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 ifreq ifr;
 100         int ifindex;
 101         struct timeval tv, last_tv;
 102         unsigned int n_pci;
 103         int opt;
 104
 105         last_tv.tv_sec  = 0;
 106         last_tv.tv_usec = 0;
 107
 108         while ((opt = getopt(argc, argv, "s:d:ax:X:ct:?")) != -1) {
 109                 switch (opt) {
 110                 case 's':
 111                         src = strtoul(optarg, (char **)NULL, 16);
 112                         if (strlen(optarg) > 7)
 113                                 src |= CAN_EFF_FLAG;
 114                         break;
 115
 116                 case 'd':
 117                         dst = strtoul(optarg, (char **)NULL, 16);
 118                         if (strlen(optarg) > 7)
 119                                 dst |= CAN_EFF_FLAG;
 120                         break;
 121
 122                 case 'c':
 123                         color = 1;
 124                         break;
 125
 126                 case 'a':
 127                         asc = 1;
 128                         break;
 129
 130                 case 'x':
 131                         ext = 1;
 132                         if (!strncmp(optarg, "any", 3))
 133                                 extany = 1;
 134                         else
 135                                 extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
 136                         break;
 137
 138                 case 'X':
 139                         rx_ext = 1;
 140                         if (!strncmp(optarg, "any", 3))
 141                                 rx_extany = 1;
 142                         else
 143                                 rx_extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
 144                         break;
 145
 146                 case 't':
 147                         timestamp = optarg[0];
 148                         if ((timestamp != 'a') && (timestamp != 'A') &&
 149                             (timestamp != 'd') && (timestamp != 'z')) {
 150                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 151                                        basename(argv[0]), optarg[0]);
 152                                 timestamp = 0;
 153                         }
 154                         break;
 155
 156                 case '?':
 157                         print_usage(basename(argv[0]));
 158                         exit(0);
 159                         break;
 160
 161                 default:
 162                         fprintf(stderr, "Unknown option %c\n", opt);
 163                         print_usage(basename(argv[0]));
 164                         exit(1);
 165                         break;
 166                 }
 167         }
 168
 169         if (rx_ext && !ext) {
 170                 print_usage(basename(argv[0]));
 171                 exit(0);
 172         }
 173
 174         if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
 175                 print_usage(basename(argv[0]));
 176                 exit(0);
 177         }
 178
 179         if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
 180                 perror("socket");
 181                 return 1;
 182         }
 183
 184         /* try to switch the socket into CAN FD mode */
 185         setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 186
 187         if (src & CAN_EFF_FLAG) {
 188                 rfilter[0].can_id   = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
 189                 rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 190         } else {
 191                 rfilter[0].can_id   = src & CAN_SFF_MASK;
 192                 rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 193         }
 194
 195         if (dst & CAN_EFF_FLAG) {
 196                 rfilter[1].can_id   = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
 197                 rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 198         } else {
 199                 rfilter[1].can_id   = dst & CAN_SFF_MASK;
 200                 rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 201         }
 202
 203         setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
 204
 205         strcpy(ifr.ifr_name, argv[optind]);
 206         ioctl(s, SIOCGIFINDEX, &ifr);
 207         ifindex = ifr.ifr_ifindex;
 208
 209         addr.can_family = AF_CAN;
 210         addr.can_ifindex = ifindex;
 211
 212         if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 213                 perror("bind");
 214                 return 1;
 215         }
 216
 217         while (1) {
 218                 nbytes = read(s, &frame, sizeof(frame));
 219                 if (nbytes < 0) {
 220                         perror("read");
 221                         return 1;
 222                 } else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
 223                         fprintf(stderr, "read: incomplete CAN frame %lu %d\n", sizeof(frame), nbytes);
 224                         return 1;
 225                 } else {
 226
 227                         if (frame.can_id == src && ext && !extany && extaddr != frame.data[0])
 228                                 continue;
 229
 230                         if (frame.can_id == dst && rx_ext && !rx_extany && rx_extaddr != frame.data[0])
 231                                 continue;
 232
 233                         if (color)
 234                                 printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
 235
 236                         if (timestamp) {
 237                                 ioctl(s, SIOCGSTAMP, &tv);
 238
 239
 240                                 switch (timestamp) {
 241
 242                                 case 'a': /* absolute with timestamp */
 243                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 244                                         break;
 245
 246                                 case 'A': /* absolute with date */
 247                                 {
 248                                         struct tm tm;
 249                                         char timestring[25];
 250
 251                                         tm = *localtime(&tv.tv_sec);
 252                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 253                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 254                                 }
 255                                 break;
 256
 257                                 case 'd': /* delta */
 258                                 case 'z': /* starting with zero */
 259                                 {
 260                                         struct timeval diff;
 261
 262                                         if (last_tv.tv_sec == 0)   /* first init */
 263                                                 last_tv = tv;
 264                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 265                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 266                                         if (diff.tv_usec < 0)
 267                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 268                                         if (diff.tv_sec < 0)
 269                                                 diff.tv_sec = diff.tv_usec = 0;
 270                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 271
 272                                         if (timestamp == 'd')
 273                                                 last_tv = tv; /* update for delta calculation */
 274                                 }
 275                                 break;
 276
 277                                 default: /* no timestamp output */
 278                                         break;
 279                                 }
 280                         }
 281
 282                         if (frame.can_id & CAN_EFF_FLAG)
 283                                 printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
 284                         else
 285                                 printf(" %s  %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
 286
 287                         if (ext)
 288                                 printf("{%02X}", frame.data[0]);
 289
 290                         if (nbytes == CAN_MTU)
 291                                 printf("  [%d]  ", frame.len);
 292                         else
 293                                 printf(" [%02d]  ", frame.len);
 294
 295                         datidx = 0;
 296                         n_pci = frame.data[ext];
 297
 298                         switch (n_pci & 0xF0) {
 299                         case 0x00:
 300                                 if (n_pci & 0xF) {
 301                                         printf("[SF] ln: %-4d data:", n_pci & 0xF);
 302                                         datidx = ext+1;
 303                                 } else {
 304                                         printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
 305                                         datidx = ext+2;
 306                                 }
 307                                 break;
 308
 309                         case 0x10:
 310                                 fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
 311                                 if (fflen)
 312                                         datidx = ext+2;
 313                                 else {
 314                                         fflen = (frame.data[ext+2]<<24) +
 315                                                 (frame.data[ext+3]<<16) +
 316                                                 (frame.data[ext+4]<<8) +
 317                                                 frame.data[ext+5];
 318                                         datidx = ext+6;
 319                                 }
 320                                 printf("[FF] ln: %-4lu data:", fflen);
 321                                 break;
 322
 323                         case 0x20:
 324                                 printf("[CF] sn: %X    data:", n_pci & 0x0F);
 325                                 datidx = ext+1;
 326                                 break;
 327
 328                         case 0x30:
 329                                 n_pci &= 0x0F;
 330                                 printf("[FC] FC: %d ", n_pci);
 331
 332                                 if (n_pci > 3)
 333                                         n_pci = 3;
 334
 335                                 printf("= %s # ", fc_info[n_pci]);
 336
 337                                 printf("BS: %d %s# ", frame.data[ext+1],
 338                                        (frame.data[ext+1])? "":"= off ");
 339
 340                                 i = frame.data[ext+2];
 341                                 printf("STmin: 0x%02X = ", i);
 342
 343                                 if (i < 0x80)
 344                                         printf("%d ms", i);
 345                                 else if (i > 0xF0 && i < 0xFA)
 346                                         printf("%d us", (i & 0x0F) * 100);
 347                                 else
 348                                         printf("reserved");
 349                                 break;
 350
 351                         default:
 352                                 printf("[??]");
 353                         }
 354
 355                         if (datidx && frame.len > datidx) {
 356                                 printf(" ");
 357                                 for (i = datidx; i < frame.len; i++) {
 358                                         printf("%02X ", frame.data[i]);
 359                                 }
 360
 361                                 if (asc) {
 362                                         printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
 363                                                "-  '");
 364                                         for (i = datidx; i < frame.len; i++) {
 365                                                 printf("%c",((frame.data[i] > 0x1F) &&
 366                                                              (frame.data[i] < 0x7F))?
 367                                                        frame.data[i] : '.');
 368                                         }
 369                                         printf("'");
 370                                 }
 371                         }
 372
 373                         if (color)
 374                                 printf("%s", ATTRESET);
 375                         printf("\n");
 376                         fflush(stdout);
 377                 }
 378         }
 379
 380         close(s);
 381
 382         return 0;
 383 }