X-Git-Url: https://rtime.felk.cvut.cz/gitweb/sojka/can-utils.git/blobdiff_plain/e7d0db9f211379e750560677716482bce0a796e1..d166ecc8a36759ca05aeb2d4e2eec744c9dfb886:/lib.h diff --git a/lib.h b/lib.h index b356e3b..435a2d0 100644 --- a/lib.h +++ b/lib.h @@ -41,10 +41,30 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * DAMAGE. * - * Send feedback to + * Send feedback to * */ +/* 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. @@ -53,9 +73,9 @@ unsigned char asc2nibble(char c); * On invalid characters the value 16 is returned for error handling. */ -int hexstring2candata(char *arg, struct can_frame *cf); +int hexstring2data(char *arg, unsigned char *data, int maxdlen); /* - * Converts a given ASCII hex string to values in the can_frame data[]. + * 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. @@ -69,53 +89,76 @@ int hexstring2candata(char *arg, struct can_frame *cf); * 0 = success * 1 = error (in length or the given characters are no ASCII hex characters) * - * Remark: The not written data[] elements remain unchanged. + * 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 #{R|data} + * - {data} has 0 to 8 hex-values that can (optionally) be seperated by '.' + * - return value on successful parsing: CAN_MTU + * + * CAN FD frames + * - string layout ##{data} + * - a single ASCII Hex value (0 .. F) which defines canfd_frame.flags + * - {data} has 0 to 64 hex-values that can (optionally) be seperated by '.' + * - return value on successful parsing: CANFD_MTU * - * #{R|data} + * Return value on detected problems: 0 * - * can_id can have 3 (standard frame format) or 8 (extended frame format) - * hexadecimal chars + * 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 + * 7A1#r -> standard CAN-Id = 0x7A1, len = 0, RTR-frame * - * 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 + * 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 can_frame *cf, char *eol, int sep); -void sprint_canframe(char *buf , struct can_frame *cf, int sep); +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 seperated 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 -> exended CAN-Id = 0x12345678, dlc = 3, data, sep = 0 * 12345678#R -> exended CAN-Id = 0x12345678, RTR * 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 * * Examples: * @@ -126,20 +169,42 @@ void sprint_canframe(char *buf , struct can_frame *cf, int sep); #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 can_frame *cf, char *eol, int view); -void sprint_long_canframe(char *buf , struct can_frame *cf, int view); +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 - * 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) + * 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 -> exended CAN-Id = 0x12345678, dlc = 3, data + * 12345678 [0] remote request -> exended 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 exended 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_long_canframe(stdout, &frame, "\n", 0); // with eol to STDOUT - * fprint_long_canframe(stderr, &frame, NULL, 0); // 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, struct canfd_frame *cf, + char *sep); +/* + * Creates a CAN error frame output in user readable format. */