can-utils: added isotpperf tool for performance measurements

[can-utils.git] / isotpdump.c

diff --git a/isotpdump.c b/isotpdump.c
index 3ed02df0249ceffcbccfdb13fd4f85406730df83..c5e911392a625b14bbc843f6e54d2081b7c6b39d 100644 (file)
--- a/isotpdump.c
+++ b/isotpdump.c
@@ -1,7 +1,3 @@
-/*
- *  $Id$
- */
-
 /*
  * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
  *
@@ -41,7 +37,7 @@
  * 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>
  *
  */
 
@@ -64,6 +60,7 @@
 #define NO_CAN_ID 0xFFFFFFFFU
 
 const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
+const int canfd_on = 1;
 
 void print_usage(char *prg)
 {
@@ -71,6 +68,7 @@ void print_usage(char *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, "         -X <addr>   (extended addressing mode (rx addr). Use 'any' for all)\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");
@@ -83,17 +81,21 @@ int main(int argc, char **argv)
        int s;
        struct sockaddr_can addr;
        struct can_filter rfilter[2];
-       struct can_frame frame;
+       struct canfd_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 rx_ext = 0;
+       int rx_extaddr = 0;
+       int rx_extany = 0;
        int asc = 0;
        int color = 0;
        int timestamp = 0;
        int datidx = 0;
+       unsigned long fflen = 0;
        struct ifreq ifr;
        int ifindex;
        struct timeval tv, last_tv;
@@ -103,7 +105,7 @@ int main(int argc, char **argv)
        last_tv.tv_sec  = 0;
        last_tv.tv_usec = 0;
 
-       while ((opt = getopt(argc, argv, "s:d:ax:ct:?")) != -1) {
+       while ((opt = getopt(argc, argv, "s:d:ax:X:ct:?")) != -1) {
                switch (opt) {
                case 's':
                        src = strtoul(optarg, (char **)NULL, 16);
@@ -131,7 +133,14 @@ int main(int argc, char **argv)
                                extany = 1;
                        else
                                extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+                       break;
 
+               case 'X':
+                       rx_ext = 1;
+                       if (!strncmp(optarg, "any", 3))
+                               rx_extany = 1;
+                       else
+                               rx_extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
                        break;
 
                case 't':
@@ -157,6 +166,11 @@ int main(int argc, char **argv)
                }
        }
 
+       if (rx_ext && !ext) {
+               print_usage(basename(argv[0]));
+               exit(0);
+       }
+
        if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
                print_usage(basename(argv[0]));
                exit(0);
@@ -167,6 +181,8 @@ int main(int argc, char **argv)
                return 1;
        }
 
+       /* try to switch the socket into CAN FD mode */
+       setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 
        if (src & CAN_EFF_FLAG) {
                rfilter[0].can_id   = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
@@ -199,16 +215,19 @@ int main(int argc, char **argv)
        }
 
        while (1) {
-
-               if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
+               nbytes = read(s, &frame, sizeof(frame));
+               if (nbytes < 0) {
                        perror("read");
                        return 1;
-               } else if (nbytes < sizeof(struct can_frame)) {
-                       fprintf(stderr, "read: incomplete CAN frame\n");
+               } else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
+                       fprintf(stderr, "read: incomplete CAN frame %lu %d\n", sizeof(frame), nbytes);
                        return 1;
                } else {
 
-                       if (ext && !extany && extaddr != frame.data[0])
+                       if (frame.can_id == src && ext && !extany && extaddr != frame.data[0])
+                               continue;
+
+                       if (frame.can_id == dst && rx_ext && !rx_extany && rx_extaddr != frame.data[0])
                                continue;
 
                        if (color)
@@ -268,21 +287,37 @@ int main(int argc, char **argv)
                        if (ext)
                                printf("{%02X}", frame.data[0]);
 
-                       printf("  [%d]  ", frame.can_dlc);
+                       if (nbytes == CAN_MTU)
+                               printf("  [%d]  ", frame.len);
+                       else
+                               printf(" [%02d]  ", frame.len);
 
                        datidx = 0;
                        n_pci = frame.data[ext];
            
                        switch (n_pci & 0xF0) {
                        case 0x00:
-                               printf("[SF] ln: %-4d data:", n_pci & 0x0F);
-                               datidx = ext+1;
+                               if (n_pci & 0xF) {
+                                       printf("[SF] ln: %-4d data:", n_pci & 0xF);
+                                       datidx = ext+1;
+                               } else {
+                                       printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
+                                       datidx = ext+2;
+                               }
                                break;
 
                        case 0x10:
-                               printf("[FF] ln: %-4d data:",
-                                      ((n_pci & 0x0F)<<8) + frame.data[ext+1] );
-                               datidx = ext+2;
+                               fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
+                               if (fflen)
+                                       datidx = ext+2;
+                               else {
+                                       fflen = (frame.data[ext+2]<<24) +
+                                               (frame.data[ext+3]<<16) +
+                                               (frame.data[ext+4]<<8) +
+                                               frame.data[ext+5];
+                                       datidx = ext+6;
+                               }
+                               printf("[FF] ln: %-4lu data:", fflen);
                                break;
 
                        case 0x20:
@@ -317,16 +352,16 @@ int main(int argc, char **argv)
                                printf("[??]");
                        }
 
-                       if (datidx && frame.can_dlc > datidx) {
+                       if (datidx && frame.len > datidx) {
                                printf(" ");
-                               for (i = datidx; i < frame.can_dlc; i++) {
+                               for (i = datidx; i < frame.len; i++) {
                                        printf("%02X ", frame.data[i]);
                                }
 
                                if (asc) {
-                                       printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
+                                       printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
                                               "-  '");
-                                       for (i = datidx; i < frame.can_dlc; i++) {
+                                       for (i = datidx; i < frame.len; i++) {
                                                printf("%c",((frame.data[i] > 0x1F) &&
                                                             (frame.data[i] < 0x7F))?
                                                       frame.data[i] : '.');