2 * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
4 * Copyright (c) 2008 Volkswagen Group Electronic Research
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
10 * 1. Redistributions of source code must retain the above copyright
11 * notice, this list of conditions and the following disclaimer.
12 * 2. Redistributions in binary form must reproduce the above copyright
13 * notice, this list of conditions and the following disclaimer in the
14 * documentation and/or other materials provided with the distribution.
15 * 3. Neither the name of Volkswagen nor the names of its contributors
16 * may be used to endorse or promote products derived from this software
17 * without specific prior written permission.
19 * Alternatively, provided that this notice is retained in full, this
20 * software may be distributed under the terms of the GNU General
21 * Public License ("GPL") version 2, in which case the provisions of the
22 * GPL apply INSTEAD OF those given above.
24 * The provided data structures and external interfaces from this code
25 * are not restricted to be used by modules with a GPL compatible license.
27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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40 * Send feedback to <linux-can@vger.kernel.org>
52 #include <sys/types.h>
53 #include <sys/socket.h>
54 #include <sys/ioctl.h>
56 #include <linux/can.h>
57 #include <linux/can/raw.h>
60 #define NO_CAN_ID 0xFFFFFFFFU
62 const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
63 const int canfd_on = 1;
65 void print_usage(char *prg)
67 fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
68 fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
69 fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
70 fprintf(stderr, " -x <addr> (extended addressing mode. Use 'any' for all addresses)\n");
71 fprintf(stderr, " -X <addr> (extended addressing mode (rx addr). Use 'any' for all)\n");
72 fprintf(stderr, " -c (color mode)\n");
73 fprintf(stderr, " -a (print data also in ASCII-chars)\n");
74 fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
75 fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
76 fprintf(stderr, "\n");
79 int main(int argc, char **argv)
82 struct sockaddr_can addr;
83 struct can_filter rfilter[2];
84 struct canfd_frame frame;
86 canid_t src = NO_CAN_ID;
87 canid_t dst = NO_CAN_ID;
98 unsigned long fflen = 0;
99 struct timeval tv, last_tv;
106 while ((opt = getopt(argc, argv, "s:d:ax:X:ct:?")) != -1) {
109 src = strtoul(optarg, (char **)NULL, 16);
110 if (strlen(optarg) > 7)
115 dst = strtoul(optarg, (char **)NULL, 16);
116 if (strlen(optarg) > 7)
130 if (!strncmp(optarg, "any", 3))
133 extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
138 if (!strncmp(optarg, "any", 3))
141 rx_extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
145 timestamp = optarg[0];
146 if ((timestamp != 'a') && (timestamp != 'A') &&
147 (timestamp != 'd') && (timestamp != 'z')) {
148 printf("%s: unknown timestamp mode '%c' - ignored\n",
149 basename(argv[0]), optarg[0]);
155 print_usage(basename(argv[0]));
160 fprintf(stderr, "Unknown option %c\n", opt);
161 print_usage(basename(argv[0]));
167 if (rx_ext && !ext) {
168 print_usage(basename(argv[0]));
172 if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
173 print_usage(basename(argv[0]));
177 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
182 /* try to switch the socket into CAN FD mode */
183 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
185 if (src & CAN_EFF_FLAG) {
186 rfilter[0].can_id = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
187 rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
189 rfilter[0].can_id = src & CAN_SFF_MASK;
190 rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
193 if (dst & CAN_EFF_FLAG) {
194 rfilter[1].can_id = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
195 rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
197 rfilter[1].can_id = dst & CAN_SFF_MASK;
198 rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
201 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
203 addr.can_family = AF_CAN;
204 addr.can_ifindex = if_nametoindex(argv[optind]);
206 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
212 nbytes = read(s, &frame, sizeof(frame));
216 } else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
217 fprintf(stderr, "read: incomplete CAN frame %zu %d\n", sizeof(frame), nbytes);
221 if (frame.can_id == src && ext && !extany && extaddr != frame.data[0])
224 if (frame.can_id == dst && rx_ext && !rx_extany && rx_extaddr != frame.data[0])
228 printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
231 ioctl(s, SIOCGSTAMP, &tv);
236 case 'a': /* absolute with timestamp */
237 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
240 case 'A': /* absolute with date */
245 tm = *localtime(&tv.tv_sec);
246 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
247 printf("(%s.%06ld) ", timestring, tv.tv_usec);
251 case 'd': /* delta */
252 case 'z': /* starting with zero */
256 if (last_tv.tv_sec == 0) /* first init */
258 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
259 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
260 if (diff.tv_usec < 0)
261 diff.tv_sec--, diff.tv_usec += 1000000;
263 diff.tv_sec = diff.tv_usec = 0;
264 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
266 if (timestamp == 'd')
267 last_tv = tv; /* update for delta calculation */
271 default: /* no timestamp output */
276 if (frame.can_id & CAN_EFF_FLAG)
277 printf(" %s %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
279 printf(" %s %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
282 printf("{%02X}", frame.data[0]);
284 if (nbytes == CAN_MTU)
285 printf(" [%d] ", frame.len);
287 printf(" [%02d] ", frame.len);
290 n_pci = frame.data[ext];
292 switch (n_pci & 0xF0) {
295 printf("[SF] ln: %-4d data:", n_pci & 0xF);
298 printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
304 fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
308 fflen = (frame.data[ext+2]<<24) +
309 (frame.data[ext+3]<<16) +
310 (frame.data[ext+4]<<8) +
314 printf("[FF] ln: %-4lu data:", fflen);
318 printf("[CF] sn: %X data:", n_pci & 0x0F);
324 printf("[FC] FC: %d ", n_pci);
329 printf("= %s # ", fc_info[n_pci]);
331 printf("BS: %d %s# ", frame.data[ext+1],
332 (frame.data[ext+1])? "":"= off ");
334 i = frame.data[ext+2];
335 printf("STmin: 0x%02X = ", i);
339 else if (i > 0xF0 && i < 0xFA)
340 printf("%d us", (i & 0x0F) * 100);
349 if (datidx && frame.len > datidx) {
351 for (i = datidx; i < frame.len; i++) {
352 printf("%02X ", frame.data[i]);
356 printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
358 for (i = datidx; i < frame.len; i++) {
359 printf("%c",((frame.data[i] > 0x1F) &&
360 (frame.data[i] < 0x7F))?
361 frame.data[i] : '.');
368 printf("%s", ATTRESET);