isotpdump.c

   1 /*
   2  *  $Id$
   3  */
   4
   5 /*
   6  * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
   7  *
   8  * Copyright (c) 2008 Volkswagen Group Electronic Research
   9  * All rights reserved.
  10  *
  11  * Redistribution and use in source and binary forms, with or without
  12  * modification, are permitted provided that the following conditions
  13  * are met:
  14  * 1. Redistributions of source code must retain the above copyright
  15  *    notice, this list of conditions and the following disclaimer.
  16  * 2. Redistributions in binary form must reproduce the above copyright
  17  *    notice, this list of conditions and the following disclaimer in the
  18  *    documentation and/or other materials provided with the distribution.
  19  * 3. Neither the name of Volkswagen nor the names of its contributors
  20  *    may be used to endorse or promote products derived from this software
  21  *    without specific prior written permission.
  22  *
  23  * Alternatively, provided that this notice is retained in full, this
  24  * software may be distributed under the terms of the GNU General
  25  * Public License ("GPL") version 2, in which case the provisions of the
  26  * GPL apply INSTEAD OF those given above.
  27  *
  28  * The provided data structures and external interfaces from this code
  29  * are not restricted to be used by modules with a GPL compatible license.
  30  *
  31  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  32  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  33  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
  34  * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  35  * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  36  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  37  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  38  * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
  39  * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  40  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  41  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
  42  * DAMAGE.
  43  *
  44  * Send feedback to <socketcan-users@lists.berlios.de>
  45  *
  46  */
  47
  48 #include <stdio.h>
  49 #include <stdlib.h>
  50 #include <unistd.h>
  51 #include <string.h>
  52 #include <libgen.h>
  53 #include <time.h>
  54
  55 #include <net/if.h>
  56 #include <sys/types.h>
  57 #include <sys/socket.h>
  58 #include <sys/ioctl.h>
  59
  60 #include <linux/can.h>
  61 #include <linux/can/raw.h>
  62 #include "terminal.h"
  63
  64 #define NO_CAN_ID 0xFFFFFFFFU
  65
  66 const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
  67
  68 void print_usage(char *prg)
  69 {
  70         fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
  71         fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
  72         fprintf(stderr, "         -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
  73         fprintf(stderr, "         -x <addr>   (extended addressing mode. Use 'any' for all addresses)\n");
  74         fprintf(stderr, "         -c          (color mode)\n");
  75         fprintf(stderr, "         -a          (print data also in ASCII-chars)\n");
  76         fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
  77         fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
  78         fprintf(stderr, "\n");
  79 }
  80
  81 int main(int argc, char **argv)
  82 {
  83         int s;
  84         struct sockaddr_can addr;
  85         struct can_filter rfilter[2];
  86         struct can_frame frame;
  87         int nbytes, i;
  88         canid_t src = NO_CAN_ID;
  89         canid_t dst = NO_CAN_ID;
  90         int ext = 0;
  91         int extaddr = 0;
  92         int extany = 0;
  93         int asc = 0;
  94         int color = 0;
  95         int timestamp = 0;
  96         int datidx = 0;
  97         struct ifreq ifr;
  98         int ifindex;
  99         struct timeval tv, last_tv;
 100         unsigned int n_pci;
 101         int opt;
 102
 103         last_tv.tv_sec  = 0;
 104         last_tv.tv_usec = 0;
 105
 106         while ((opt = getopt(argc, argv, "s:d:ax:ct:")) != -1) {
 107                 switch (opt) {
 108                 case 's':
 109                         src = strtoul(optarg, (char **)NULL, 16);
 110                         if (strlen(optarg) > 7)
 111                                 src |= CAN_EFF_FLAG;
 112                         break;
 113
 114                 case 'd':
 115                         dst = strtoul(optarg, (char **)NULL, 16);
 116                         if (strlen(optarg) > 7)
 117                                 dst |= CAN_EFF_FLAG;
 118                         break;
 119
 120                 case 'c':
 121                         color = 1;
 122                         break;
 123
 124                 case 'a':
 125                         asc = 1;
 126                         break;
 127
 128                 case 'x':
 129                         ext = 1;
 130                         if (!strncmp(optarg, "any", 3))
 131                                 extany = 1;
 132                         else
 133                                 extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
 134
 135                         break;
 136
 137                 case 't':
 138                         timestamp = optarg[0];
 139                         if ((timestamp != 'a') && (timestamp != 'A') &&
 140                             (timestamp != 'd') && (timestamp != 'z')) {
 141                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 142                                        basename(argv[0]), optarg[0]);
 143                                 timestamp = 0;
 144                         }
 145                         break;
 146
 147                 default:
 148                         fprintf(stderr, "Unknown option %c\n", opt);
 149                         print_usage(basename(argv[0]));
 150                         exit(0);
 151                         break;
 152                 }
 153         }
 154
 155         if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
 156                 print_usage(basename(argv[0]));
 157                 exit(0);
 158         }
 159
 160         if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
 161                 perror("socket");
 162                 return 1;
 163         }
 164
 165         rfilter[0].can_id   = src;
 166         if (src & CAN_EFF_FLAG)
 167                 rfilter[0].can_mask = CAN_EFF_MASK | CAN_EFF_FLAG;
 168         else
 169                 rfilter[0].can_mask = CAN_SFF_MASK;
 170
 171         rfilter[1].can_id   = dst;
 172         if (dst & CAN_EFF_FLAG)
 173                 rfilter[1].can_mask = CAN_EFF_MASK | CAN_EFF_FLAG;
 174         else
 175                 rfilter[1].can_mask = CAN_SFF_MASK;
 176
 177         setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
 178
 179         strcpy(ifr.ifr_name, argv[optind]);
 180         ioctl(s, SIOCGIFINDEX, &ifr);
 181         ifindex = ifr.ifr_ifindex;
 182
 183         addr.can_family = AF_CAN;
 184         addr.can_ifindex = ifindex;
 185
 186         if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 187                 perror("bind");
 188                 return 1;
 189         }
 190
 191         while (1) {
 192
 193                 if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
 194                         perror("read");
 195                         return 1;
 196                 } else if (nbytes < sizeof(struct can_frame)) {
 197                         fprintf(stderr, "read: incomplete CAN frame\n");
 198                         return 1;
 199                 } else {
 200
 201                         if (ext && !extany && extaddr != frame.data[0])
 202                                 continue;
 203
 204                         if (color)
 205                                 printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
 206
 207                         if (timestamp) {
 208                                 ioctl(s, SIOCGSTAMP, &tv);
 209
 210
 211                                 switch (timestamp) {
 212
 213                                 case 'a': /* absolute with timestamp */
 214                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 215                                         break;
 216
 217                                 case 'A': /* absolute with date */
 218                                 {
 219                                         struct tm tm;
 220                                         char timestring[25];
 221
 222                                         tm = *localtime(&tv.tv_sec);
 223                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 224                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 225                                 }
 226                                 break;
 227
 228                                 case 'd': /* delta */
 229                                 case 'z': /* starting with zero */
 230                                 {
 231                                         struct timeval diff;
 232
 233                                         if (last_tv.tv_sec == 0)   /* first init */
 234                                                 last_tv = tv;
 235                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 236                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 237                                         if (diff.tv_usec < 0)
 238                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 239                                         if (diff.tv_sec < 0)
 240                                                 diff.tv_sec = diff.tv_usec = 0;
 241                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 242
 243                                         if (timestamp == 'd')
 244                                                 last_tv = tv; /* update for delta calculation */
 245                                 }
 246                                 break;
 247
 248                                 default: /* no timestamp output */
 249                                         break;
 250                                 }
 251                         }
 252
 253                         if (frame.can_id & CAN_EFF_FLAG)
 254                                 printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
 255                         else
 256                                 printf(" %s  %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
 257
 258                         if (ext)
 259                                 printf("{%02X}", frame.data[0]);
 260
 261                         printf("  [%d]  ", frame.can_dlc);
 262
 263                         datidx = 0;
 264                         n_pci = frame.data[ext];
 265
 266                         switch (n_pci & 0xF0) {
 267                         case 0x00:
 268                                 printf("[SF] ln: %-4d data:", n_pci & 0x0F);
 269                                 datidx = ext+1;
 270                                 break;
 271
 272                         case 0x10:
 273                                 printf("[FF] ln: %-4d data:",
 274                                        ((n_pci & 0x0F)<<8) + frame.data[ext+1] );
 275                                 datidx = ext+2;
 276                                 break;
 277
 278                         case 0x20:
 279                                 printf("[CF] sn: %X    data:", n_pci & 0x0F);
 280                                 datidx = ext+1;
 281                                 break;
 282
 283                         case 0x30:
 284                                 n_pci &= 0x0F;
 285                                 printf("[FC] FC: %d ", n_pci);
 286
 287                                 if (n_pci > 3)
 288                                         n_pci = 3;
 289
 290                                 printf("= %s # ", fc_info[n_pci]);
 291
 292                                 printf("BS: %d %s# ", frame.data[ext+1],
 293                                        (frame.data[ext+1])? "":"= off ");
 294
 295                                 i = frame.data[ext+2];
 296                                 printf("STmin: 0x%02X = ", i);
 297
 298                                 if (i < 0x80)
 299                                         printf("%d ms", i);
 300                                 else if (i > 0xF0 && i < 0xFA)
 301                                         printf("%d us", (i & 0x0F) * 100);
 302                                 else
 303                                         printf("reserved");
 304                                 break;
 305
 306                         default:
 307                                 printf("[??]");
 308                         }
 309
 310                         if (datidx && frame.can_dlc > datidx) {
 311                                 printf(" ");
 312                                 for (i = datidx; i < frame.can_dlc; i++) {
 313                                         printf("%02X ", frame.data[i]);
 314                                 }
 315
 316                                 if (asc) {
 317                                         printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
 318                                                "-  '");
 319                                         for (i = datidx; i < frame.can_dlc; i++) {
 320                                                 printf("%c",((frame.data[i] > 0x1F) &&
 321                                                              (frame.data[i] < 0x7F))?
 322                                                        frame.data[i] : '.');
 323                                         }
 324                                         printf("'");
 325                                 }
 326                         }
 327
 328                         if (color)
 329                                 printf("%s", ATTRESET);
 330                         printf("\n");
 331                         fflush(stdout);
 332                 }
 333         }
 334
 335         close(s);
 336
 337         return 0;
 338 }