/*
* lib.c - library for command line tools
*
- * Copyright (c) 2002-2005 Volkswagen Group Electronic Research
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions, the following disclaimer and
- * the referenced file 'COPYING'.
+ * notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
- * Public License ("GPL") version 2 as distributed in the 'COPYING'
- * file from the main directory of the linux kernel source.
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
#include <stdio.h>
#include <string.h>
+#include <stdint.h>
#include <sys/socket.h> /* for sa_family_t */
#include <linux/can.h>
+#include <linux/can/error.h>
+
+#include "lib.h"
#define CANID_DELIM '#'
#define DATA_SEPERATOR '.'
-static int asc2nibble(char c){
+#define MAX_CANFRAME "12345678#01.23.45.67.89.AB.CD.EF"
+#define MAX_LONG_CANFRAME_SIZE 256
+
+unsigned char asc2nibble(char c) {
- if ((c >= '0') && (c <= '9'))
- return c - '0';
+ if ((c >= '0') && (c <= '9'))
+ return c - '0';
- if ((c >= 'A') && (c <= 'F'))
- return c - 'A' + 10;
+ if ((c >= 'A') && (c <= 'F'))
+ return c - 'A' + 10;
- if ((c >= 'a') && (c <= 'f'))
- return c - 'a' + 10;
+ if ((c >= 'a') && (c <= 'f'))
+ return c - 'a' + 10;
- return 16; /* error */
+ return 16; /* error */
}
-int parse_canframe(char *cs, struct can_frame *cf){
- /* documentation see lib.h */
+int hexstring2candata(char *arg, struct can_frame *cf) {
- int i, idx, dlc, len, tmp;
+ int len = strlen(arg);
+ int i;
+ unsigned char tmp;
- len = strlen(cs);
- //printf("'%s' len %d\n", cs, len);
+ if (!len || len%2 || len > 16)
+ return 1;
- memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
+ for (i=0; i < len/2; i++) {
- if (len < 4)
- return 1;
+ tmp = asc2nibble(*(arg+(2*i)));
+ if (tmp > 0x0F)
+ return 1;
- if (!((cs[3] == CANID_DELIM) || (cs[8] == CANID_DELIM)))
- return 1;
+ cf->data[i] = (tmp << 4);
- if (cs[8] == CANID_DELIM) {
+ tmp = asc2nibble(*(arg+(2*i)+1));
+ if (tmp > 0x0F)
+ return 1;
- idx = 9;
- cf->can_id = CAN_EFF_FLAG;
- for (i=0; i<8; i++){
- if ((tmp = asc2nibble(cs[i])) > 0x0F)
- return 1;
- cf->can_id |= (tmp << (7-i)*4);
+ cf->data[i] |= tmp;
}
- } else {
+ return 0;
+}
+
+int parse_canframe(char *cs, struct can_frame *cf) {
+ /* documentation see lib.h */
+
+ int i, idx, dlc, len;
+ unsigned char tmp;
- idx = 4;
- for (i=0; i<3; i++){
- if ((tmp = asc2nibble(cs[i])) > 0x0F)
+ len = strlen(cs);
+ //printf("'%s' len %d\n", cs, len);
+
+ memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
+
+ if (len < 4)
return 1;
- cf->can_id |= (tmp << (2-i)*4);
+
+ if (cs[3] == CANID_DELIM) { /* 3 digits */
+
+ idx = 4;
+ for (i=0; i<3; i++){
+ if ((tmp = asc2nibble(cs[i])) > 0x0F)
+ return 1;
+ cf->can_id |= (tmp << (2-i)*4);
+ }
+
+ } else if (cs[8] == CANID_DELIM) { /* 8 digits */
+
+ idx = 9;
+ for (i=0; i<8; i++){
+ if ((tmp = asc2nibble(cs[i])) > 0x0F)
+ return 1;
+ cf->can_id |= (tmp << (7-i)*4);
+ }
+ if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
+ cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
+
+ } else
+ return 1;
+
+ if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
+ cf->can_id |= CAN_RTR_FLAG;
+ return 0;
+ }
+
+ for (i=0, dlc=0; i<8; i++){
+
+ if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
+ idx++;
+
+ if(idx >= len) /* end of string => end of data */
+ break;
+
+ if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+ return 1;
+ cf->data[i] = (tmp << 4);
+ if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+ return 1;
+ cf->data[i] |= tmp;
+ dlc++;
}
- }
- if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
- cf->can_id |= CAN_RTR_FLAG;
+ cf->can_dlc = dlc;
+
return 0;
- }
+}
- for (i=0, dlc=0; i<8; i++){
+void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol, int sep) {
+ /* documentation see lib.h */
- if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
- idx++;
+ char buf[sizeof(MAX_CANFRAME)+1]; /* max length */
- if(idx >= len) /* end of string => end of data */
- break;
+ sprint_canframe(buf, cf, sep);
+ fprintf(stream, "%s", buf);
+ if (eol)
+ fprintf(stream, "%s", eol);
+}
- if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
- return 1;
- cf->data[i] = (tmp << 4);
- if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
- return 1;
- cf->data[i] |= tmp;
- dlc++;
- }
+void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
+ /* documentation see lib.h */
+
+ int i,offset;
+ int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc;
+
+ if (cf->can_id & CAN_ERR_FLAG) {
+ sprintf(buf, "%08X#", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
+ offset = 9;
+ } else if (cf->can_id & CAN_EFF_FLAG) {
+ sprintf(buf, "%08X#", cf->can_id & CAN_EFF_MASK);
+ offset = 9;
+ } else {
+ sprintf(buf, "%03X#", cf->can_id & CAN_SFF_MASK);
+ offset = 4;
+ }
+
+ if (cf->can_id & CAN_RTR_FLAG) /* there are no ERR frames with RTR */
+ sprintf(buf+offset, "R");
+ else
+ for (i = 0; i < dlc; i++) {
+ sprintf(buf+offset, "%02X", cf->data[i]);
+ offset += 2;
+ if (sep && (i+1 < dlc))
+ sprintf(buf+offset++, ".");
+ }
- cf->can_dlc = dlc;
- return 0;
}
-void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol){
- /* documentation see lib.h */
+void fprint_long_canframe(FILE *stream , struct can_frame *cf, char *eol, int view) {
+ /* documentation see lib.h */
- int i;
+ char buf[MAX_LONG_CANFRAME_SIZE];
- if (cf->can_id & CAN_EFF_FLAG)
- fprintf(stream, "%8X ", cf->can_id & CAN_EFF_MASK);
- else
- fprintf(stream, "%3X ", cf->can_id & CAN_SFF_MASK);
+ sprint_long_canframe(buf, cf, view);
+ fprintf(stream, "%s", buf);
+ if ((view & CANLIB_VIEW_ERROR) && (cf->can_id & CAN_ERR_FLAG)) {
+ snprintf_can_error_frame(buf, sizeof(buf), cf, "\n\t");
+ fprintf(stream, "\n\t%s", buf);
+ }
+ if (eol)
+ fprintf(stream, "%s", eol);
+}
- fprintf(stream, "[%d] ", cf->can_dlc);
+void sprint_long_canframe(char *buf , struct can_frame *cf, int view) {
+ /* documentation see lib.h */
+
+ int i, j, dlen, offset;
+ int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc;
+
+ if (cf->can_id & CAN_ERR_FLAG) {
+ sprintf(buf, "%8X ", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
+ offset = 10;
+ } else if (cf->can_id & CAN_EFF_FLAG) {
+ sprintf(buf, "%8X ", cf->can_id & CAN_EFF_MASK);
+ offset = 10;
+ } else {
+ sprintf(buf, "%3X ", cf->can_id & CAN_SFF_MASK);
+ offset = 5;
+ }
+
+ sprintf(buf+offset, "[%d]", dlc);
+ offset += 3;
+
+ if (cf->can_id & CAN_RTR_FLAG) { /* there are no ERR frames with RTR */
+ sprintf(buf+offset, " remote request");
+ return;
+ }
+
+ if (view & CANLIB_VIEW_BINARY) {
+ dlen = 9; /* _10101010 */
+ if (view & CANLIB_VIEW_SWAP) {
+ for (i = dlc - 1; i >= 0; i--) {
+ buf[offset++] = (i == dlc-1)?' ':SWAP_DELIMITER;
+ for (j = 7; j >= 0; j--)
+ buf[offset++] = (1<<j & cf->data[i])?'1':'0';
+ }
+ } else {
+ for (i = 0; i < dlc; i++) {
+ buf[offset++] = ' ';
+ for (j = 7; j >= 0; j--)
+ buf[offset++] = (1<<j & cf->data[i])?'1':'0';
+ }
+ }
+ buf[offset] = 0; /* terminate string */
+ } else {
+ dlen = 3; /* _AA */
+ if (view & CANLIB_VIEW_SWAP) {
+ for (i = dlc - 1; i >= 0; i--) {
+ sprintf(buf+offset, "%c%02X",
+ (i == dlc-1)?' ':SWAP_DELIMITER,
+ cf->data[i]);
+ offset += dlen;
+ }
+ } else {
+ for (i = 0; i < dlc; i++) {
+ sprintf(buf+offset, " %02X", cf->data[i]);
+ offset += dlen;
+ }
+ }
+ }
+
+ if (cf->can_id & CAN_ERR_FLAG)
+ sprintf(buf+offset, "%*s", dlen*(8-dlc)+13, "ERRORFRAME");
+ else if (view & CANLIB_VIEW_ASCII) {
+ j = dlen*(8-dlc)+4;
+ if (view & CANLIB_VIEW_SWAP) {
+ sprintf(buf+offset, "%*s", j, "`");
+ offset += j;
+ for (i = dlc - 1; i >= 0; i--)
+ if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
+ buf[offset++] = cf->data[i];
+ else
+ buf[offset++] = '.';
+
+ sprintf(buf+offset, "`");
+ } else {
+ sprintf(buf+offset, "%*s", j, "'");
+ offset += j;
+ for (i = 0; i < dlc; i++)
+ if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
+ buf[offset++] = cf->data[i];
+ else
+ buf[offset++] = '.';
+
+ sprintf(buf+offset, "'");
+ }
+ }
+}
+
+static const char *error_classes[] = {
+ "tx-timeout",
+ "lost-arbitration",
+ "controller-problem",
+ "protocol-violation",
+ "transceiver-status",
+ "no-acknowledgement-on-tx",
+ "bus-off",
+ "bus-error",
+ "restarted-after-bus-off",
+};
+
+static const char *controller_problems[] = {
+ "rx-overflow",
+ "tx-overflow",
+ "rx-error-warning",
+ "tx-error-warning",
+ "rx-error-passive",
+ "tx-error-passive",
+};
+
+static const char *protocol_violation_types[] = {
+ "single-bit-error",
+ "frame-format-error",
+ "bit-stuffing-error",
+ "tx-dominant-bit-error",
+ "tx-recessive-bit-error",
+ "bus-overload",
+ "back-to-error-active",
+ "error-on-tx",
+};
+
+static const char *protocol_violation_locations[] = {
+ "unspecified",
+ "unspecified",
+ "id.28-to-id.28",
+ "start-of-frame",
+ "bit-srtr",
+ "bit-ide",
+ "id.20-to-id.18",
+ "id.17-to-id.13",
+ "crc-sequence",
+ "reserved-bit-0",
+ "data-field",
+ "data-length-code",
+ "bit-rtr",
+ "reserved-bit-1",
+ "id.4-to-id.0",
+ "id.12-to-id.5",
+ "unspecified",
+ "active-error-flag",
+ "intermission",
+ "tolerate-dominant-bits",
+ "unspecified",
+ "unspecified",
+ "passive-error-flag",
+ "error-delimiter",
+ "crc-delimiter",
+ "acknowledge-slot",
+ "end-of-frame",
+ "acknowledge-delimiter",
+ "overload-flag",
+ "unspecified",
+ "unspecified",
+ "unspecified",
+};
+
+#ifndef ARRAY_SIZE
+#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0]))
+#endif
+
+static int snprintf_error_data(char *buf, size_t len, uint8_t err,
+ const char **arr, int arr_len)
+{
+ int i, n = 0, count = 0;
+
+ if (!err || len <= 0)
+ return 0;
+
+ for (i = 0; i < arr_len; i++) {
+ if (err & (1 << i)) {
+ if (count)
+ n += snprintf(buf + n, len - n, ",");
+ n += snprintf(buf + n, len - n, "%s", arr[i]);
+ count++;
+ }
+ }
+
+ return n;
+}
+
+static int snprintf_error_lostarb(char *buf, size_t len, struct can_frame *cf)
+{
+ if (len <= 0)
+ return 0;
+ return snprintf(buf, len, "{at bit %d}", cf->data[0]);
+}
+
+static int snprintf_error_ctrl(char *buf, size_t len, struct can_frame *cf)
+{
+ int n = 0;
+
+ if (len <= 0)
+ return 0;
+
+ n += snprintf(buf + n, len - n, "{");
+ n += snprintf_error_data(buf + n, len - n, cf->data[1],
+ controller_problems,
+ ARRAY_SIZE(controller_problems));
+ n += snprintf(buf + n, len - n, "}");
- for (i = 0; i < cf->can_dlc; i++) {
- fprintf(stream, "%02X ", cf->data[i]);
- }
- if (cf->can_id & CAN_RTR_FLAG)
- fprintf(stream, "remote request");
- if (eol)
- fprintf(stream, "%s", eol);
+ return n;
}
+static int snprintf_error_prot(char *buf, size_t len, struct can_frame *cf)
+{
+ int n = 0;
+
+ if (len <= 0)
+ return 0;
+
+ n += snprintf(buf + n, len - n, "{{");
+ n += snprintf_error_data(buf + n, len - n, cf->data[2],
+ protocol_violation_types,
+ ARRAY_SIZE(protocol_violation_types));
+ n += snprintf(buf + n, len - n, "}{");
+ if (cf->data[3] > 0 &&
+ cf->data[3] < ARRAY_SIZE(protocol_violation_locations))
+ n += snprintf(buf + n, len - n, "%s",
+ protocol_violation_locations[cf->data[3]]);
+ n += snprintf(buf + n, len - n, "}}");
+
+ return n;
+}
+
+void snprintf_can_error_frame(char *buf, size_t len, struct can_frame *cf,
+ char* sep)
+{
+ canid_t class, mask;
+ int i, n = 0, classes = 0;
+ char *defsep = ",";
+
+ if (!(cf->can_id & CAN_ERR_FLAG))
+ return;
+
+ class = cf->can_id & CAN_EFF_MASK;
+ if (class > (1 << ARRAY_SIZE(error_classes))) {
+ fprintf(stderr, "Error class %#x is invalid\n", class);
+ return;
+ }
+
+ if (!sep)
+ sep = defsep;
+
+ for (i = 0; i < ARRAY_SIZE(error_classes); i++) {
+ mask = 1 << i;
+ if (class & mask) {
+ if (classes)
+ n += snprintf(buf + n, len - n, "%s", sep);
+ n += snprintf(buf + n, len - n, "%s", error_classes[i]);
+ if (mask == CAN_ERR_LOSTARB)
+ n += snprintf_error_lostarb(buf + n, len - n,
+ cf);
+ if (mask == CAN_ERR_CRTL)
+ n += snprintf_error_ctrl(buf + n, len - n, cf);
+ if (mask == CAN_ERR_PROT)
+ n += snprintf_error_prot(buf + n, len - n, cf);
+ classes++;
+ }
+ }
+
+ if (cf->data[6] || cf->data[7]) {
+ n += snprintf(buf + n, len - n, "%s", sep);
+ n += snprintf(buf + n, len - n, "error-counter-tx-rx{{%d}{%d}}",
+ cf->data[6], cf->data[7]);
+ }
+}
projects / socketcan-devel.git / blobdiff