/*
- * $Id$
- */
-
-/*
- * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
+ * lib.h - library include for command line tools
*
- * Copyright (c) 2002-2005 Volkswagen Group Electronic Research
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions, the following disclaimer and
- * the referenced file 'COPYING'.
+ * notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
- * Public License ("GPL") version 2 as distributed in the 'COPYING'
- * file from the main directory of the linux kernel source.
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
* 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>
+ *
+ */
+
+#ifndef CAN_UTILS_LIB_H
+#define CAN_UTILS_LIB_H
+
+#include <stdio.h>
+
+/* buffer sizes for CAN frame string representations */
+
+#define CL_ID (sizeof("12345678##1"))
+#define CL_DATA sizeof(".AA")
+#define CL_BINDATA sizeof(".10101010")
+
+ /* CAN FD ASCII hex short representation with DATA_SEPERATORs */
+#define CL_CFSZ (2*CL_ID + 64*CL_DATA)
+
+/* CAN FD ASCII hex long representation with binary output */
+#define CL_LONGCFSZ (2*CL_ID + sizeof(" [255] ") + (64*CL_BINDATA))
+
+/* CAN DLC to real data length conversion helpers especially for CAN FD */
+
+/* get data length from can_dlc with sanitized can_dlc */
+unsigned char can_dlc2len(unsigned char can_dlc);
+
+/* map the sanitized data length to an appropriate data length code */
+unsigned char can_len2dlc(unsigned char len);
+
+unsigned char asc2nibble(char c);
+/*
+ * Returns the decimal value of a given ASCII hex character.
+ *
+ * While 0..9, a..f, A..F are valid ASCII hex characters.
+ * On invalid characters the value 16 is returned for error handling.
+ */
+
+int hexstring2data(char *arg, unsigned char *data, int maxdlen);
+/*
+ * Converts a given ASCII hex string to a (binary) byte string.
+ *
+ * A valid ASCII hex string consists of an even number of up to 16 chars.
+ * Leading zeros '00' in the ASCII hex string are interpreted.
+ *
+ * Examples:
+ *
+ * "1234" => data[0] = 0x12, data[1] = 0x34
+ * "001234" => data[0] = 0x00, data[1] = 0x12, data[2] = 0x34
+ *
+ * Return values:
+ * 0 = success
+ * 1 = error (in length or the given characters are no ASCII hex characters)
+ *
+ * Remark: The not written data[] elements are initialized with zero.
*
*/
-int parse_canframe(char *cs, struct can_frame *cf);
+int parse_canframe(char *cs, struct canfd_frame *cf);
/*
- * Transfers a valid ASCII string decribing a CAN frame into struct can_frame.
+ * Transfers a valid ASCII string decribing a CAN frame into struct canfd_frame.
+ *
+ * CAN 2.0 frames
+ * - string layout <can_id>#{R{len}|data}
+ * - {data} has 0 to 8 hex-values that can (optionally) be separated by '.'
+ * - {len} can take values from 0 to 8 and can be omitted if zero
+ * - return value on successful parsing: CAN_MTU
+ *
+ * CAN FD frames
+ * - string layout <can_id>##<flags>{data}
+ * - <flags> a single ASCII Hex value (0 .. F) which defines canfd_frame.flags
+ * - {data} has 0 to 64 hex-values that can (optionally) be separated by '.'
+ * - return value on successful parsing: CANFD_MTU
*
- * <can_id>#{R|data}
+ * Return value on detected problems: 0
*
- * can_id can have 3 (standard frame format) or 8 (extended frame format)
- * hexadecimal chars
+ * <can_id> can have 3 (standard frame format) or 8 (extended frame format)
+ * hexadecimal chars
*
- * data has 0 to 8 hex-values that can (optionally) be seperated by '.'
*
* Examples:
*
- * 123# -> standard CAN-Id = 0x123, dlc = 0
- * 12345678# -> exended CAN-Id = 0x12345678, dlc = 0
- * 123#R -> standard CAN-Id = 0x123, dlc = 0, RTR-frame
- * 7A1#r -> standard CAN-Id = 0x7A1, dlc = 0, RTR-frame
+ * 123# -> standard CAN-Id = 0x123, len = 0
+ * 12345678# -> extended CAN-Id = 0x12345678, len = 0
+ * 123#R -> standard CAN-Id = 0x123, len = 0, RTR-frame
+ * 123#R0 -> standard CAN-Id = 0x123, len = 0, RTR-frame
+ * 123#R7 -> standard CAN-Id = 0x123, len = 7, RTR-frame
+ * 7A1#r -> standard CAN-Id = 0x7A1, len = 0, RTR-frame
+ *
+ * 123#00 -> standard CAN-Id = 0x123, len = 1, data[0] = 0x00
+ * 123#1122334455667788 -> standard CAN-Id = 0x123, len = 8
+ * 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, len = 8
+ * 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, len = 8
+ * 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
+ *
+ * 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
+ * 123##1112233 -> CAN FD frame, flags = CANFD_BRS, len = 3
+ * 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
+ * 123##3 -> CAN FD frame, flags = (CANFD_ESI | CANFD_BRS), len = 0
+ * ^^
+ * CAN FD extension to handle the canfd_frame.flags content
+ *
+ * Simple facts on this compact ASCII CAN frame representation:
+ *
+ * - 3 digits: standard frame format
+ * - 8 digits: extendend frame format OR error frame
+ * - 8 digits with CAN_ERR_FLAG (0x2000000) set: error frame
+ * - an error frame is never a RTR frame
+ * - CAN FD frames do not have a RTR bit
+ */
+
+void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen);
+void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen);
+/*
+ * Creates a CAN frame hexadecimal output in compact format.
+ * The CAN data[] is separated by '.' when sep != 0.
+ *
+ * The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
+ * maxdlen = 8 -> CAN2.0 frame
+ * maxdlen = 64 -> CAN FD frame
+ *
+ * 12345678#112233 -> extended CAN-Id = 0x12345678, len = 3, data, sep = 0
+ * 12345678#R -> extended CAN-Id = 0x12345678, RTR, len = 0
+ * 12345678#R5 -> extended CAN-Id = 0x12345678, RTR, len = 5
+ * 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8, sep = 1
+ * 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
+ * 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
+ * 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
*
- * 123#00 -> standard CAN-Id = 0x123, dlc = 1, data[0] = 0x00
- * 123#1122334455667788 -> standard CAN-Id = 0x123, dlc = 8
- * 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8
- * 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, dlc = 8
+ * Examples:
+ *
+ * fprint_canframe(stdout, &frame, "\n", 0); // with eol to STDOUT
+ * fprint_canframe(stderr, &frame, NULL, 0); // no eol to STDERR
*
*/
-void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol);
+#define CANLIB_VIEW_ASCII 0x1
+#define CANLIB_VIEW_BINARY 0x2
+#define CANLIB_VIEW_SWAP 0x4
+#define CANLIB_VIEW_ERROR 0x8
+#define CANLIB_VIEW_INDENT_SFF 0x10
+
+#define SWAP_DELIMITER '`'
+
+void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen);
+void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen);
/*
* Creates a CAN frame hexadecimal output in user readable format.
*
- * 12345678 [3] 11 22 33 -> exended CAN-Id = 0x12345678, dlc = 3, data
- * 12345678 [0] remote request -> exended CAN-Id = 0x12345678, RTR
+ * The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
+ * maxdlen = 8 -> CAN2.0 frame
+ * maxdlen = 64 -> CAN FD frame
+ *
+ * 12345678 [3] 11 22 33 -> extended CAN-Id = 0x12345678, dlc = 3, data
+ * 12345678 [0] remote request -> extended CAN-Id = 0x12345678, RTR
+ * 14B0DC51 [8] 4A 94 E8 2A EC 58 55 62 'J..*.XUb' -> (with ASCII output)
+ * 20001111 [7] C6 23 7B 32 69 98 3C ERRORFRAME -> (CAN_ERR_FLAG set)
+ * 12345678 [03] 11 22 33 -> CAN FD with extended CAN-Id = 0x12345678, dlc = 3
+ *
+ * 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == 0
+ * 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == set
*
* Examples:
*
- * fprint_canframe(stdout, &frame, "\n"); // with eol to STDOUT
- * fprint_canframe(stderr, &frame, NULL); // no eol to STDERR
+ * // CAN FD frame with eol to STDOUT
+ * fprint_long_canframe(stdout, &frame, "\n", 0, CANFD_MAX_DLEN);
+ *
+ * // CAN 2.0 frame without eol to STDERR
+ * fprint_long_canframe(stderr, &frame, NULL, 0, CAN_MAX_DLEN);
*
*/
+
+void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
+ const char *sep);
+/*
+ * Creates a CAN error frame output in user readable format.
+ */
+
+#endif
projects / can-utils.git / blobdiff