isotp: add tool support for ISO 15765-2:2015 with CAN FD

[can-utils.git] / isotprecv.c

diff --git a/isotprecv.c b/isotprecv.c
index a0934ba87c72fae01e3638a99c672b10d1ecdc5e..f4b8610467247367daf875a0e30757de510fb0e5 100644 (file)
--- a/isotprecv.c
+++ b/isotprecv.c
@@ -72,6 +72,7 @@ void print_usage(char *prg)
        fprintf(stderr, "         -f <time ns> (force rx stmin value in nanosecs)\n");
        fprintf(stderr, "         -w <num>     (max. wait frame transmissions.)\n");
        fprintf(stderr, "         -l           (loop: do not exit after pdu receiption.)\n");
+       fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
        fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
        fprintf(stderr, "The pdu data is written on STDOUT in space separated ASCII hex values.\n");
        fprintf(stderr, "\n");
@@ -84,6 +85,7 @@ int main(int argc, char **argv)
     struct ifreq ifr;
     static struct can_isotp_options opts;
     static struct can_isotp_fc_options fcopts;
+    static struct can_isotp_ll_options llopts;
     int opt, i;
     extern int optind, opterr, optopt;
     __u32 force_rx_stmin = 0;
@@ -94,7 +96,7 @@ int main(int argc, char **argv)
 
     addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
 
-    while ((opt = getopt(argc, argv, "s:d:x:X:p:P:b:m:w:f:l?")) != -1) {
+    while ((opt = getopt(argc, argv, "s:d:x:X:p:P:b:m:w:f:lL:?")) != -1) {
            switch (opt) {
            case 's':
                    addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
@@ -158,6 +160,17 @@ int main(int argc, char **argv)
                    loop = 1;
                    break;
 
+           case 'L':
+                   if (sscanf(optarg, "%hhu:%hhu:%hhu",
+                              &llopts.mtu,
+                              &llopts.tx_dl,
+                              &llopts.tx_flags) != 3) {
+                           printf("unknown link layer options '%s'.\n", optarg);
+                           print_usage(basename(argv[0]));
+                           exit(0);
+                   }
+                   break;
+
            case '?':
                    print_usage(basename(argv[0]));
                    exit(0);
@@ -191,6 +204,13 @@ int main(int argc, char **argv)
     setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
     setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
 
+    if (llopts.tx_dl) {
+       if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
+           perror("link layer sockopt");
+           exit(1);
+       }
+    }
+
     if (opts.flags & CAN_ISOTP_FORCE_RXSTMIN)
            setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RX_STMIN, &force_rx_stmin, sizeof(force_rx_stmin));