384 lines
9.8 KiB
C
Executable File
384 lines
9.8 KiB
C
Executable File
/*
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* isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
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*
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* Copyright (c) 2008 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of Volkswagen nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* Alternatively, provided that this notice is retained in full, this
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* software may be distributed under the terms of the GNU General
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* Public License ("GPL") version 2, in which case the provisions of the
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* GPL apply INSTEAD OF those given above.
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*
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* The provided data structures and external interfaces from this code
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* are not restricted to be used by modules with a GPL compatible license.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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* DAMAGE.
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*
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* Send feedback to <linux-can@vger.kernel.org>
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <libgen.h>
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#include <time.h>
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#include <net/if.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include "terminal.h"
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#define NO_CAN_ID 0xFFFFFFFFU
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const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
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const int canfd_on = 1;
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void print_usage(char *prg)
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{
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fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
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fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
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fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
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fprintf(stderr, " -x <addr> (extended addressing mode. Use 'any' for all addresses)\n");
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fprintf(stderr, " -X <addr> (extended addressing mode (rx addr). Use 'any' for all)\n");
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fprintf(stderr, " -c (color mode)\n");
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fprintf(stderr, " -a (print data also in ASCII-chars)\n");
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fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
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fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
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fprintf(stderr, "\n");
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}
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int main(int argc, char **argv)
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{
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int s;
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struct sockaddr_can addr;
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struct can_filter rfilter[2];
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struct canfd_frame frame;
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int nbytes, i;
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canid_t src = NO_CAN_ID;
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canid_t dst = NO_CAN_ID;
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int ext = 0;
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int extaddr = 0;
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int extany = 0;
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int rx_ext = 0;
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int rx_extaddr = 0;
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int rx_extany = 0;
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int asc = 0;
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int color = 0;
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int timestamp = 0;
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int datidx = 0;
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unsigned long fflen = 0;
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struct ifreq ifr;
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int ifindex;
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struct timeval tv, last_tv;
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unsigned int n_pci;
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int opt;
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last_tv.tv_sec = 0;
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last_tv.tv_usec = 0;
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while ((opt = getopt(argc, argv, "s:d:ax:X:ct:?")) != -1) {
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switch (opt) {
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case 's':
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src = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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src |= CAN_EFF_FLAG;
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break;
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case 'd':
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dst = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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dst |= CAN_EFF_FLAG;
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break;
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case 'c':
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color = 1;
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break;
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case 'a':
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asc = 1;
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break;
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case 'x':
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ext = 1;
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if (!strncmp(optarg, "any", 3))
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extany = 1;
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else
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extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'X':
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rx_ext = 1;
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if (!strncmp(optarg, "any", 3))
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rx_extany = 1;
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else
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rx_extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 't':
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timestamp = optarg[0];
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if ((timestamp != 'a') && (timestamp != 'A') &&
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(timestamp != 'd') && (timestamp != 'z')) {
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printf("%s: unknown timestamp mode '%c' - ignored\n",
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basename(argv[0]), optarg[0]);
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timestamp = 0;
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}
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break;
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case '?':
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print_usage(basename(argv[0]));
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exit(0);
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break;
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default:
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fprintf(stderr, "Unknown option %c\n", opt);
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print_usage(basename(argv[0]));
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exit(1);
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break;
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}
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}
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if (rx_ext && !ext) {
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print_usage(basename(argv[0]));
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exit(0);
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}
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if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
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print_usage(basename(argv[0]));
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exit(0);
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}
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if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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perror("socket");
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return 1;
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}
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/* try to switch the socket into CAN FD mode */
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setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
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if (src & CAN_EFF_FLAG) {
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rfilter[0].can_id = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
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rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
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} else {
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rfilter[0].can_id = src & CAN_SFF_MASK;
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rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
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}
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if (dst & CAN_EFF_FLAG) {
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rfilter[1].can_id = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
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rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
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} else {
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rfilter[1].can_id = dst & CAN_SFF_MASK;
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rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
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}
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setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
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strcpy(ifr.ifr_name, argv[optind]);
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ioctl(s, SIOCGIFINDEX, &ifr);
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ifindex = ifr.ifr_ifindex;
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifindex;
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if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind");
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return 1;
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}
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while (1) {
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nbytes = read(s, &frame, sizeof(frame));
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if (nbytes < 0) {
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perror("read");
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return 1;
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} else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
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fprintf(stderr, "read: incomplete CAN frame %zu %d\n", sizeof(frame), nbytes);
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return 1;
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} else {
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if (frame.can_id == src && ext && !extany && extaddr != frame.data[0])
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continue;
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if (frame.can_id == dst && rx_ext && !rx_extany && rx_extaddr != frame.data[0])
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continue;
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if (color)
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printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
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if (timestamp) {
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ioctl(s, SIOCGSTAMP, &tv);
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switch (timestamp) {
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case 'a': /* absolute with timestamp */
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printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
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break;
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case 'A': /* absolute with date */
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{
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struct tm tm;
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char timestring[25];
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tm = *localtime(&tv.tv_sec);
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strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
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printf("(%s.%06ld) ", timestring, tv.tv_usec);
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}
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break;
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case 'd': /* delta */
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case 'z': /* starting with zero */
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{
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struct timeval diff;
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if (last_tv.tv_sec == 0) /* first init */
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last_tv = tv;
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diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
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diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
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if (diff.tv_usec < 0)
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diff.tv_sec--, diff.tv_usec += 1000000;
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if (diff.tv_sec < 0)
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diff.tv_sec = diff.tv_usec = 0;
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printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
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if (timestamp == 'd')
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last_tv = tv; /* update for delta calculation */
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}
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break;
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default: /* no timestamp output */
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break;
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}
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}
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if (frame.can_id & CAN_EFF_FLAG)
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printf(" %s %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
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else
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printf(" %s %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
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if (ext)
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printf("{%02X}", frame.data[0]);
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if (nbytes == CAN_MTU)
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printf(" [%d] ", frame.len);
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else
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printf(" [%02d] ", frame.len);
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datidx = 0;
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n_pci = frame.data[ext];
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switch (n_pci & 0xF0) {
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case 0x00:
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if (n_pci & 0xF) {
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printf("[SF] ln: %-4d data:", n_pci & 0xF);
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datidx = ext+1;
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} else {
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printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
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datidx = ext+2;
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}
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break;
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case 0x10:
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fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
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if (fflen)
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datidx = ext+2;
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else {
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fflen = (frame.data[ext+2]<<24) +
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(frame.data[ext+3]<<16) +
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(frame.data[ext+4]<<8) +
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frame.data[ext+5];
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datidx = ext+6;
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}
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printf("[FF] ln: %-4lu data:", fflen);
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break;
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case 0x20:
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printf("[CF] sn: %X data:", n_pci & 0x0F);
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datidx = ext+1;
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break;
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case 0x30:
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n_pci &= 0x0F;
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printf("[FC] FC: %d ", n_pci);
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if (n_pci > 3)
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n_pci = 3;
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printf("= %s # ", fc_info[n_pci]);
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printf("BS: %d %s# ", frame.data[ext+1],
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(frame.data[ext+1])? "":"= off ");
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i = frame.data[ext+2];
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printf("STmin: 0x%02X = ", i);
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if (i < 0x80)
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printf("%d ms", i);
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else if (i > 0xF0 && i < 0xFA)
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printf("%d us", (i & 0x0F) * 100);
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else
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printf("reserved");
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break;
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default:
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printf("[??]");
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}
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if (datidx && frame.len > datidx) {
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printf(" ");
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for (i = datidx; i < frame.len; i++) {
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printf("%02X ", frame.data[i]);
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}
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if (asc) {
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printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
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"- '");
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for (i = datidx; i < frame.len; i++) {
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printf("%c",((frame.data[i] > 0x1F) &&
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(frame.data[i] < 0x7F))?
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frame.data[i] : '.');
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}
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printf("'");
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}
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}
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if (color)
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printf("%s", ATTRESET);
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printf("\n");
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fflush(stdout);
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}
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}
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close(s);
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return 0;
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}
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