-/*
- * $Id$
- */
-
/*
* lib.c - library for command line tools
*
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
- * Send feedback to <socketcan-users@lists.berlios.de>
+ * Send feedback to <linux-can@vger.kernel.org>
*
*/
#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 '.'
-#define MAX_CANFRAME "12345678#01.23.45.67.89.AB.CD.EF"
-#define MAX_LONG_CANFRAME "12345678 [8] 10101010 10101010 10101010 10101010 10101010 10101010 10101010 10101010 '........'"
+/* CAN DLC to real data length conversion helpers */
+
+static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
+ 8, 12, 16, 20, 24, 32, 48, 64};
+
+/* get data length from can_dlc with sanitized can_dlc */
+unsigned char can_dlc2len(unsigned char can_dlc)
+{
+ return dlc2len[can_dlc & 0x0F];
+}
+
+static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, /* 0 - 8 */
+ 9, 9, 9, 9, /* 9 - 12 */
+ 10, 10, 10, 10, /* 13 - 16 */
+ 11, 11, 11, 11, /* 17 - 20 */
+ 12, 12, 12, 12, /* 21 - 24 */
+ 13, 13, 13, 13, 13, 13, 13, 13, /* 25 - 32 */
+ 14, 14, 14, 14, 14, 14, 14, 14, /* 33 - 40 */
+ 14, 14, 14, 14, 14, 14, 14, 14, /* 41 - 48 */
+ 15, 15, 15, 15, 15, 15, 15, 15, /* 49 - 56 */
+ 15, 15, 15, 15, 15, 15, 15, 15}; /* 57 - 64 */
+
+/* map the sanitized data length to an appropriate data length code */
+unsigned char can_len2dlc(unsigned char len)
+{
+ if (len > 64)
+ return 0xF;
+
+ return len2dlc[len];
+}
unsigned char asc2nibble(char c) {
return 16; /* error */
}
-int hexstring2candata(char *arg, struct can_frame *cf) {
+int hexstring2data(char *arg, unsigned char *data, int maxdlen) {
int len = strlen(arg);
int i;
unsigned char tmp;
- if (!len || len%2 || len > 16)
+ if (!len || len%2 || len > maxdlen*2)
return 1;
+ memset(data, 0, maxdlen);
+
for (i=0; i < len/2; i++) {
tmp = asc2nibble(*(arg+(2*i)));
if (tmp > 0x0F)
return 1;
- cf->data[i] = (tmp << 4);
+ data[i] = (tmp << 4);
tmp = asc2nibble(*(arg+(2*i)+1));
if (tmp > 0x0F)
return 1;
- cf->data[i] |= tmp;
+ data[i] |= tmp;
}
return 0;
}
-int parse_canframe(char *cs, struct can_frame *cf) {
+int parse_canframe(char *cs, struct canfd_frame *cf) {
/* documentation see lib.h */
- int i, idx, dlc, len;
+ int i, idx, dlen, len;
+ int maxdlen = CAN_MAX_DLEN;
+ int ret = CAN_MTU;
unsigned char tmp;
len = strlen(cs);
//printf("'%s' len %d\n", cs, len);
- memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
+ memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
if (len < 4)
- return 1;
+ return 0;
- if (!((cs[3] == CANID_DELIM) || (cs[8] == CANID_DELIM)))
- return 1;
+ if (cs[3] == CANID_DELIM) { /* 3 digits */
- if (cs[8] == CANID_DELIM) { /* 8 digits */
+ idx = 4;
+ for (i=0; i<3; i++){
+ if ((tmp = asc2nibble(cs[i])) > 0x0F)
+ return 0;
+ 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;
+ return 0;
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 { /* 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
+ return 0;
if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
cf->can_id |= CAN_RTR_FLAG;
- return 0;
+
+ /* check for optional DLC value for CAN 2.0B frames */
+ if(cs[++idx] && (tmp = asc2nibble(cs[idx])) <= CAN_MAX_DLC)
+ cf->len = tmp;
+
+ return ret;
+ }
+
+ if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
+
+ maxdlen = CANFD_MAX_DLEN;
+ ret = CANFD_MTU;
+
+ /* CAN FD frame <canid>##<flags><data>* */
+ if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
+ return 0;
+
+ cf->flags = tmp;
+ idx += 2;
}
- for (i=0, dlc=0; i<8; i++){
+ for (i=0, dlen=0; i < maxdlen; i++){
if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
idx++;
break;
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
- return 1;
+ return 0;
cf->data[i] = (tmp << 4);
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
- return 1;
+ return 0;
cf->data[i] |= tmp;
- dlc++;
+ dlen++;
}
+ cf->len = dlen;
- cf->can_dlc = dlc;
-
- return 0;
+ return ret;
}
-void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol, int sep) {
+void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen) {
/* documentation see lib.h */
- char buf[sizeof(MAX_CANFRAME)+1]; /* max length */
+ char buf[CL_CFSZ]; /* max length */
- sprint_canframe(buf, cf, sep);
+ sprint_canframe(buf, cf, sep, maxdlen);
fprintf(stream, "%s", buf);
if (eol)
fprintf(stream, "%s", eol);
}
-void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
+void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen) {
/* documentation see lib.h */
int i,offset;
- int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc;
+ int len = (cf->len > maxdlen) ? maxdlen : cf->len;
if (cf->can_id & CAN_ERR_FLAG) {
sprintf(buf, "%08X#", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
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++, ".");
- }
+ /* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+ if (maxdlen == CAN_MAX_DLEN && cf->can_id & CAN_RTR_FLAG) {
+ /* print a given CAN 2.0B DLC if it's not zero */
+ if (cf->len && cf->len <= CAN_MAX_DLC)
+ sprintf(buf+offset, "R%d", cf->len);
+ else
+ sprintf(buf+offset, "R");
+ return;
+ }
+
+ if (maxdlen == CANFD_MAX_DLEN) {
+ /* add CAN FD specific escape char and flags */
+ sprintf(buf+offset, "#%X", cf->flags & 0xF);
+ offset += 2;
+ if (sep && len)
+ sprintf(buf+offset++, ".");
+ }
+
+ for (i = 0; i < len; i++) {
+ sprintf(buf+offset, "%02X", cf->data[i]);
+ offset += 2;
+ if (sep && (i+1 < len))
+ sprintf(buf+offset++, ".");
+ }
}
-void fprint_long_canframe(FILE *stream , struct can_frame *cf, char *eol, int view) {
+void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen) {
/* documentation see lib.h */
- char buf[sizeof(MAX_LONG_CANFRAME)+1]; /* max length */
+ char buf[CL_LONGCFSZ];
- sprint_long_canframe(buf, cf, view);
+ sprint_long_canframe(buf, cf, view, maxdlen);
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);
}
-void sprint_long_canframe(char *buf , struct can_frame *cf, int view) {
+void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen) {
/* documentation see lib.h */
int i, j, dlen, offset;
- int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc;
+ int len = (cf->len > maxdlen)? maxdlen : cf->len;
if (cf->can_id & CAN_ERR_FLAG) {
- sprintf(buf, "%8X ", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
+ sprintf(buf, "%08X ", 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);
+ sprintf(buf, "%08X ", cf->can_id & CAN_EFF_MASK);
offset = 10;
} else {
- sprintf(buf, "%3X ", cf->can_id & CAN_SFF_MASK);
- offset = 5;
+ if (view & CANLIB_VIEW_INDENT_SFF) {
+ sprintf(buf, " %03X ", cf->can_id & CAN_SFF_MASK);
+ offset = 10;
+ } else {
+ sprintf(buf, "%03X ", 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 (maxdlen == CAN_MAX_DLEN) {
+ sprintf(buf+offset, " [%d] ", len);
+ /* standard CAN frames may have RTR enabled */
+ if (cf->can_id & CAN_RTR_FLAG) {
+ sprintf(buf+offset+5, " remote request");
+ return;
+ }
+ } else {
+ sprintf(buf+offset, "[%02d] ", len);
}
+ offset += 5;
if (view & CANLIB_VIEW_BINARY) {
dlen = 9; /* _10101010 */
- for (i = 0; i < dlc; i++) {
- buf[offset++] = ' ';
- for (j = 7; j >= 0; j--)
- buf[offset++] = (1<<j & cf->data[i])?'1':'0';
+ if (view & CANLIB_VIEW_SWAP) {
+ for (i = len - 1; i >= 0; i--) {
+ buf[offset++] = (i == len-1)?' ':SWAP_DELIMITER;
+ for (j = 7; j >= 0; j--)
+ buf[offset++] = (1<<j & cf->data[i])?'1':'0';
+ }
+ } else {
+ for (i = 0; i < len; 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 */
- for (i = 0; i < dlc; i++) {
- sprintf(buf+offset, " %02X", cf->data[i]);
- offset += dlen;
+ if (view & CANLIB_VIEW_SWAP) {
+ for (i = len - 1; i >= 0; i--) {
+ sprintf(buf+offset, "%c%02X",
+ (i == len-1)?' ':SWAP_DELIMITER,
+ cf->data[i]);
+ offset += dlen;
+ }
+ } else {
+ for (i = 0; i < len; i++) {
+ sprintf(buf+offset, " %02X", cf->data[i]);
+ offset += dlen;
+ }
}
}
+ /*
+ * The ASCII & ERRORFRAME output is put at a fixed len behind the data.
+ * For now we support ASCII output only for payload length up to 8 bytes.
+ * Does it make sense to write 64 ASCII byte behind 64 ASCII HEX data on the console?
+ */
+ if (len > CAN_MAX_DLEN)
+ return;
+
if (cf->can_id & CAN_ERR_FLAG)
- sprintf(buf+offset, "%*s", dlen*(8-dlc)+13, "ERRORFRAME");
+ sprintf(buf+offset, "%*s", dlen*(8-len)+13, "ERRORFRAME");
else if (view & CANLIB_VIEW_ASCII) {
- j = dlen*(8-dlc)+4;
- 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, "'");
- }
+ j = dlen*(8-len)+4;
+ if (view & CANLIB_VIEW_SWAP) {
+ sprintf(buf+offset, "%*s", j, "`");
+ offset += j;
+ for (i = len - 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 < len; 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 canfd_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 canfd_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, "}");
+
+ return n;
+}
+
+static int snprintf_error_prot(char *buf, size_t len, struct canfd_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 canfd_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 / sojka / can-utils.git / blobdiff