME. Further a set ADDR or NAME during connect(2) is used as a receive
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or NAME. Further a set ADDR or NAME during ``connect(2)`` is used as a receive
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filter. It will match the source NAME or ADDR of the incoming packet.
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Both write(2) and send(2) will send a packet with local address from bind(2) and
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the remote address from connect(2). Use sendto(2) to overwrite the destination
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Both ``write(2)`` and ``send(2)`` will send a packet with local address from ``bind(2)`` and the
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remote address from ``connect(2)``. Use ``sendto(2)`` to overwrite the destination
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address.
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If can_addr.j1939.name is set (!= 0) the NAME is looked up by the kernel and
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the corresponding ADDR is used. If can_addr.j1939.name is not set (== 0),
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can_addr.j1939.addr is used.
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If ``can_addr.j1939.name`` is set (!= 0) the NAME is looked up by the kernel and
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the corresponding ADDR is used. If ``can_addr.j1939.name`` is not set (== 0),
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``can_addr.j1939.addr`` is used.
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When creating a socket, reasonable defaults are set. Some options can be
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modified with setsockopt(2) & getsockopt(2).
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modified with ``setsockopt(2)`` & ``getsockopt(2)``.
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RX path related options:
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- SO_J1939_FILTER - configure array of filters
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- SO_J1939_PROMISC - disable filters set by bind(2) and connect(2)
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- ``SO_J1939_FILTER`` - configure array of filters
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- ``SO_J1939_PROMISC`` - disable filters set by ``bind(2)`` and ``connect(2)``
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By default no broadcast packets can be send or received. To enable sending or
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receiving broadcast packets use the socket option SO_BROADCAST:
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receiving broadcast packets use the socket option ``SO_BROADCAST``:
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.. code-block:: C
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@ -261,26 +261,26 @@ The following diagram illustrates the RX path:
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+---------------------------+
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TX path related options:
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SO_J1939_SEND_PRIO - change default send priority for the socket
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``SO_J1939_SEND_PRIO`` - change default send priority for the socket
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Message Flags during send() and Related System Calls
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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send(2), sendto(2) and sendmsg(2) take a 'flags' argument. Currently
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``send(2)``, ``sendto(2)`` and ``sendmsg(2)`` take a 'flags' argument. Currently
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supported flags are:
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* MSG_DONTWAIT, i.e. non-blocking operation.
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* ``MSG_DONTWAIT``, i.e. non-blocking operation.
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recvmsg(2)
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^^^^^^^^^^
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In most cases recvmsg(2) is needed if you want to extract more information than
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recvfrom(2) can provide. For example package priority and timestamp. The
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In most cases ``recvmsg(2)`` is needed if you want to extract more information than
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``recvfrom(2)`` can provide. For example package priority and timestamp. The
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Destination Address, name and packet priority (if applicable) are attached to
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the msghdr in the recvmsg(2) call. They can be extracted using cmsg(3) macros,
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with cmsg_level == SOL_J1939 && cmsg_type == SCM_J1939_DEST_ADDR,
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SCM_J1939_DEST_NAME or SCM_J1939_PRIO. The returned data is a uint8_t for
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priority and dst_addr, and uint64_t for dst_name.
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the msghdr in the ``recvmsg(2)`` call. They can be extracted using ``cmsg(3)`` macros,
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with ``cmsg_level == SOL_J1939 && cmsg_type == SCM_J1939_DEST_ADDR``,
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``SCM_J1939_DEST_NAME`` or ``SCM_J1939_PRIO``. The returned data is a ``uint8_t`` for
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``priority`` and ``dst_addr``, and ``uint64_t`` for ``dst_name``.
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.. code-block:: C
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@ -305,12 +305,12 @@ Dynamic Addressing
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Distinction has to be made between using the claimed address and doing an
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address claim. To use an already claimed address, one has to fill in the
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j1939.name member and provide it to bind(2). If the name had claimed an address
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``j1939.name`` member and provide it to ``bind(2)``. If the name had claimed an address
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earlier, all further messages being sent will use that address. And the
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j1939.addr member will be ignored.
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``j1939.addr`` member will be ignored.
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An exception on this is PGN 0x0ee00. This is the "Address Claim/Cannot Claim
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Address" message and the kernel will use the j1939.addr member for that PGN if
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Address" message and the kernel will use the ``j1939.addr`` member for that PGN if
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necessary.
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To claim an address following code example can be used:
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@ -371,12 +371,12 @@ NAME can send packets.
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If another ECU claims the address, the kernel will mark the NAME-SA expired.
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No socket bound to the NAME can send packets (other than address claims). To
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claim another address, some socket bound to NAME, must bind(2) again, but with
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only j1939.addr changed to the new SA, and must then send a valid address claim
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claim another address, some socket bound to NAME, must ``bind(2)`` again, but with
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only ``j1939.addr`` changed to the new SA, and must then send a valid address claim
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packet. This restarts the state machine in the kernel (and any other
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participant on the bus) for this NAME.
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can-utils also include the j1939acd tool, so it can be used as code example or as
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``can-utils`` also include the ``j1939acd`` tool, so it can be used as code example or as
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default Address Claiming daemon.
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Send Examples
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@ -403,8 +403,8 @@ Bind:
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bind(sock, (struct sockaddr *)&baddr, sizeof(baddr));
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Now, the socket 'sock' is bound to the SA 0x20. Since no connect(2) was called,
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at this point we can use only sendto(2) or sendmsg(2).
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Now, the socket 'sock' is bound to the SA 0x20. Since no ``connect(2)`` was called,
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at this point we can use only ``sendto(2)`` or ``sendmsg(2)``.
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Send:
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