CFLAGS = -O2 -Wall -Wno-parentheses -I../kernel/2.6/include \
-fno-strict-aliasing
-PROGRAMS = candump can-sniffer cansend
+PROGRAMS = candump can-sniffer cansend cangen log2long log2asc
all: $(PROGRAMS)
rm -f $(PROGRAMS) *.o
distclean:
- rm -f $(PROGRAMS) *~
+ rm -f $(PROGRAMS) *.o *~
-cansend.o: lib.h
+cansend.o: lib.h
+cangen.o: lib.h
+candump.o: lib.h
+log2long.o: lib.h
+log2asc.o: lib.h
-cansend: cansend.o lib.o
+cansend: cansend.o lib.o
+cangen: cangen.o lib.o
+candump: candump.o lib.o
+log2long: log2long.o lib.o
+log2asc: log2asc.o lib.o
#include <linux/can/raw.h>
#include "terminal.h"
-
-#define USE_RECVFROM /* use read() or recvfrom() syscall */
+#include "lib.h"
#define MAXDEV 6 /* change sscanf()'s manually if changed here */
#define ANYDEV "any"
#define MAGENTA ATTBOLD FGMAGENTA
#define CYAN ATTBOLD FGCYAN
-static const char col_on [MAXDEV][19] = {BOLD, MAGENTA, GREEN, BLUE, CYAN, RED};
-static const char col_off [] = ATTRESET;
+const char col_on [MAXDEV][19] = {BOLD, MAGENTA, GREEN, BLUE, CYAN, RED};
+const char col_off [] = ATTRESET;
+
+static char devname[MAXDEV][IFNAMSIZ+1];
+static int dindex[MAXDEV];
+static int max_devname_len;
#define MAXANI 8
const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
fprintf(stderr, " -v <value> (default 0x00000000)\n");
fprintf(stderr, " -i <0|1> (inv_filter)\n");
+ fprintf(stderr, " -e <emask> (mask for error frames)\n");
fprintf(stderr, " -t <type> (timestamp: Absolute/Delta/Zero)\n");
fprintf(stderr, " -c (color mode)\n");
+ fprintf(stderr, " -a (enable additional ASCII output)\n");
fprintf(stderr, " -s <level> (silent mode - 1: animation 2: nothing)\n");
fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
- fprintf(stderr, " -a (create ASC compatible output)\n");
- fprintf(stderr, " -1 (increment interface numbering in ASC mode)\n");
- fprintf(stderr, " -A (enable ASCII output)\n");
+ fprintf(stderr, " -l (log CAN-frames into file)\n");
fprintf(stderr, "\n");
fprintf(stderr, "When using more than one CAN interface the options\n");
- fprintf(stderr, "m/v/i have comma seperated values e.g. '-m 0,7FF,0'\n");
+ fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
}
running = 0;
}
+int idx2dindex(int ifidx, int socket) {
+
+ int i;
+ struct ifreq ifr;
+
+ for (i=0; i<MAXDEV; i++) {
+ if (dindex[i] == ifidx)
+ return i;
+ }
+
+ /* create new interface index cache entry */
+
+ for (i=0; i < MAXDEV; i++)
+ if (!dindex[i]) /* free entry */
+ break;
+
+ if (i == MAXDEV) {
+ printf("BUG in interface index cache! MAXDEV?\n");
+ exit(1);
+ }
+
+ dindex[i] = ifidx;
+
+ ifr.ifr_ifindex = ifidx;
+ if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
+ perror("SIOCGIFNAME");
+
+ if (max_devname_len < strlen(ifr.ifr_name))
+ max_devname_len = strlen(ifr.ifr_name);
+
+ strcpy(devname[i], ifr.ifr_name);
+
+#ifdef DEBUG
+ printf("new index %d (%s)\n", i, devname[i]);
+#endif
+
+ return i;
+}
+
int main(int argc, char **argv)
{
fd_set rdfs;
canid_t mask[MAXDEV] = {0};
canid_t value[MAXDEV] = {0};
int inv_filter[MAXDEV] = {0};
- char devname[MAXDEV][IFNAMSIZ];
+ can_err_mask_t err_mask[MAXDEV] = {0};
unsigned char timestamp = 0;
unsigned char silent = 0;
unsigned char silentani = 0;
unsigned char color = 0;
unsigned char ascii = 0;
- unsigned char asc = 0;
- unsigned char asc_inc_channel = 0;
- int max_devname_len = 0;
+ unsigned char log = 0;
int opt, ret;
int currmax = 1; /* we assume at least one can bus ;-) */
struct sockaddr_can addr;
struct can_frame frame;
int nbytes, i, j;
struct ifreq ifr;
-
- time_t currtime;
struct timeval tv, last_tv;
+ FILE *logfile = NULL;
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
last_tv.tv_sec = 0; /* init */
- while ((opt = getopt(argc, argv, "m:v:i:b:s:ca1At:")) != -1) {
+ while ((opt = getopt(argc, argv, "m:v:i:e:t:cas:b:l")) != -1) {
switch (opt) {
case 'm':
i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
currmax = i;
break;
+ case 'e':
+ i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
+ &err_mask[0], &err_mask[1], &err_mask[2],
+ &err_mask[3], &err_mask[4], &err_mask[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+
+ case 't':
+ timestamp = optarg[0];
+ if ((timestamp != 'a') && (timestamp != 'A') &&
+ (timestamp != 'd') && (timestamp != 'z')) {
+ printf("%s: unknown timestamp mode '%c' - ignored\n",
+ basename(argv[0]), optarg[0]);
+ timestamp = 0;
+ }
+ break;
+
+ case 'c':
+ color++;
+ break;
+
+ case 'a':
+ ascii = 1;
+ break;
+
+ case 's':
+ silent = atoi(optarg);
+ break;
+
case 'b':
if (strlen(optarg) >= IFNAMSIZ) {
printf("Name of CAN device '%s' is too long!\n\n", optarg);
}
break;
- case 's':
- silent = atoi(optarg);
- break;
-
- case 'c':
- color = 1;
- break;
-
- case 'a':
- asc = 1;
- break;
-
- case '1':
- asc_inc_channel = 1;
- break;
-
- case 'A':
- ascii = 1;
- break;
-
- case 't':
- timestamp = optarg[0];
- if ((timestamp != 'a') && (timestamp != 'A') && (timestamp != 'd') && (timestamp != 'z')) {
- printf("%s: unknown timestamp mode '%c' - ignored\n",
- basename(argv[0]), optarg[0]);
- timestamp = 0;
- }
- break;
-
- case '?':
+ case 'l':
+ log = 1;
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(1);
break;
}
}
for (i=0; i<currmax; i++) {
#ifdef DEBUG
- printf("open %d '%s' m%08X v%08X i%d.\n",
- i, argv[optind+i], mask[i], value[i], inv_filter[i]);
+ printf("open %d '%s' m%08X v%08X i%d e%d.\n",
+ i, argv[optind+i], mask[i], value[i],
+ inv_filter[i], err_mask[i]);
#endif
if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
if (mask[i] || value[i]) {
- if (!(asc)) /* this output is not asc compatible! */
- printf("CAN ID filter[%d] for %s set to mask = %08X, value = %08X %s\n",
- i, argv[optind+i], mask[i], value[i],
- (inv_filter[i]) ? "(inv_filter)" : "");
+ printf("CAN ID filter[%d] for %s set to "
+ "mask = %08X, value = %08X %s\n",
+ i, argv[optind+i], mask[i], value[i],
+ (inv_filter[i]) ? "(inv_filter)" : "");
rfilter.can_id = value[i];
rfilter.can_mask = mask[i];
if (inv_filter[i])
rfilter.can_id |= CAN_INV_FILTER;
- setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
+ &rfilter, sizeof(rfilter));
}
+ if (err_mask[i])
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
+ &err_mask[i], sizeof(err_mask[i]));
+
j = strlen(argv[optind+i]);
if (!(j < IFNAMSIZ)) {
return 1;
}
- strcpy(devname[i], argv[optind+i]);
-
if (j > max_devname_len)
max_devname_len = j; /* for nice printing */
if (strcmp(ANYDEV, argv[optind+i])) {
strcpy(ifr.ifr_name, argv[optind+i]);
- if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0)
+ if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
+ exit(1);
+ }
addr.can_ifindex = ifr.ifr_ifindex;
}
else
}
}
- if (asc) {
- char datestring[40];
-
- /* print banner for ASC mode */
-
- if (timestamp != 'd') /* delta time is allowed, else ... */
- timestamp = 'z'; /* ASC-files always start with zero time */
+ if (log) {
+ time_t currtime;
+ struct tm now;
+ char fname[sizeof("candump-2006-11-20_202026.log")+1];
if (time(&currtime) == (time_t)-1) {
perror("time");
return 1;
}
- strncpy(datestring, ctime(&currtime), 39); /* copy to private buffer */
- datestring[strlen(datestring)-1] = 0; /* chop off trailing newline */
- printf("date %s%s", datestring, ANL); /* print with own new line representation */
- printf("base hex timestamps %s%s", (timestamp == 'd')?"relative":"absolute", ANL);
- printf("no internal events logged%s", ANL);
- fflush(stdout);
+ localtime_r(&currtime, &now);
+
+ sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
+ now.tm_year + 1900,
+ now.tm_mon + 1,
+ now.tm_mday,
+ now.tm_hour,
+ now.tm_min,
+ now.tm_sec);
+
+ printf("\nEnabling Logfile '%s'\n\n", fname);
+
+ logfile = fopen(fname, "w");
+ if (!logfile) {
+ perror("logfile");
+ return 1;
+ }
}
while (running) {
FD_ZERO(&rdfs);
-
+ FD_SET(0, &rdfs);
for (i=0; i<currmax; i++)
FD_SET(s[i], &rdfs);
continue;
}
- for (i=0; i<currmax; i++) {
+ if (FD_ISSET(0, &rdfs)) {
+ running = 0; /* stop with input from stdin */
+ getchar();
+ }
+
+ for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
if (FD_ISSET(s[i], &rdfs)) {
-#ifdef USE_RECVFROM
socklen_t len = sizeof(addr);
- if ((nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, &len)) < 0) {
-#else
- if ((nbytes = read(s[i], &frame, sizeof(struct can_frame))) < 0) {
-#endif
+ int idx;
+
+ if ((nbytes = recvfrom(s[i], &frame,
+ sizeof(struct can_frame), 0,
+ (struct sockaddr*)&addr, &len)) < 0) {
perror("read");
return 1;
- } else if (nbytes < sizeof(struct can_frame)) {
+ }
+
+ if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
- } else {
- if (bridge) {
- if ((nbytes = write(bridge, &frame, sizeof(struct can_frame))) < 0) {
- perror("bridge write");
- return 1;
- } else if (nbytes < sizeof(struct can_frame)) {
- fprintf(stderr, "bridge write: incomplete CAN frame\n");
- return 1;
- }
+ }
+
+ if (bridge) {
+ if ((nbytes = write(bridge, &frame,
+ sizeof(struct can_frame))) < 0) {
+ perror("bridge write");
+ return 1;
+ } else if (nbytes < sizeof(struct can_frame)) {
+ fprintf(stderr,"bridge write: incomplete CAN frame\n");
+ return 1;
}
+ }
- if (silent){
- if (silent == 1)
- printf("%c\b", anichar[silentani%=MAXANI]), silentani++;
+ if (timestamp || log)
+ if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
+ perror("SIOCGSTAMP");
+
+
+ idx = idx2dindex(addr.can_ifindex, s[i]);
+
+ if (log) {
+ /* log CAN frame with absolute timestamp & device */
+ fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ fprintf(logfile, "%*s", max_devname_len, devname[idx]);
+ fprintf(logfile, " ");
+ /* without seperator as logfile use-case is parsing */
+ fprint_canframe(logfile, &frame, "\n", 0);
+ }
+
+ if (silent){
+ if (silent == 1) {
+ printf("%c\b", anichar[silentani%=MAXANI]);
+ silentani++;
}
- else {
+ continue;
+ }
- switch (timestamp) {
-
- case 'a': /* absolute with timestamp */
- if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
- perror("SIOCGSTAMP");
- if (asc)
- printf("%4ld.%04ld ", tv.tv_sec, tv.tv_usec/100);
- else
- printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
- break;
-
- case 'A': /* absolute with date */
- {
- struct tm tm;
- char timestring[25];
- if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
- perror("SIOCGSTAMP");
- tm = *localtime(&tv.tv_sec);
- strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
- if (asc)
- printf("%s.%04ld ", timestring, tv.tv_usec/100);
- else
- printf("(%s.%06ld) ", timestring, tv.tv_usec);
- }
- break;
-
- case 'd': /* delta */
- case 'z': /* starting with zero */
- {
- struct timeval diff;
-
- if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
- perror("SIOCGSTAMP");
- if (last_tv.tv_sec == 0) /* first init */
- last_tv = tv;
- diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
- diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
- if (diff.tv_usec < 0)
- diff.tv_sec--, diff.tv_usec += 1000000;
- if (diff.tv_sec < 0)
- diff.tv_sec = diff.tv_usec = 0;
- if (asc)
- printf("%4ld.%04ld ", diff.tv_sec, diff.tv_usec/100);
- else
- printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
+ printf(" %s",(color>2)?col_on[idx]:"");
+
+ switch (timestamp) {
+
+ case 'a': /* absolute with timestamp */
+ printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ break;
+
+ case 'A': /* absolute with date */
+ {
+ struct tm tm;
+ char timestring[25];
+
+ tm = *localtime(&tv.tv_sec);
+ strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
+ printf("(%s.%06ld) ", timestring, tv.tv_usec);
+ }
+ break;
+
+ case 'd': /* delta */
+ case 'z': /* starting with zero */
+ {
+ struct timeval diff;
+
+ if (last_tv.tv_sec == 0) /* first init */
+ last_tv = tv;
+ diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
+ diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
+ if (diff.tv_usec < 0)
+ diff.tv_sec--, diff.tv_usec += 1000000;
+ if (diff.tv_sec < 0)
+ diff.tv_sec = diff.tv_usec = 0;
+ printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
- if (timestamp == 'd')
- last_tv = tv; /* update for delta calculation */
- }
- break;
-
- default: /* no timestamp output */
- break;
- }
-
- if (asc) {
- char id[10];
-
- printf("%-2d ", i + asc_inc_channel); /* channel number - left aligned */
-
- sprintf(id, "%X%c", frame.can_id & CAN_EFF_MASK,
- (frame.can_id & CAN_EFF_FLAG)?'x':' ');
- printf("%-15s Rx ", id);
-
- if (frame.can_id & CAN_RTR_FLAG)
- printf("r"); /* RTR frame: nothing else to print */
- else {
- printf("d %d ", frame.can_dlc); /* data frame */
-
- for (j = 0; j < frame.can_dlc; j++) {
- printf("%02X ", frame.data[j]);
- }
- }
- printf("%s", ANL);
- }
- else {
- printf(" %s",(color)?col_on[i]:"");
-#ifdef USE_RECVFROM
- ifr.ifr_ifindex = addr.can_ifindex;
- if (ioctl(s[i], SIOCGIFNAME, &ifr) < 0)
- perror("SIOCGIFNAME");
-
- if (max_devname_len < strlen(ifr.ifr_name))
- max_devname_len = strlen(ifr.ifr_name);
-
- printf("%*s", max_devname_len, ifr.ifr_name);
-#else
- printf("%*s", max_devname_len, devname[i]); /* device name */
-#endif
- printf("%s ",(color)?col_off:"");
- if (frame.can_id & CAN_EFF_FLAG)
- printf("%8X ", frame.can_id & CAN_EFF_MASK);
- else
- printf("%3X ", frame.can_id & CAN_SFF_MASK);
-
- printf("[%d] ", frame.can_dlc);
-
- for (j = 0; j < frame.can_dlc; j++) {
- printf("%02X ", frame.data[j]);
- }
- if (ascii) {
- printf("%*s", 3*(8-frame.can_dlc)+3, "'");
- for (j = 0; j < frame.can_dlc; j++)
- if ((frame.data[j] > 0x1F) && (frame.data[j] < 0x7F))
- putchar(frame.data[j]);
- else
- putchar('.');
- printf("' ");
- }
- if (frame.can_id & CAN_RTR_FLAG)
- printf("remote request");
- printf("\n");
- }
+ if (timestamp == 'd')
+ last_tv = tv; /* update for delta calculation */
}
- fflush(stdout);
+ break;
+
+ default: /* no timestamp output */
+ break;
}
+
+ printf(" %s",(color && (color<3))?col_on[idx]:"");
+ printf("%*s", max_devname_len, devname[idx]);
+ printf("%s ",(color<2)?col_off:"");
+
+ fprint_long_canframe(stdout, &frame, NULL, ascii);
+
+ printf("%s",(color>1)?col_off:"");
+ printf("\n");
}
+ fflush(stdout);
}
}
if (bridge)
close(bridge);
+ if (log)
+ fclose(logfile);
+
return 0;
}
--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * cangen.c - CAN frames generator for testing purposes
+ *
+ * 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'.
+ * 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.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * 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.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <ctype.h>
+#include <libgen.h>
+#include <time.h>
+#include <errno.h>
+
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <sys/uio.h>
+#include <net/if.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include "lib.h"
+
+#define DEFAULT_GAP 200 /* ms */
+
+extern int optind, opterr, optopt;
+
+static volatile int running = 1;
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\n%s: generate random CAN frames\n\n", prg);
+ fprintf(stderr, "Usage: %s [can-interface]\n", prg);
+ fprintf(stderr, "Options: -g <ms> (gap in milli seconds) "
+ "default: %d\n", DEFAULT_GAP);
+ fprintf(stderr, " -e (extended frame mode) "
+ "default: standard frame format \n");
+ fprintf(stderr, " -I (fixed CAN ID) "
+ "default: 0x123\n");
+ fprintf(stderr, " -D (fixed CAN Data) "
+ "default: 01 23 45 67 89 AB CD EF\n");
+ fprintf(stderr, " -L (fixed CAN DLC) "
+ "default: 8\n");
+ fprintf(stderr, " -f <canframe> (other fixed CAN frame) "
+ "default: 123#0123456789ABCDEF\n");
+ fprintf(stderr, " -v (verbose) "
+ "default: don't print sent frames\n");
+}
+
+void sigterm(int signo)
+{
+ running = 0;
+}
+
+int main(int argc, char **argv)
+{
+ unsigned long gap = DEFAULT_GAP;
+ unsigned char extended = 0;
+ unsigned char fix_id = 0;
+ unsigned char fix_data = 0;
+ unsigned char fix_dlc = 0;
+ unsigned char default_frame = 1;
+ unsigned char verbose = 0;
+
+ int opt;
+ int s; /* socket */
+
+ struct sockaddr_can addr;
+ static struct can_frame frame;
+ int nbytes;
+ struct ifreq ifr;
+
+ struct timespec ts;
+
+ signal(SIGTERM, sigterm);
+ signal(SIGHUP, sigterm);
+ signal(SIGINT, sigterm);
+
+ while ((opt = getopt(argc, argv, "g:eIDLf:v")) != -1) {
+ switch (opt) {
+ case 'g':
+ gap = strtoul(optarg, NULL, 10);
+ break;
+
+ case 'e':
+ extended = 1;
+ break;
+
+ case 'I':
+ fix_id = 1;
+ break;
+
+ case 'D':
+ fix_data = 1;
+ break;
+
+ case 'L':
+ fix_dlc = 1;
+ break;
+
+ case 'f':
+ default_frame = 0;
+ if (parse_canframe(optarg, &frame)) {
+ fprintf(stderr, "'%s' is a wrong CAN frame format.\n", optarg);
+ exit(1);
+ }
+ break;
+
+ case 'v':
+ verbose = 1;
+ break;
+
+ default:
+ print_usage(basename(argv[0]));
+ exit(1);
+ break;
+ }
+ }
+
+ if (optind == argc) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ ts.tv_sec = gap / 1000;
+ ts.tv_nsec = (gap % 1000) * 1000000;
+
+
+ if (default_frame) {
+ if (extended)
+ frame.can_id = 0x12345678 | CAN_EFF_FLAG;
+ else
+ frame.can_id = 0x123;
+
+ frame.can_dlc = 8;
+
+ frame.data[0] = 0x01;
+ frame.data[1] = 0x23;
+ frame.data[2] = 0x45;
+ frame.data[3] = 0x67;
+ frame.data[4] = 0x89;
+ frame.data[5] = 0xAB;
+ frame.data[6] = 0xCD;
+ frame.data[7] = 0xEF;
+ }
+
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ addr.can_family = AF_CAN;
+
+ strcpy(ifr.ifr_name, argv[optind]);
+ if (ioctl(s, SIOCGIFINDEX, &ifr) < 0)
+ perror("SIOCGIFINDEX");
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ /* disable default receive filter on this RAW socket */
+ /* This is obsolete as we do not read from the socket at all, but for */
+ /* this reason we can remove the receive list in the Kernel to save a */
+ /* little (really a very little!) CPU usage. */
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 1;
+ }
+
+ while (running) {
+
+ if (!fix_id) {
+ frame.can_id = random();
+ if (extended) {
+ frame.can_id &= CAN_EFF_MASK;
+ frame.can_id |= CAN_EFF_FLAG;
+ } else
+ frame.can_id &= CAN_SFF_MASK;
+ }
+
+ if (!fix_dlc) {
+ frame.can_dlc = random() & 0xF;
+ if (frame.can_dlc & 8)
+ frame.can_dlc = 8; /* for about 50% of the frames */
+ }
+
+ if (!fix_data) {
+ /* that's what the 64 bit alignment of data[] is for ... :) */
+ *(unsigned long*)(&frame.data[0]) = random();
+ *(unsigned long*)(&frame.data[4]) = random();
+ }
+
+ if ((nbytes = write(s, &frame, sizeof(struct can_frame))) < 0) {
+ perror("write");
+ return 1;
+ } else if (nbytes < sizeof(struct can_frame)) {
+ fprintf(stderr, "write: incomplete CAN frame\n");
+ return 1;
+ }
+
+ if (gap) /* gap == 0 => performance test :-] */
+ if (nanosleep(&ts, NULL))
+ return 1;
+
+ if (verbose)
+#if 0
+ fprint_long_canframe(stdout, &frame, "\n", 1);
+#else
+ fprint_canframe(stdout, &frame, "\n", 1);
+#endif
+ }
+
+ close(s);
+
+ return 0;
+}
return 1;
}
- //fprint_canframe(stdout, &frame, "\n");
+ //fprint_long_canframe(stdout, &frame, "\n", 0);
close(s);
#include <sys/socket.h> /* for sa_family_t */
#include <linux/can.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 "12345678 [8] 01 23 45 67 89 AB CD EF '........'"
+
+static int asc2nibble(char c) {
if ((c >= '0') && (c <= '9'))
return c - '0';
return 16; /* error */
}
-int parse_canframe(char *cs, struct can_frame *cf){
+int parse_canframe(char *cs, struct can_frame *cf) {
/* documentation see lib.h */
int i, idx, dlc, len, tmp;
if (!((cs[3] == CANID_DELIM) || (cs[8] == CANID_DELIM)))
return 1;
- if (cs[8] == CANID_DELIM) {
+ if (cs[8] == CANID_DELIM) { /* 8 digits */
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);
}
+ 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 {
+ } else { /* 3 digits */
idx = 4;
for (i=0; i<3; i++){
return 0;
}
-void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol){
+void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol, int sep) {
/* documentation see lib.h */
- int i;
+ char buf[sizeof(MAX_CANFRAME)+1]; /* max length */
- 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_canframe(buf, cf, sep);
+ fprintf(stream, "%s", buf);
+ if (eol)
+ fprintf(stream, "%s", eol);
+}
+
+void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
+ /* documentation see lib.h */
- fprintf(stream, "[%d] ", cf->can_dlc);
+ int i,offset;
- for (i = 0; i < cf->can_dlc; i++) {
- fprintf(stream, "%02X ", cf->data[i]);
+ 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)
- fprintf(stream, "remote request");
+
+ if (cf->can_id & CAN_RTR_FLAG) /* there are no ERR frames with RTR */
+ sprintf(buf+offset, "R");
+ else
+ for (i = 0; i < cf->can_dlc; i++) {
+ sprintf(buf+offset, "%02X", cf->data[i]);
+ offset += 2;
+ if (sep && (i+1 < cf->can_dlc))
+ sprintf(buf+offset++, ".");
+ }
+
+
+}
+
+void fprint_long_canframe(FILE *stream , struct can_frame *cf, char *eol, int ascii) {
+ /* documentation see lib.h */
+
+ char buf[sizeof(MAX_LONG_CANFRAME)+1]; /* max length */
+
+ sprint_long_canframe(buf, cf, ascii);
+ fprintf(stream, "%s", buf);
if (eol)
fprintf(stream, "%s", eol);
}
+void sprint_long_canframe(char *buf , struct can_frame *cf, int ascii) {
+ /* documentation see lib.h */
+
+ int i, offset;
+
+ 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]", cf->can_dlc);
+ offset += 3;
+
+ if (cf->can_id & CAN_RTR_FLAG) /* there are no ERR frames with RTR */
+ sprintf(buf+offset, " remote request");
+ else {
+ for (i = 0; i < cf->can_dlc; i++) {
+ sprintf(buf+offset, " %02X", cf->data[i]);
+ offset += 3;
+ }
+ if (cf->can_id & CAN_ERR_FLAG)
+ sprintf(buf+offset, "%*s", 3*(8-cf->can_dlc)+13, "ERRORFRAME");
+ else if (ascii) {
+ sprintf(buf+offset, "%*s", 3*(8-cf->can_dlc)+4, "'");
+ offset += 3*(8-cf->can_dlc)+4;
+
+ for (i = 0; i < cf->can_dlc; i++)
+ if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
+ buf[offset++] = cf->data[i];
+ else
+ buf[offset++] = '.';
+ sprintf(buf+offset, "'");
+ }
+ }
+}
+
* 123#1122334455667788 -> standard CAN-Id = 0x123, dlc = 8
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8
* 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, dlc = 8
+ * 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
+ *
+ * Simple facts on this compact ASCII CAN frame representation:
+ *
+ * - 3 digits: standard frame format
+ * - 8 digits: extendend frame format OR error frame
+ * - 8 digits with CAN_ERR_FLAG (0x2000000) set: error frame
+ * - an error frame is never a RTR frame
+ *
+ */
+
+void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol, int sep);
+void sprint_canframe(char *buf , struct can_frame *cf, int sep);
+/*
+ * Creates a CAN frame hexadecimal output in compact format.
+ * The CAN data[] is seperated by '.' when sep != 0.
+ *
+ * 12345678#112233 -> exended CAN-Id = 0x12345678, dlc = 3, data, sep = 0
+ * 12345678#R -> exended CAN-Id = 0x12345678, RTR
+ * 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8, sep = 1
+ * 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
+ *
+ * Examples:
+ *
+ * fprint_canframe(stdout, &frame, "\n", 0); // with eol to STDOUT
+ * fprint_canframe(stderr, &frame, NULL, 0); // no eol to STDERR
*
*/
-void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol);
+void fprint_long_canframe(FILE *stream , struct can_frame *cf, char *eol, int ascii);
+void sprint_long_canframe(char *buf , struct can_frame *cf, int ascii);
/*
* Creates a CAN frame hexadecimal output in user readable format.
*
* 12345678 [3] 11 22 33 -> exended CAN-Id = 0x12345678, dlc = 3, data
* 12345678 [0] remote request -> exended CAN-Id = 0x12345678, RTR
+ * 14B0DC51 [8] 4A 94 E8 2A EC 58 55 62 'J..*.XUb' -> (with ASCII output)
+ * 20001111 [7] C6 23 7B 32 69 98 3C ERRORFRAME -> (CAN_ERR_FLAG set)
*
* Examples:
*
- * fprint_canframe(stdout, &frame, "\n"); // with eol to STDOUT
- * fprint_canframe(stderr, &frame, NULL); // no eol to STDERR
+ * fprint_long_canframe(stdout, &frame, "\n", 0); // with eol to STDOUT
+ * fprint_long_canframe(stderr, &frame, NULL, 0); // no eol to STDERR
*
*/
--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * log2asc.c - convert compact CAN frame logfile to ASC logfile
+ *
+ * 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'.
+ * 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.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * 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.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <libgen.h>
+#include <unistd.h>
+
+#include <net/if.h>
+#include <linux/can.h>
+
+#include "lib.h"
+
+extern int optind, opterr, optopt;
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
+ fprintf(stderr, "Options: -I <infile> (default stdin)\n");
+ fprintf(stderr, " -O <outfile> (default stdout)\n");
+ fprintf(stderr, " -n (set newline to cr/lf - default lf)\n");
+}
+
+int main(int argc, char **argv)
+{
+ char buf[100], device[100], ascframe[100], id[10];
+
+ struct can_frame cf;
+ static struct timeval tv, start_tv;
+ FILE *infile = stdin;
+ FILE *outfile = stdout;
+ static int maxdev, devno, i, crlf, opt;
+
+ while ((opt = getopt(argc, argv, "I:O:n")) != -1) {
+ switch (opt) {
+ case 'I':
+ infile = fopen(optarg, "r");
+ if (!infile) {
+ perror("infile");
+ return 1;
+ }
+ break;
+
+ case 'O':
+ outfile = fopen(optarg, "w");
+ if (!outfile) {
+ perror("outfile");
+ return 1;
+ }
+ break;
+
+ case 'n':
+ crlf = 1;
+ break;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ return 1;
+ break;
+ }
+ }
+
+ maxdev = argc - optind; /* find real number of CAN devices */
+
+ if (!maxdev) {
+ fprintf(stderr, "no CAN interfaces defined!\n");
+ print_usage(basename(argv[0]));
+ return 1;
+ }
+
+ //printf("Found %d CAN devices!\n", maxdev);
+
+ while (fgets(buf, 99, infile)) {
+ if (sscanf(buf, "(%ld.%ld) %s %s", &tv.tv_sec, &tv.tv_usec,
+ device, ascframe) != 4)
+ return 1;
+
+ if (!start_tv.tv_sec) { /* print banner */
+ start_tv = tv;
+ fprintf(outfile, "date %s", ctime(&start_tv.tv_sec));
+ fprintf(outfile, "base hex timestamps absolute%s",
+ (crlf)?"\r\n":"\n");
+ fprintf(outfile, "no internal events logged%s",
+ (crlf)?"\r\n":"\n");
+ }
+
+ for (i=0, devno=0; i<maxdev; i++) {
+ if (!strcmp(device, argv[optind+i])) {
+ devno = i+1; /* start with channel '1' */
+ break;
+ }
+ }
+
+ if (devno) { /* only convert for selected CAN devices */
+ if (parse_canframe(ascframe, &cf))
+ return 1;
+
+ tv.tv_sec = tv.tv_sec - start_tv.tv_sec;
+ tv.tv_usec = tv.tv_usec - start_tv.tv_usec;
+ if (tv.tv_usec < 0)
+ tv.tv_sec--, tv.tv_usec += 1000000;
+ if (tv.tv_sec < 0)
+ tv.tv_sec = tv.tv_usec = 0;
+ fprintf(outfile, "%4ld.%04ld ", tv.tv_sec, tv.tv_usec/100);
+
+ fprintf(outfile, "%-2d ", devno); /* channel number left aligned */
+
+ if (cf.can_id & CAN_ERR_FLAG)
+ fprintf(outfile, "(errorframe)");
+ else {
+ sprintf(id, "%X%c", cf.can_id & CAN_EFF_MASK,
+ (cf.can_id & CAN_EFF_FLAG)?'x':' ');
+ fprintf(outfile, "%-15s Rx ", id);
+
+ if (cf.can_id & CAN_RTR_FLAG)
+ fprintf(outfile, "r"); /* RTR frame */
+ else {
+ fprintf(outfile, "d %d", cf.can_dlc); /* data frame */
+
+ for (i = 0; i < cf.can_dlc; i++) {
+ fprintf(outfile, " %02X", cf.data[i]);
+ }
+ }
+ }
+ if (crlf)
+ fprintf(outfile, "\r");
+ fprintf(outfile, "\n");
+ }
+ }
+ fflush(outfile);
+
+ return 0;
+}
--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * log2long.c - convert compact CAN frame representation into user readable
+ *
+ * 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'.
+ * 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.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * 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.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+
+#include <net/if.h>
+#include <linux/can.h>
+
+#include "lib.h"
+
+int main(int argc, char **argv)
+{
+ char buf[100], timestamp[100], device[100], ascframe[100];
+ struct can_frame cf;
+
+ while (fgets(buf, 99, stdin)) {
+ if (sscanf(buf, "%s %s %s", timestamp, device, ascframe) != 3)
+ return 1;
+ if (parse_canframe(ascframe, &cf))
+ return 1;
+ sprint_long_canframe(ascframe, &cf, 1); /* with ASCII output */
+ printf("%s %s %s\n", timestamp, device, ascframe);
+ }
+
+ return 0;
+}
projects / socketcan-devel.git / commitdiff