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 const int canfd_on = 1;
  64
  65 void print_usage(char *prg)
  66 {
  67         fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
  68         fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
  69         fprintf(stderr, "         -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
  70         fprintf(stderr, "         -x <addr>   (extended addressing mode. Use 'any' for all addresses)\n");
  71         fprintf(stderr, "         -X <addr>   (extended addressing mode (rx addr). Use 'any' for all)\n");
  72         fprintf(stderr, "         -c          (color mode)\n");
  73         fprintf(stderr, "         -a          (print data also in ASCII-chars)\n");
  74         fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
  75         fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
  76         fprintf(stderr, "\n");
  77 }
  78
  79 int main(int argc, char **argv)
  80 {
  81         int s;
  82         struct sockaddr_can addr;
  83         struct can_filter rfilter[2];
  84         struct canfd_frame frame;
  85         int nbytes, i;
  86         canid_t src = NO_CAN_ID;
  87         canid_t dst = NO_CAN_ID;
  88         int ext = 0;
  89         int extaddr = 0;
  90         int extany = 0;
  91         int rx_ext = 0;
  92         int rx_extaddr = 0;
  93         int rx_extany = 0;
  94         int asc = 0;
  95         int color = 0;
  96         int timestamp = 0;
  97         int datidx = 0;
  98         unsigned long fflen = 0;
  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:X: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                         break;
 135
 136                 case 'X':
 137                         rx_ext = 1;
 138                         if (!strncmp(optarg, "any", 3))
 139                                 rx_extany = 1;
 140                         else
 141                                 rx_extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
 142                         break;
 143
 144                 case 't':
 145                         timestamp = optarg[0];
 146                         if ((timestamp != 'a') && (timestamp != 'A') &&
 147                             (timestamp != 'd') && (timestamp != 'z')) {
 148                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 149                                        basename(argv[0]), optarg[0]);
 150                                 timestamp = 0;
 151                         }
 152                         break;
 153
 154                 case '?':
 155                         print_usage(basename(argv[0]));
 156                         exit(0);
 157                         break;
 158
 159                 default:
 160                         fprintf(stderr, "Unknown option %c\n", opt);
 161                         print_usage(basename(argv[0]));
 162                         exit(1);
 163                         break;
 164                 }
 165         }
 166
 167         if (rx_ext && !ext) {
 168                 print_usage(basename(argv[0]));
 169                 exit(0);
 170         }
 171
 172         if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
 173                 print_usage(basename(argv[0]));
 174                 exit(0);
 175         }
 176
 177         if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
 178                 perror("socket");
 179                 return 1;
 180         }
 181
 182         /* try to switch the socket into CAN FD mode */
 183         setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 184
 185         if (src & CAN_EFF_FLAG) {
 186                 rfilter[0].can_id   = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
 187                 rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 188         } else {
 189                 rfilter[0].can_id   = src & CAN_SFF_MASK;
 190                 rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 191         }
 192
 193         if (dst & CAN_EFF_FLAG) {
 194                 rfilter[1].can_id   = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
 195                 rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 196         } else {
 197                 rfilter[1].can_id   = dst & CAN_SFF_MASK;
 198                 rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 199         }
 200
 201         setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
 202
 203         addr.can_family = AF_CAN;
 204         addr.can_ifindex = if_nametoindex(argv[optind]);
 205
 206         if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 207                 perror("bind");
 208                 return 1;
 209         }
 210
 211         while (1) {
 212                 nbytes = read(s, &frame, sizeof(frame));
 213                 if (nbytes < 0) {
 214                         perror("read");
 215                         return 1;
 216                 } else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
 217                         fprintf(stderr, "read: incomplete CAN frame %zu %d\n", sizeof(frame), nbytes);
 218                         return 1;
 219                 } else {
 220
 221                         if (frame.can_id == src && ext && !extany && extaddr != frame.data[0])
 222                                 continue;
 223
 224                         if (frame.can_id == dst && rx_ext && !rx_extany && rx_extaddr != frame.data[0])
 225                                 continue;
 226
 227                         if (color)
 228                                 printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
 229
 230                         if (timestamp) {
 231                                 ioctl(s, SIOCGSTAMP, &tv);
 232
 233
 234                                 switch (timestamp) {
 235
 236                                 case 'a': /* absolute with timestamp */
 237                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 238                                         break;
 239
 240                                 case 'A': /* absolute with date */
 241                                 {
 242                                         struct tm tm;
 243                                         char timestring[25];
 244
 245                                         tm = *localtime(&tv.tv_sec);
 246                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 247                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 248                                 }
 249                                 break;
 250
 251                                 case 'd': /* delta */
 252                                 case 'z': /* starting with zero */
 253                                 {
 254                                         struct timeval diff;
 255
 256                                         if (last_tv.tv_sec == 0)   /* first init */
 257                                                 last_tv = tv;
 258                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 259                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 260                                         if (diff.tv_usec < 0)
 261                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 262                                         if (diff.tv_sec < 0)
 263                                                 diff.tv_sec = diff.tv_usec = 0;
 264                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 265
 266                                         if (timestamp == 'd')
 267                                                 last_tv = tv; /* update for delta calculation */
 268                                 }
 269                                 break;
 270
 271                                 default: /* no timestamp output */
 272                                         break;
 273                                 }
 274                         }
 275
 276                         if (frame.can_id & CAN_EFF_FLAG)
 277                                 printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
 278                         else
 279                                 printf(" %s  %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
 280
 281                         if (ext)
 282                                 printf("{%02X}", frame.data[0]);
 283
 284                         if (nbytes == CAN_MTU)
 285                                 printf("  [%d]  ", frame.len);
 286                         else
 287                                 printf(" [%02d]  ", frame.len);
 288
 289                         datidx = 0;
 290                         n_pci = frame.data[ext];
 291
 292                         switch (n_pci & 0xF0) {
 293                         case 0x00:
 294                                 if (n_pci & 0xF) {
 295                                         printf("[SF] ln: %-4d data:", n_pci & 0xF);
 296                                         datidx = ext+1;
 297                                 } else {
 298                                         printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
 299                                         datidx = ext+2;
 300                                 }
 301                                 break;
 302
 303                         case 0x10:
 304                                 fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
 305                                 if (fflen)
 306                                         datidx = ext+2;
 307                                 else {
 308                                         fflen = (frame.data[ext+2]<<24) +
 309                                                 (frame.data[ext+3]<<16) +
 310                                                 (frame.data[ext+4]<<8) +
 311                                                 frame.data[ext+5];
 312                                         datidx = ext+6;
 313                                 }
 314                                 printf("[FF] ln: %-4lu data:", fflen);
 315                                 break;
 316
 317                         case 0x20:
 318                                 printf("[CF] sn: %X    data:", n_pci & 0x0F);
 319                                 datidx = ext+1;
 320                                 break;
 321
 322                         case 0x30:
 323                                 n_pci &= 0x0F;
 324                                 printf("[FC] FC: %d ", n_pci);
 325
 326                                 if (n_pci > 3)
 327                                         n_pci = 3;
 328
 329                                 printf("= %s # ", fc_info[n_pci]);
 330
 331                                 printf("BS: %d %s# ", frame.data[ext+1],
 332                                        (frame.data[ext+1])? "":"= off ");
 333
 334                                 i = frame.data[ext+2];
 335                                 printf("STmin: 0x%02X = ", i);
 336
 337                                 if (i < 0x80)
 338                                         printf("%d ms", i);
 339                                 else if (i > 0xF0 && i < 0xFA)
 340                                         printf("%d us", (i & 0x0F) * 100);
 341                                 else
 342                                         printf("reserved");
 343                                 break;
 344
 345                         default:
 346                                 printf("[??]");
 347                         }
 348
 349                         if (datidx && frame.len > datidx) {
 350                                 printf(" ");
 351                                 for (i = datidx; i < frame.len; i++) {
 352                                         printf("%02X ", frame.data[i]);
 353                                 }
 354
 355                                 if (asc) {
 356                                         printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
 357                                                "-  '");
 358                                         for (i = datidx; i < frame.len; i++) {
 359                                                 printf("%c",((frame.data[i] > 0x1F) &&
 360                                                              (frame.data[i] < 0x7F))?
 361                                                        frame.data[i] : '.');
 362                                         }
 363                                         printf("'");
 364                                 }
 365                         }
 366
 367                         if (color)
 368                                 printf("%s", ATTRESET);
 369                         printf("\n");
 370                         fflush(stdout);
 371                 }
 372         }
 373
 374         close(s);
 375
 376         return 0;
 377 }