4 * Copyright (c) 2008 Volkswagen Group Electronic Research
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8 * modification, are permitted provided that the following conditions
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16 * may be used to endorse or promote products derived from this software
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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.
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.
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40 * Send feedback to <linux-can@vger.kernel.org>
51 #include <sys/types.h>
52 #include <sys/socket.h>
53 #include <sys/ioctl.h>
55 #include <linux/can.h>
56 #include <linux/can/isotp.h>
58 #define NO_CAN_ID 0xFFFFFFFFU
59 #define BUFSIZE 5000 /* size > 4095 to check socket API internal checks */
61 void print_usage(char *prg)
63 fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
64 fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
65 fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
66 fprintf(stderr, " -x <addr>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
67 fprintf(stderr, " -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
68 fprintf(stderr, " -P <mode> (check rx padding for (l)ength (c)ontent (a)ll)\n");
69 fprintf(stderr, " -t <time ns> (frame transmit time (N_As) in nanosecs)\n");
70 fprintf(stderr, " -f <time ns> (ignore FC and force local tx stmin value in nanosecs)\n");
71 fprintf(stderr, " -D <len> (send a fixed PDU with len bytes - no STDIN data)\n");
72 fprintf(stderr, " -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
73 fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
74 fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
75 fprintf(stderr, "\n");
78 int main(int argc, char **argv)
81 struct sockaddr_can addr;
83 static struct can_isotp_options opts;
84 static struct can_isotp_ll_options llopts;
86 extern int optind, opterr, optopt;
87 __u32 force_tx_stmin = 0;
88 unsigned char buf[BUFSIZE];
93 addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
95 while ((opt = getopt(argc, argv, "s:d:x:p:P:t:f:D:L:?")) != -1) {
98 addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
99 if (strlen(optarg) > 7)
100 addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
104 addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
105 if (strlen(optarg) > 7)
106 addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
111 int elements = sscanf(optarg, "%hhx:%hhx",
113 &opts.rx_ext_address);
116 opts.flags |= CAN_ISOTP_EXTEND_ADDR;
117 else if (elements == 2)
118 opts.flags |= (CAN_ISOTP_EXTEND_ADDR | CAN_ISOTP_RX_EXT_ADDR);
120 printf("incorrect extended addr values '%s'.\n", optarg);
121 print_usage(basename(argv[0]));
129 int elements = sscanf(optarg, "%hhx:%hhx",
131 &opts.rxpad_content);
134 opts.flags |= CAN_ISOTP_TX_PADDING;
135 else if (elements == 2)
136 opts.flags |= (CAN_ISOTP_TX_PADDING | CAN_ISOTP_RX_PADDING);
137 else if (sscanf(optarg, ":%hhx", &opts.rxpad_content) == 1)
138 opts.flags |= CAN_ISOTP_RX_PADDING;
140 printf("incorrect padding values '%s'.\n", optarg);
141 print_usage(basename(argv[0]));
148 if (optarg[0] == 'l')
149 opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
150 else if (optarg[0] == 'c')
151 opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
152 else if (optarg[0] == 'a')
153 opts.flags |= (CAN_ISOTP_CHK_PAD_LEN | CAN_ISOTP_CHK_PAD_DATA);
155 printf("unknown padding check option '%c'.\n", optarg[0]);
156 print_usage(basename(argv[0]));
162 opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
166 opts.flags |= CAN_ISOTP_FORCE_TXSTMIN;
167 force_tx_stmin = strtoul(optarg, (char **)NULL, 10);
171 datalen = strtoul(optarg, (char **)NULL, 10);
172 if (!datalen || datalen >= BUFSIZE) {
173 print_usage(basename(argv[0]));
179 if (sscanf(optarg, "%hhu:%hhu:%hhu",
182 &llopts.tx_flags) != 3) {
183 printf("unknown link layer options '%s'.\n", optarg);
184 print_usage(basename(argv[0]));
190 print_usage(basename(argv[0]));
195 fprintf(stderr, "Unknown option %c\n", opt);
196 print_usage(basename(argv[0]));
202 if ((argc - optind != 1) ||
203 (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
204 (addr.can_addr.tp.rx_id == NO_CAN_ID)) {
205 print_usage(basename(argv[0]));
209 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
214 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
217 if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
218 perror("link layer sockopt");
223 if (opts.flags & CAN_ISOTP_FORCE_TXSTMIN)
224 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_TX_STMIN, &force_tx_stmin, sizeof(force_tx_stmin));
226 addr.can_family = AF_CAN;
227 strcpy(ifr.ifr_name, argv[optind]);
228 ioctl(s, SIOCGIFINDEX, &ifr);
229 addr.can_ifindex = ifr.ifr_ifindex;
231 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
238 while (buflen < BUFSIZE && scanf("%hhx", &buf[buflen]) == 1)
241 for (buflen = 0; buflen < datalen; buflen++)
242 buf[buflen] = ((buflen % 0xFF) + 1) & 0xFF;
246 retval = write(s, buf, buflen);
252 if (retval != buflen)
253 fprintf(stderr, "wrote only %d from %d byte\n", retval, buflen);
256 * due to a Kernel internal wait queue the PDU is sent completely
257 * before close() returns.