isotpdump.c

   1 /*
   2  * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
   3  *
   4  * Copyright (c) 2008 Volkswagen Group Electronic Research
   5  * All rights reserved.
   6  *
   7  * Redistribution and use in source and binary forms, with or without
   8  * modification, are permitted provided that the following conditions
   9  * are met:
  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.
  18  *
  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.
  23  *
  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.
  26  *
  27  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  28  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  29  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
  30  * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  31  * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  32  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  33  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  34  * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
  35  * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  36  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  37  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
  38  * DAMAGE.
  39  *
  40  * Send feedback to <linux-can@vger.kernel.org>
  41  *
  42  */
  43
  44 #include <stdio.h>
  45 #include <stdlib.h>
  46 #include <unistd.h>
  47 #include <string.h>
  48 #include <libgen.h>
  49 #include <time.h>
  50
  51 #include <net/if.h>
  52 #include <sys/types.h>
  53 #include <sys/socket.h>
  54 #include <sys/ioctl.h>
  55
  56 #include <linux/can.h>
  57 #include <linux/can/raw.h>
  58 #include "terminal.h"
  59
  60 #define NO_CAN_ID 0xFFFFFFFFU
  61
  62 const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
  63
  64 void print_usage(char *prg)
  65 {
  66         fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
  67         fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
  68         fprintf(stderr, "         -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
  69         fprintf(stderr, "         -x <addr>   (extended addressing mode. Use 'any' for all addresses)\n");
  70         fprintf(stderr, "         -c          (color mode)\n");
  71         fprintf(stderr, "         -a          (print data also in ASCII-chars)\n");
  72         fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
  73         fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
  74         fprintf(stderr, "\n");
  75 }
  76
  77 int main(int argc, char **argv)
  78 {
  79         int s;
  80         struct sockaddr_can addr;
  81         struct can_filter rfilter[2];
  82         struct can_frame frame;
  83         int nbytes, i;
  84         canid_t src = NO_CAN_ID;
  85         canid_t dst = NO_CAN_ID;
  86         int ext = 0;
  87         int extaddr = 0;
  88         int extany = 0;
  89         int asc = 0;
  90         int color = 0;
  91         int timestamp = 0;
  92         int datidx = 0;
  93         struct ifreq ifr;
  94         int ifindex;
  95         struct timeval tv, last_tv;
  96         unsigned int n_pci;
  97         int opt;
  98
  99         last_tv.tv_sec  = 0;
 100         last_tv.tv_usec = 0;
 101
 102         while ((opt = getopt(argc, argv, "s:d:ax:ct:?")) != -1) {
 103                 switch (opt) {
 104                 case 's':
 105                         src = strtoul(optarg, (char **)NULL, 16);
 106                         if (strlen(optarg) > 7)
 107                                 src |= CAN_EFF_FLAG;
 108                         break;
 109
 110                 case 'd':
 111                         dst = strtoul(optarg, (char **)NULL, 16);
 112                         if (strlen(optarg) > 7)
 113                                 dst |= CAN_EFF_FLAG;
 114                         break;
 115
 116                 case 'c':
 117                         color = 1;
 118                         break;
 119
 120                 case 'a':
 121                         asc = 1;
 122                         break;
 123
 124                 case 'x':
 125                         ext = 1;
 126                         if (!strncmp(optarg, "any", 3))
 127                                 extany = 1;
 128                         else
 129                                 extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
 130
 131                         break;
 132
 133                 case 't':
 134                         timestamp = optarg[0];
 135                         if ((timestamp != 'a') && (timestamp != 'A') &&
 136                             (timestamp != 'd') && (timestamp != 'z')) {
 137                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 138                                        basename(argv[0]), optarg[0]);
 139                                 timestamp = 0;
 140                         }
 141                         break;
 142
 143                 case '?':
 144                         print_usage(basename(argv[0]));
 145                         exit(0);
 146                         break;
 147
 148                 default:
 149                         fprintf(stderr, "Unknown option %c\n", opt);
 150                         print_usage(basename(argv[0]));
 151                         exit(1);
 152                         break;
 153                 }
 154         }
 155
 156         if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
 157                 print_usage(basename(argv[0]));
 158                 exit(0);
 159         }
 160
 161         if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
 162                 perror("socket");
 163                 return 1;
 164         }
 165
 166
 167         if (src & CAN_EFF_FLAG) {
 168                 rfilter[0].can_id   = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
 169                 rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 170         } else {
 171                 rfilter[0].can_id   = src & CAN_SFF_MASK;
 172                 rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 173         }
 174
 175         if (dst & CAN_EFF_FLAG) {
 176                 rfilter[1].can_id   = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
 177                 rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 178         } else {
 179                 rfilter[1].can_id   = dst & CAN_SFF_MASK;
 180                 rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 181         }
 182
 183         setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
 184
 185         strcpy(ifr.ifr_name, argv[optind]);
 186         ioctl(s, SIOCGIFINDEX, &ifr);
 187         ifindex = ifr.ifr_ifindex;
 188
 189         addr.can_family = AF_CAN;
 190         addr.can_ifindex = ifindex;
 191
 192         if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 193                 perror("bind");
 194                 return 1;
 195         }
 196
 197         while (1) {
 198
 199                 if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
 200                         perror("read");
 201                         return 1;
 202                 } else if (nbytes < sizeof(struct can_frame)) {
 203                         fprintf(stderr, "read: incomplete CAN frame\n");
 204                         return 1;
 205                 } else {
 206
 207                         if (ext && !extany && extaddr != frame.data[0])
 208                                 continue;
 209
 210                         if (color)
 211                                 printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
 212
 213                         if (timestamp) {
 214                                 ioctl(s, SIOCGSTAMP, &tv);
 215
 216
 217                                 switch (timestamp) {
 218
 219                                 case 'a': /* absolute with timestamp */
 220                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 221                                         break;
 222
 223                                 case 'A': /* absolute with date */
 224                                 {
 225                                         struct tm tm;
 226                                         char timestring[25];
 227
 228                                         tm = *localtime(&tv.tv_sec);
 229                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 230                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 231                                 }
 232                                 break;
 233
 234                                 case 'd': /* delta */
 235                                 case 'z': /* starting with zero */
 236                                 {
 237                                         struct timeval diff;
 238
 239                                         if (last_tv.tv_sec == 0)   /* first init */
 240                                                 last_tv = tv;
 241                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 242                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 243                                         if (diff.tv_usec < 0)
 244                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 245                                         if (diff.tv_sec < 0)
 246                                                 diff.tv_sec = diff.tv_usec = 0;
 247                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 248
 249                                         if (timestamp == 'd')
 250                                                 last_tv = tv; /* update for delta calculation */
 251                                 }
 252                                 break;
 253
 254                                 default: /* no timestamp output */
 255                                         break;
 256                                 }
 257                         }
 258
 259                         if (frame.can_id & CAN_EFF_FLAG)
 260                                 printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
 261                         else
 262                                 printf(" %s  %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
 263
 264                         if (ext)
 265                                 printf("{%02X}", frame.data[0]);
 266
 267                         printf("  [%d]  ", frame.can_dlc);
 268
 269                         datidx = 0;
 270                         n_pci = frame.data[ext];
 271
 272                         switch (n_pci & 0xF0) {
 273                         case 0x00:
 274                                 printf("[SF] ln: %-4d data:", n_pci & 0x0F);
 275                                 datidx = ext+1;
 276                                 break;
 277
 278                         case 0x10:
 279                                 printf("[FF] ln: %-4d data:",
 280                                        ((n_pci & 0x0F)<<8) + frame.data[ext+1] );
 281                                 datidx = ext+2;
 282                                 break;
 283
 284                         case 0x20:
 285                                 printf("[CF] sn: %X    data:", n_pci & 0x0F);
 286                                 datidx = ext+1;
 287                                 break;
 288
 289                         case 0x30:
 290                                 n_pci &= 0x0F;
 291                                 printf("[FC] FC: %d ", n_pci);
 292
 293                                 if (n_pci > 3)
 294                                         n_pci = 3;
 295
 296                                 printf("= %s # ", fc_info[n_pci]);
 297
 298                                 printf("BS: %d %s# ", frame.data[ext+1],
 299                                        (frame.data[ext+1])? "":"= off ");
 300
 301                                 i = frame.data[ext+2];
 302                                 printf("STmin: 0x%02X = ", i);
 303
 304                                 if (i < 0x80)
 305                                         printf("%d ms", i);
 306                                 else if (i > 0xF0 && i < 0xFA)
 307                                         printf("%d us", (i & 0x0F) * 100);
 308                                 else
 309                                         printf("reserved");
 310                                 break;
 311
 312                         default:
 313                                 printf("[??]");
 314                         }
 315
 316                         if (datidx && frame.can_dlc > datidx) {
 317                                 printf(" ");
 318                                 for (i = datidx; i < frame.can_dlc; i++) {
 319                                         printf("%02X ", frame.data[i]);
 320                                 }
 321
 322                                 if (asc) {
 323                                         printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
 324                                                "-  '");
 325                                         for (i = datidx; i < frame.can_dlc; i++) {
 326                                                 printf("%c",((frame.data[i] > 0x1F) &&
 327                                                              (frame.data[i] < 0x7F))?
 328                                                        frame.data[i] : '.');
 329                                         }
 330                                         printf("'");
 331                                 }
 332                         }
 333
 334                         if (color)
 335                                 printf("%s", ATTRESET);
 336                         printf("\n");
 337                         fflush(stdout);
 338                 }
 339         }
 340
 341         close(s);
 342
 343         return 0;
 344 }