-DAF_CAN=PF_CAN
PROGRAMS = candump cansniffer cansend canplayer canlogserver cangen\
- canbusload log2long log2asc asc2log vcan slcan_attach
+ canbusload log2long log2asc asc2log vcan slcan_attach\
+ isotpdump isotprecv isotpsend isotpsniffer isotptun
all: $(PROGRAMS)
--- /dev/null
+/*
+ * $Id: isotpdump.c 824 2008-09-02 07:01:51Z hartko $
+ */
+
+/*
+ * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
+ *
+ * Copyright (c) 2008 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 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.
+ * 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, 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.
+ *
+ * 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 <libgen.h>
+#include <time.h>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include "terminal.h"
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
+ fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -x <addr> (extended addressing mode. Use 'any' for all addresses)\n");
+ fprintf(stderr, " -c (color mode)\n");
+ fprintf(stderr, " -a (print data also in ASCII-chars)\n");
+ fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+ fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
+ fprintf(stderr, "\n");
+}
+
+int main(int argc, char **argv)
+{
+ int s;
+ struct sockaddr_can addr;
+ struct can_filter rfilter[2];
+ struct can_frame frame;
+ int nbytes, i;
+ canid_t src = NO_CAN_ID;
+ canid_t dst = NO_CAN_ID;
+ int ext = 0;
+ int extaddr = 0;
+ int extany = 0;
+ int asc = 0;
+ int color = 0;
+ int timestamp = 0;
+ int datidx = 0;
+ struct ifreq ifr;
+ int ifindex;
+ struct timeval tv, last_tv;
+ unsigned int n_pci;
+ int opt;
+
+ last_tv.tv_sec = 0;
+ last_tv.tv_usec = 0;
+
+ while ((opt = getopt(argc, argv, "s:d:ax:ct:")) != -1) {
+ switch (opt) {
+ case 's':
+ src = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ src |= CAN_EFF_FLAG;
+ break;
+
+ case 'd':
+ dst = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ dst |= CAN_EFF_FLAG;
+ break;
+
+ case 'c':
+ color = 1;
+ break;
+
+ case 'a':
+ asc = 1;
+ break;
+
+ case 'x':
+ ext = 1;
+ if (!strncmp(optarg, "any", 3))
+ extany = 1;
+ else
+ extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+
+ 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;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(0);
+ break;
+ }
+ }
+
+ if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ rfilter[0].can_id = src;
+ if (src & CAN_EFF_FLAG)
+ rfilter[0].can_mask = CAN_EFF_MASK | CAN_EFF_FLAG;
+ else
+ rfilter[0].can_mask = CAN_SFF_MASK;
+
+ rfilter[1].can_id = dst;
+ if (dst & CAN_EFF_FLAG)
+ rfilter[1].can_mask = CAN_EFF_MASK | CAN_EFF_FLAG;
+ else
+ rfilter[1].can_mask = CAN_SFF_MASK;
+
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
+
+ strcpy(ifr.ifr_name, argv[optind]);
+ ioctl(s, SIOCGIFINDEX, &ifr);
+ ifindex = ifr.ifr_ifindex;
+
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = ifindex;
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 1;
+ }
+
+ while (1) {
+
+ if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
+ perror("read");
+ return 1;
+ } else if (nbytes < sizeof(struct can_frame)) {
+ fprintf(stderr, "read: incomplete CAN frame\n");
+ return 1;
+ } else {
+
+ if (ext && !extany && extaddr != frame.data[0])
+ continue;
+
+ if (color)
+ printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
+
+ if (timestamp) {
+ ioctl(s, SIOCGSTAMP, &tv);
+
+
+ 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 (frame.can_id & CAN_EFF_FLAG)
+ printf(" %s %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
+ else
+ printf(" %s %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
+
+ if (ext)
+ printf("{%02X}", frame.data[0]);
+
+ printf(" [%d] ", frame.can_dlc);
+
+ datidx = 0;
+ n_pci = frame.data[ext];
+
+ switch (n_pci & 0xF0) {
+ case 0x00:
+ printf("[SF] ln: %-4d data:", n_pci & 0x0F);
+ datidx = ext+1;
+ break;
+
+ case 0x10:
+ printf("[FF] ln: %-4d data:",
+ ((n_pci & 0x0F)<<8) + frame.data[ext+1] );
+ datidx = ext+2;
+ break;
+
+ case 0x20:
+ printf("[CF] sn: %X data:", n_pci & 0x0F);
+ datidx = ext+1;
+ break;
+
+ case 0x30:
+ n_pci &= 0x0F;
+ printf("[FC] FC: %d ", n_pci);
+
+ if (n_pci > 3)
+ n_pci = 3;
+
+ printf("= %s # ", fc_info[n_pci]);
+
+ printf("BS: %d %s# ", frame.data[ext+1],
+ (frame.data[ext+1])? "":"= off ");
+
+ i = frame.data[ext+2];
+ printf("STmin: 0x%02X = ", i);
+
+ if (i < 0x80)
+ printf("%d ms", i);
+ else if (i > 0xF0 && i < 0xFA)
+ printf("%d us", (i & 0x0F) * 100);
+ else
+ printf("reserved");
+ break;
+
+ default:
+ printf("[??]");
+ }
+
+ if (datidx && frame.can_dlc > datidx) {
+ printf(" ");
+ for (i = datidx; i < frame.can_dlc; i++) {
+ printf("%02X ", frame.data[i]);
+ }
+
+ if (asc) {
+ printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
+ "- '");
+ for (i = datidx; i < frame.can_dlc; i++) {
+ printf("%c",((frame.data[i] > 0x1F) &&
+ (frame.data[i] < 0x7F))?
+ frame.data[i] : '.');
+ }
+ printf("'");
+ }
+ }
+
+ if (color)
+ printf("%s", ATTRESET);
+ printf("\n");
+ fflush(stdout);
+ }
+ }
+
+ close(s);
+
+ return 0;
+}
--- /dev/null
+/*
+ * $Id: isotprecv.c 824 2008-09-02 07:01:51Z hartko $
+ */
+
+/*
+ * isotprecv.c
+ *
+ * Copyright (c) 2008 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 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.
+ * 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, 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.
+ *
+ * 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 <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <libgen.h>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/isotp.h>
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
+ fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
+ fprintf(stderr, " -p <byte> (set and enable padding byte)\n");
+ fprintf(stderr, " -P <mode> (check padding in SF/CF. (l)ength (c)ontent (a)ll)\n");
+ fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
+ fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
+ fprintf(stderr, " -w <num> (max. wait frame transmissions.)\n");
+ fprintf(stderr, " -l (loop: do not exit after pdu receiption.)\n");
+ fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
+ fprintf(stderr, "The pdu data is written on STDOUT in space separated ASCII hex values.\n");
+ fprintf(stderr, "\n");
+}
+
+int main(int argc, char **argv)
+{
+ int s;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+ static struct can_isotp_options opts;
+ static struct can_isotp_fc_options fcopts;
+ int opt, i;
+ extern int optind, opterr, optopt;
+ int loop = 0;
+
+ unsigned char msg[4096];
+ int nbytes;
+
+ addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
+
+ while ((opt = getopt(argc, argv, "s:d:x:p:P:b:m:w:l")) != -1) {
+ switch (opt) {
+ case 's':
+ addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'd':
+ addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'x':
+ opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+ opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'p':
+ opts.flags |= CAN_ISOTP_RX_PADDING;
+ opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'P':
+ if (optarg[0] == 'l')
+ opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
+ else if (optarg[0] == 'c')
+ opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
+ else if (optarg[0] == 'a')
+ opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
+ else {
+ printf("unknown padding check option '%c'.\n", optarg[0]);
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+ break;
+
+ case 'b':
+ fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'm':
+ fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'w':
+ fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'l':
+ loop = 1;
+ break;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(0);
+ break;
+ }
+ }
+
+ if ((argc - optind != 1) ||
+ (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
+ (addr.can_addr.tp.rx_id == NO_CAN_ID)) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+ setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
+
+ addr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, argv[optind]);
+ ioctl(s, SIOCGIFINDEX, &ifr);
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ close(s);
+ exit(1);
+ }
+
+ do {
+ nbytes = read(s, msg, 4096);
+ if (nbytes > 0 && nbytes < 4096)
+ for (i=0; i < nbytes; i++)
+ printf("%02X ", msg[i]);
+ printf("\n");
+ } while (loop);
+
+ close(s);
+
+ return 0;
+}
--- /dev/null
+/*
+ * $Id: isotpsend.c 824 2008-09-02 07:01:51Z hartko $
+ */
+
+/*
+ * isotpsend.c
+ *
+ * Copyright (c) 2008 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 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.
+ * 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, 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.
+ *
+ * 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 <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <libgen.h>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/isotp.h>
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
+ fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -x <addr> (extended addressing mode. Use 'any' for all addresses)\n");
+ fprintf(stderr, " -p <byte> (set and enable padding byte)\n");
+ fprintf(stderr, " -P <mode> (check padding in FC. (l)ength (c)ontent (a)ll)\n");
+ fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
+ fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
+ fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
+ fprintf(stderr, "\n");
+}
+
+int main(int argc, char **argv)
+{
+ int s;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+ static struct can_isotp_options opts;
+ int opt;
+ extern int optind, opterr, optopt;
+ unsigned char buf[4096];
+ int buflen = 0;
+
+ addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
+
+ while ((opt = getopt(argc, argv, "s:d:x:p:P:t:")) != -1) {
+ switch (opt) {
+ case 's':
+ addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'd':
+ addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'x':
+ opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+ opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'p':
+ opts.flags |= CAN_ISOTP_TX_PADDING;
+ opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'P':
+ if (optarg[0] == 'l')
+ opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
+ else if (optarg[0] == 'c')
+ opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
+ else if (optarg[0] == 'a')
+ opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
+ else {
+ printf("unknown padding check option '%c'.\n", optarg[0]);
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+ break;
+
+ case 't':
+ opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
+ break;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(0);
+ break;
+ }
+ }
+
+ if ((argc - optind != 1) ||
+ (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
+ (addr.can_addr.tp.rx_id == NO_CAN_ID)) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+
+ addr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, argv[optind]);
+ ioctl(s, SIOCGIFINDEX, &ifr);
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ close(s);
+ exit(1);
+ }
+
+ while (buflen < 4096 && scanf("%hhx", &buf[buflen]) == 1)
+ buflen++;
+
+ write(s, buf, buflen);
+
+ /*
+ * due to a Kernel internal wait queue the PDU is sent completely
+ * before close() returns.
+ */
+ close(s);
+
+ return 0;
+}
--- /dev/null
+/*
+ * $Id: isotpsniffer.c 824 2008-09-02 07:01:51Z hartko $
+ */
+
+/*
+ * isotpsniffer.c - dump ISO15765-2 datagrams using PF_CAN isotp protocol
+ *
+ * Copyright (c) 2008 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 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.
+ * 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, 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.
+ *
+ * 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 <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <libgen.h>
+#include <time.h>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/isotp.h>
+#include "terminal.h"
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+#define FORMAT_HEX 1
+#define FORMAT_ASCII 2
+#define FORMAT_DEFAULT (FORMAT_ASCII | FORMAT_HEX)
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
+ fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
+ fprintf(stderr, " -c (color mode)\n");
+ fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+ fprintf(stderr, " -f <format> (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
+ fprintf(stderr, " -h <len> (head: print only first <len> bytes)\n");
+ fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
+ fprintf(stderr, "\n");
+}
+
+void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
+ int format, struct timeval *tv, struct timeval *last_tv,
+ canid_t src, int socket, char *candevice, int head)
+{
+ int i;
+
+ if (color == 1)
+ printf("%s", FGRED);
+
+ if (color == 2)
+ printf("%s", FGBLUE);
+
+ if (timestamp) {
+ ioctl(socket, SIOCGSTAMP, tv);
+
+ 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;
+ }
+ }
+
+ /* the source socket gets pdu data from the detination id */
+ printf(" %s %03X [%d] ", candevice, src & CAN_EFF_MASK, nbytes);
+ if (format & FORMAT_HEX) {
+ for (i=0; i<nbytes; i++) {
+ printf("%02X ", buffer[i]);
+ if (head && i+1 >= head) {
+ printf("... ");
+ break;
+ }
+ }
+ if (format & FORMAT_ASCII)
+ printf(" - ");
+ }
+ if (format & FORMAT_ASCII) {
+ printf("'");
+ for (i=0; i<nbytes; i++) {
+ if ((buffer[i] > 0x1F) && (buffer[i] < 0x7F))
+ printf("%c", buffer[i]);
+ else
+ printf(".");
+ if (head && i+1 >= head)
+ break;
+ }
+ printf("'");
+ if (head && i+1 >= head)
+ printf(" ... ");
+ }
+
+ if (color)
+ printf("%s", ATTRESET);
+
+ printf("\n");
+ fflush(stdout);
+}
+
+int main(int argc, char **argv)
+{
+ fd_set rdfs;
+ int s, t;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+ static struct can_isotp_options opts;
+ int opt, quit = 0;
+ int color = 0;
+ int head = 0;
+ int timestamp = 0;
+ int format = FORMAT_DEFAULT;
+ canid_t src = NO_CAN_ID;
+ canid_t dst = NO_CAN_ID;
+ extern int optind, opterr, optopt;
+ static struct timeval tv, last_tv;
+
+ unsigned char buffer[4096];
+ int nbytes;
+
+ while ((opt = getopt(argc, argv, "s:d:x:h:ct:f:")) != -1) {
+ switch (opt) {
+ case 's':
+ src = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ src |= CAN_EFF_FLAG;
+ break;
+
+ case 'd':
+ dst = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ dst |= CAN_EFF_FLAG;
+ break;
+
+ case 'x':
+ opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+ opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'f':
+ format = (atoi(optarg) & (FORMAT_ASCII | FORMAT_HEX));
+ break;
+
+ case 'h':
+ head = atoi(optarg);
+ break;
+
+ case 'c':
+ color = 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;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(0);
+ break;
+ }
+ }
+
+ if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ if ((t = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ opts.flags |= CAN_ISOTP_LISTEN_MODE;
+
+ setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+ setsockopt(t, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+
+ addr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, argv[optind]);
+ ioctl(s, SIOCGIFINDEX, &ifr);
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ addr.can_addr.tp.tx_id = dst;
+ addr.can_addr.tp.rx_id = src;
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ close(s);
+ exit(1);
+ }
+
+ addr.can_addr.tp.tx_id = src;
+ addr.can_addr.tp.rx_id = dst;
+
+ if (bind(t, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ close(s);
+ exit(1);
+ }
+
+ while (!quit) {
+
+ FD_ZERO(&rdfs);
+ FD_SET(s, &rdfs);
+ FD_SET(t, &rdfs);
+ FD_SET(0, &rdfs);
+
+ if ((nbytes = select(t+1, &rdfs, NULL, NULL, NULL)) < 0) {
+ perror("select");
+ continue;
+ }
+
+ if (FD_ISSET(0, &rdfs)) {
+ getchar();
+ quit = 1;
+ printf("quit due to keyboard input.\n");
+ }
+
+ if (FD_ISSET(s, &rdfs)) {
+ nbytes = read(s, buffer, 4096);
+ if (nbytes < 0) {
+ perror("read socket s");
+ return -1;
+ }
+ if (nbytes > 4095)
+ return -1;
+ printbuf(buffer, nbytes, color?1:0, timestamp, format,
+ &tv, &last_tv, src, s, ifr.ifr_name, head);
+ }
+
+ if (FD_ISSET(t, &rdfs)) {
+ nbytes = read(t, buffer, 4096);
+ if (nbytes < 0) {
+ perror("read socket t");
+ return -1;
+ }
+ if (nbytes > 4095)
+ return -1;
+ printbuf(buffer, nbytes, color?2:0, timestamp, format,
+ &tv, &last_tv, dst, t, ifr.ifr_name, head);
+ }
+ }
+
+ close(s);
+
+ return 0;
+}
--- /dev/null
+/*
+ * $Id: isotptun.c 824 2008-09-02 07:01:51Z hartko $
+ */
+
+/*
+ * isotptun.c - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept
+ *
+ * This program creates a Linux tunnel netdevice 'ctunX' and transfers the
+ * ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.
+ *
+ * Use e.g. "ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up"
+ * to create a point-to-point IP connection on CAN.
+ *
+ * Copyright (c) 2008 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 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.
+ * 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, 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.
+ *
+ * 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 <fcntl.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <libgen.h>
+#include <errno.h>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/isotp.h>
+#include <linux/if_tun.h>
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n\n", prg);
+ fprintf(stderr, "This program creates a Linux tunnel netdevice 'ctunX' and transfers the\n");
+ fprintf(stderr, "ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.\n\n");
+ fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
+ fprintf(stderr, " -p <byte> (padding byte rx path)\n");
+ fprintf(stderr, " -q <byte> (padding byte tx path)\n");
+ fprintf(stderr, " -P <mode> (check padding. (l)ength (c)ontent (a)ll)\n");
+ fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
+ fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
+ fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
+ fprintf(stderr, " -w <num> (max. wait frame transmissions.)\n");
+ fprintf(stderr, " -h (half duplex mode.)\n");
+ fprintf(stderr, " -v (verbose mode. Print symbols for tunneled msgs.)\n");
+ fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
+ fprintf(stderr, "Use e.g. 'ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up'\n");
+ fprintf(stderr, "to create a point-to-point IP connection on CAN.\n");
+ fprintf(stderr, "\n");
+}
+
+int main(int argc, char **argv)
+{
+ fd_set rdfs;
+ int s, t;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+ static struct can_isotp_options opts;
+ static struct can_isotp_fc_options fcopts;
+ int opt, ret;
+ extern int optind, opterr, optopt;
+ static int quit;
+ static int verbose;
+
+ unsigned char buffer[4096];
+ int nbytes;
+
+ addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
+
+ while ((opt = getopt(argc, argv, "s:d:x:p:q:P:t:b:m:whv")) != -1) {
+ switch (opt) {
+ case 's':
+ addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'd':
+ addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
+ break;
+
+ case 'x':
+ opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+ opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'p':
+ opts.flags |= CAN_ISOTP_RX_PADDING;
+ opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'q':
+ opts.flags |= CAN_ISOTP_TX_PADDING;
+ opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'P':
+ if (optarg[0] == 'l')
+ opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
+ else if (optarg[0] == 'c')
+ opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
+ else if (optarg[0] == 'a')
+ opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
+ else {
+ printf("unknown padding check option '%c'.\n", optarg[0]);
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+ break;
+
+ case 't':
+ opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
+ break;
+
+ case 'b':
+ fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'm':
+ fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'w':
+ fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'h':
+ opts.flags |= CAN_ISOTP_HALF_DUPLEX;
+ break;
+
+ case 'v':
+ verbose = 1;
+ break;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(0);
+ break;
+ }
+ }
+
+ if ((argc - optind != 1) ||
+ (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
+ (addr.can_addr.tp.rx_id == NO_CAN_ID)) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+ setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
+
+ addr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, argv[optind]);
+ ioctl(s, SIOCGIFINDEX, &ifr);
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ close(s);
+ exit(1);
+ }
+
+ if ((t = open("/dev/net/tun", O_RDWR)) < 0) {
+ perror("open tunfd");
+ close(s);
+ close(t);
+ exit(1);
+ }
+
+ memset(&ifr, 0, sizeof(ifr));
+ ifr.ifr_flags = IFF_TUN | IFF_NO_PI;
+ strncpy(ifr.ifr_name, "ctun%d", IFNAMSIZ);
+
+ if (ioctl(t, TUNSETIFF, (void *) &ifr) < 0) {
+ perror("ioctl tunfd");
+ close(s);
+ close(t);
+ exit(1);
+ }
+
+ while (!quit) {
+
+ FD_ZERO(&rdfs);
+ FD_SET(s, &rdfs);
+ FD_SET(t, &rdfs);
+ FD_SET(0, &rdfs);
+
+ if ((ret = select(t+1, &rdfs, NULL, NULL, NULL)) < 0) {
+ perror("select");
+ continue;
+ }
+
+ if (FD_ISSET(0, &rdfs)) {
+ getchar();
+ quit = 1;
+ printf("quit due to keyboard input.\n");
+ }
+
+ if (FD_ISSET(s, &rdfs)) {
+ nbytes = read(s, buffer, 4096);
+ if (nbytes < 0) {
+ perror("read isotp socket");
+ return -1;
+ }
+ if (nbytes > 4095)
+ return -1;
+ ret = write(t, buffer, nbytes);
+ if (verbose) {
+ if (ret < 0 && errno == EAGAIN)
+ printf(";");
+ else
+ printf(",");
+ fflush(stdout);
+ }
+ }
+
+ if (FD_ISSET(t, &rdfs)) {
+ nbytes = read(t, buffer, 4096);
+ if (nbytes < 0) {
+ perror("read tunfd");
+ return -1;
+ }
+ if (nbytes > 4095)
+ return -1;
+ ret = write(s, buffer, nbytes);
+ if (verbose) {
+ if (ret < 0 && errno == EAGAIN)
+ printf(":");
+ else
+ printf(".");
+ fflush(stdout);
+ }
+ }
+ }
+
+ close(s);
+ close(t);
+ return 0;
+}
projects / sojka / can-utils.git / commitdiff