can-utils: added isotpperf tool for performance measurements

[can-utils.git] / isotpdump.c

diff --git a/isotpdump.c b/isotpdump.c
index 85be399e8c43be843d286139b99ff27b44adf401..c5e911392a625b14bbc843f6e54d2081b7c6b39d 100644 (file)
--- a/isotpdump.c
+++ b/isotpdump.c
@@ -60,6 +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)
 {
@@ -80,7 +81,7 @@ 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;
@@ -180,6 +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);
@@ -212,12 +215,12 @@ 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 {
 
@@ -284,15 +287,23 @@ 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:
@@ -341,16 +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] : '.');