diff --git a/.gitignore b/.gitignore
index ff624a8..fb2edb5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -41,10 +41,10 @@ GNUmakefile.in
 /isotpserver
 /isotpsniffer
 /isotptun
-/jacd
-/jcat
-/jspy
-/jsr
+/j1939acd
+/j1939cat
+/j1939spy
+/j1939sr
 /log2asc
 /log2long
 /slcan_attach
diff --git a/Android.mk b/Android.mk
index bae170a..40564ec 100644
--- a/Android.mk
+++ b/Android.mk
@@ -1,6 +1,7 @@
 LOCAL_PATH := $(call my-dir)
 
 PRIVATE_LOCAL_CFLAGS := -O2 -g -W -Wall		\
+			-Wno-error=unused-parameter	\
 			-DSO_RXQ_OVFL=40	\
 			-DPF_CAN=29		\
 			-DAF_CAN=PF_CAN
@@ -15,9 +16,104 @@ LOCAL_SRC_FILES := lib.c canframelen.c
 LOCAL_MODULE := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_STATIC_LIBRARY)
 
+#
+# j1939lib
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := libj1939.c
+LOCAL_MODULE := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_STATIC_LIBRARY)
+
+#
+# j1939acd
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939acd.c
+LOCAL_MODULE := j1939acd
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# j1939cat
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939cat.c
+LOCAL_MODULE := j1939cat
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# j1939spy
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939spy.c
+LOCAL_MODULE := j1939spy
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# j1939sr
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939sr.c
+LOCAL_MODULE := j1939sr
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# testj1939
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := testj1939.c
+LOCAL_MODULE := testj1939
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
 #
 # candump
 #
@@ -30,6 +126,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -45,6 +142,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -74,10 +172,10 @@ LOCAL_MODULE := bcmserver
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
-
 #
 # can-calc-bit-timing
 #
@@ -89,6 +187,7 @@ LOCAL_MODULE := can-calc-bit-timing
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -104,6 +203,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -118,6 +218,7 @@ LOCAL_MODULE := canfdtest
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -133,6 +234,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -147,6 +249,7 @@ LOCAL_MODULE := cangw
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -162,6 +265,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -177,6 +281,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -191,6 +296,7 @@ LOCAL_MODULE := cansniffer
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -205,6 +311,7 @@ LOCAL_MODULE := isotpdump
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -219,6 +326,7 @@ LOCAL_MODULE := isotprecv
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -233,6 +341,7 @@ LOCAL_MODULE := isotpsend
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -247,6 +356,7 @@ LOCAL_MODULE := isotpserver
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -257,10 +367,11 @@ include $(BUILD_EXECUTABLE)
 include $(CLEAR_VARS)
 
 LOCAL_SRC_FILES := isotpsniffer.c
-LOCAL_MODULE := isotpsniffer.c
+LOCAL_MODULE := isotpsniffer
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -275,6 +386,7 @@ LOCAL_MODULE := isotptun
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -289,6 +401,7 @@ LOCAL_MODULE := isotpperf
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -304,6 +417,23 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# asc2log
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := asc2log.c
+LOCAL_MODULE := asc2log
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libcan
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -319,6 +449,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -333,6 +464,7 @@ LOCAL_MODULE := slcan_attach
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -347,6 +479,7 @@ LOCAL_MODULE := slcand
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -361,5 +494,6 @@ LOCAL_MODULE := slcanpty
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e0a2fe8..d0f83ac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,10 +37,10 @@ set(PROGRAMS_CANLIB
 )
 
 set(PROGRAMS_J1939
-    jacd
-    jcat
-    jspy
-    jsr
+    j1939acd
+    j1939cat
+    j1939spy
+    j1939sr
     testj1939
 )
 
diff --git a/GNUmakefile.am b/GNUmakefile.am
index a34a40d..37b68a5 100644
--- a/GNUmakefile.am
+++ b/GNUmakefile.am
@@ -59,10 +59,10 @@ bin_PROGRAMS = \
 	isotpserver \
 	isotpsniffer \
 	isotptun \
-	jacd \
-	jcat \
-	jspy \
-	jsr \
+	j1939acd \
+	j1939cat \
+	j1939spy \
+	j1939sr \
 	log2asc \
 	log2long \
 	slcan_attach \
@@ -70,10 +70,10 @@ bin_PROGRAMS = \
 	slcanpty \
 	testj1939
 
-jacd_LDADD = libj1939.la
-jcat_LDADD = libj1939.la
-jspy_LDADD = libj1939.la
-jsr_LDADD = libj1939.la
+j1939acd_LDADD = libj1939.la
+j1939cat_LDADD = libj1939.la
+j1939spy_LDADD = libj1939.la
+j1939sr_LDADD = libj1939.la
 testj1939_LDADD = libj1939.la
 
 EXTRA_DIST = \
diff --git a/Makefile b/Makefile
index 6d87a46..b7dad97 100644
--- a/Makefile
+++ b/Makefile
@@ -67,10 +67,10 @@ PROGRAMS_ISOTP := \
 	isotptun
 
 PROGRAMS_J1939 := \
-	jacd \
-	jcat \
-	jspy \
-	jsr \
+	j1939acd \
+	j1939cat \
+	j1939spy \
+	j1939sr \
 	testj1939
 
 PROGRAMS_SLCAN := \
@@ -120,10 +120,10 @@ canplayer.o:	lib.h
 cansend.o:	lib.h
 log2asc.o:	lib.h
 log2long.o:	lib.h
-jacd.o:		libj1939.h
-jcat.o:		libj1939.h
-jspy.o:		libj1939.h
-jsr.o:		libj1939.h
+j1939acd.o:		libj1939.h
+j1939cat.o:		libj1939.h
+j1939spy.o:		libj1939.h
+j1939sr.o:		libj1939.h
 testj1939.o:	libj1939.h
 canframelen.o:  canframelen.h
 
@@ -136,9 +136,9 @@ canplayer:	canplayer.o	lib.o
 cansend:	cansend.o	lib.o
 log2asc:	log2asc.o	lib.o
 log2long:	log2long.o	lib.o
-jacd:		jacd.o		libj1939.o
-jcat:		jcat.o		libj1939.o
-jspy:		jspy.o		libj1939.o
-jsr:		jsr.o		libj1939.o
+j1939acd:		j1939acd.o		libj1939.o
+j1939cat:		j1939cat.o		libj1939.o
+j1939spy:		j1939spy.o		libj1939.o
+j1939sr:		j1939sr.o		libj1939.o
 testj1939:	testj1939.o	libj1939.o
 canbusload:	canbusload.o	canframelen.o
diff --git a/README.md b/README.md
index 5a17610..1011cf4 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,7 @@ subsystem (aka SocketCAN):
 * cansend : send a single frame
 * cangen : generate (random) CAN traffic
 * cansequence : send and check sequence of CAN frames with incrementing payload
-* cansniffer : display CAN data content differences (just 11bit CAN IDs)
+* cansniffer : display CAN data content differences
 
 #### CAN access via IP sockets
 * canlogserver : log CAN frames from a remote/local host
diff --git a/asc2log.c b/asc2log.c
index 59f2f98..de619c0 100644
--- a/asc2log.c
+++ b/asc2log.c
@@ -57,16 +57,20 @@
 
 #include "lib.h"
 
+#define BUFLEN 400 /* CAN FD mode lines can be pretty long */
+
 extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - convert ASC logfile to compact CAN frame logfile.\n", prg);
 	fprintf(stderr, "Usage: %s\n", prg);
-	fprintf(stderr, "Options: -I <infile>  (default stdin)\n");
-	fprintf(stderr, "         -O <outfile> (default stdout)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "\t-I <infile>\t(default stdin)\n");
+	fprintf(stderr, "\t-O <outfile>\t(default stdout)\n");
 }
 
-void prframe(FILE *file, struct timeval *tv, int dev, struct can_frame *cf) {
+void prframe(FILE *file, struct timeval *tv, int dev, struct canfd_frame *cf, unsigned int max_dlen) {
 
 	fprintf(file, "(%ld.%06ld) ", tv->tv_sec, tv->tv_usec);
 
@@ -75,11 +79,10 @@ void prframe(FILE *file, struct timeval *tv, int dev, struct can_frame *cf) {
 	else
 		fprintf(file, "canX ");
 
-	/* no CAN FD support so far */
-	fprint_canframe(file, (struct canfd_frame *)cf, "\n", 0, CAN_MAX_DLEN);
+	fprint_canframe(file, cf, "\n", 0, max_dlen);
 }
 
-void get_can_id(struct can_frame *cf, char *idstring, int base) {
+void get_can_id(struct canfd_frame *cf, char *idstring, int base) {
 
 	if (idstring[strlen(idstring)-1] == 'x') {
 		cf->can_id = CAN_EFF_FLAG;
@@ -122,14 +125,207 @@ void calc_tv(struct timeval *tv, struct timeval *read_tv,
 	}
 }
 
+void eval_can(char* buf, struct timeval *date_tvp, char timestamps, char base, int dplace, FILE *outfile) {
+
+	int interface;
+	static struct timeval tv; /* current frame timestamp */
+	static struct timeval read_tv; /* frame timestamp from ASC file */
+	struct canfd_frame cf;
+	char rtr;
+	int dlc = 0;
+	int data[8];
+	char tmp1[BUFLEN];
+	int i, items, found;
+
+	/* 0.002367 1 390x Rx d 8 17 00 14 00 C0 00 08 00 */
+
+	found = 0; /* found valid CAN frame ? */
+
+	if (base == 'h') { /* check for CAN frames with hexadecimal values */
+
+		items = sscanf(buf, "%ld.%ld %d %s %*s %c %d %x %x %x %x %x %x %x %x",
+			       &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+			       tmp1, &rtr, &dlc,
+			       &data[0], &data[1], &data[2], &data[3],
+			       &data[4], &data[5], &data[6], &data[7]);
+
+		if ((items == dlc + 6 ) || /* data frame */
+		    ((items == 5) && (rtr == 'r')) || /* RTR without DLC */
+		    ((items == 6) && (rtr == 'r'))) { /* RTR with DLC */
+			found = 1;
+			get_can_id(&cf, tmp1, 16);
+		}
+
+	} else { /* check for CAN frames with decimal values */
+
+		items = sscanf(buf, "%ld.%ld %d %s %*s %c %d %d %d %d %d %d %d %d %d",
+			       &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+			       tmp1, &rtr, &dlc,
+			       &data[0], &data[1], &data[2], &data[3],
+			       &data[4], &data[5], &data[6], &data[7]);
+
+		if ((items == dlc + 6 ) || /* data frame */
+		    ((items == 5) && (rtr == 'r')) || /* RTR without DLC */
+		    ((items == 6) && (rtr == 'r'))) { /* RTR with DLC */
+			found = 1;
+			get_can_id(&cf, tmp1, 10);
+		}
+	}
+
+	if (found) {
+
+		if (dlc > CAN_MAX_DLC)
+			return;
+
+		cf.len = dlc;
+		if (rtr == 'r')
+			cf.can_id |= CAN_RTR_FLAG;
+		else
+			for (i = 0; i < dlc; i++)
+				cf.data[i] = data[i] & 0xFFU;
+
+		calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
+		prframe(outfile, &tv, interface, &cf, CAN_MAX_DLEN);
+		fflush(outfile);
+		return;
+	}
+
+	/* check for ErrorFrames */
+	if (sscanf(buf, "%ld.%ld %d %s",
+		   &read_tv.tv_sec, &read_tv.tv_usec,
+		   &interface, tmp1) == 4) {
+
+		if (!strncmp(tmp1, "ErrorFrame", strlen("ErrorFrame"))) {
+
+			memset(&cf, 0, sizeof(cf));
+			/* do not know more than 'Error' */
+			cf.can_id = (CAN_ERR_FLAG | CAN_ERR_BUSERROR);
+			cf.len = CAN_ERR_DLC;
+
+			calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
+			prframe(outfile, &tv, interface, &cf, CAN_MAX_DLEN);
+			fflush(outfile);
+		}
+	}
+}
+
+void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps, int dplace, FILE *outfile) {
+
+	int interface;
+	static struct timeval tv; /* current frame timestamp */
+	static struct timeval read_tv; /* frame timestamp from ASC file */
+	struct canfd_frame cf;
+	unsigned char brs, esi, ctmp;
+	unsigned int flags;
+	int dlc, dlen = 0;
+	char tmp1[BUFLEN];
+	char *ptr;
+	int i;
+
+	/* The CANFD format is mainly in hex representation but <DataLength>
+	   and probably some content we skip anyway. Don't trust the docs! */
+
+	/* 21.671796 CANFD   1 Tx         11  msgCanFdFr1                      1 0 a 16 \
+	   00 00 00 00 00 00 00 00 00 00 00 00 00 00 59 c0		\
+	   100000  214   223040 80000000 46500250 460a0250 20011736 20010205 */
+
+	memset(&cf, 0, sizeof(cf));
+
+	/* check for valid line without symbolic name */
+	if (sscanf(buf, "%ld.%ld %*s %d %*s %s %hhx %hhx %x %d ",
+		   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+		   tmp1, &brs, &esi, &dlc, &dlen) != 8) {
+
+		/* check for valid line with a symbolic name */
+		if (sscanf(buf, "%ld.%ld %*s %d %*s %s %*s %hhx %hhx %x %d ",
+		   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+		   tmp1, &brs, &esi, &dlc, &dlen) != 8) {
+
+			/* no valid CANFD format pattern */
+			return;
+		}
+	}
+
+	/* check for allowed (unsigned) value ranges */
+	if ((dlen > CANFD_MAX_DLEN) || (dlc > CANFD_MAX_DLC) ||
+	    (brs > 1) || (esi > 1))
+		return;
+
+	/* don't trust ASCII content - sanitize data length */
+	if (dlen != can_dlc2len(can_len2dlc(dlen)))
+		return;
+
+	get_can_id(&cf, tmp1, 16);
+
+	/* now search for the beginning of the data[] content */
+	sprintf(tmp1, " %x %x %x %2d ", brs, esi, dlc, dlen);
+
+	/* search for the pattern generated by real data */
+	ptr = strcasestr(buf, tmp1);
+	if (ptr == NULL)
+		return;
+
+	ptr += strlen(tmp1); /* start of ASCII hex frame data */
+
+	cf.len = dlen;
+
+	for (i = 0; i < dlen; i++) {
+		ctmp = asc2nibble(ptr[0]);
+		if (ctmp > 0x0F)
+			return;
+
+		cf.data[i] = (ctmp << 4);
+
+		ctmp = asc2nibble(ptr[1]);
+		if (ctmp > 0x0F)
+			return;
+
+		cf.data[i] |= ctmp;
+
+		ptr += 3; /* start of next ASCII hex byte */
+	}
+
+	/* skip MessageDuration and MessageLength to get Flags value */
+	if (sscanf(ptr, "   %*x %*x %x ", &flags) != 1)
+		return;
+
+	/* relevant flags in Flags field */
+#define ASC_F_RTR 0x00000010
+#define ASC_F_FDF 0x00001000
+#define ASC_F_BRS 0x00002000
+#define ASC_F_ESI 0x00004000
+
+	if (flags & ASC_F_FDF) {
+		dlen = CANFD_MAX_DLEN;
+		if (flags & ASC_F_BRS)
+			cf.flags |= CANFD_BRS;
+		if (flags & ASC_F_ESI)
+			cf.flags |= CANFD_ESI;
+	} else {
+		/* yes. The 'CANFD' format supports classic CAN content! */
+		dlen = CAN_MAX_DLEN;
+		if (flags & ASC_F_RTR) {
+			cf.can_id |= CAN_RTR_FLAG;
+			/* dlen is always 0 for classic CAN RTR frames
+			   but the DLC value is valid in RTR cases */
+			cf.len = dlc;
+		}
+	}
+
+	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
+	prframe(outfile, &tv, interface, &cf, dlen);
+	fflush(outfile);
+	return;
+
+	/* No support for really strange CANFD ErrorFrames format m( */
+}
+
 int get_date(struct timeval *tv, char *date) {
 
-	char ctmp[10];
-	int  itmp;
-
 	struct tm tms;
+	unsigned int msecs = 0;
 
-	if (sscanf(date, "%9s %d %9s %9s %d", ctmp, &itmp, ctmp, ctmp, &itmp) == 5) {
+	if (strcasestr(date, " pm ") != NULL) {
 		/* assume EN/US date due to existing am/pm field */
 
 		if (!setlocale(LC_TIME, "en_US")) {
@@ -137,29 +333,41 @@ int get_date(struct timeval *tv, char *date) {
 			return 1;
 		}
 
-		if (!strptime(date, "%B %d %r %Y", &tms))
-			return 1;
+		if (!strptime(date, "%B %d %I:%M:%S %p %Y", &tms)) {
+			/* The string might contain a milliseconds value which strptime()
+			   does not support. So we read the ms value into the year variable
+			   before parsing the real year value (hack) */
+			if (!strptime(date, "%B %d %I:%M:%S.%Y %p %Y", &tms))
+				return 1;
+			else
+				sscanf(date, "%*s %*d %*d:%*d:%*d.%3u ", &msecs);
+		}
 
 	} else {
 		/* assume DE date due to non existing am/pm field */
 
-		if (sscanf(date, "%9s %d %9s %d", ctmp, &itmp, ctmp, &itmp) != 4)
-			return 1;
-
 		if (!setlocale(LC_TIME, "de_DE")) {
 			fprintf(stderr, "Setting locale to 'de_DE' failed!\n");
 			return 1;
 		}
 
-		if (!strptime(date, "%B %d %T %Y", &tms))
-			return 1;
+		if (!strptime(date, "%B %d %H:%M:%S %Y", &tms)) {
+			/* The string might contain a milliseconds value which strptime()
+			   does not support. So we read the ms value into the year variable
+			   before parsing the real year value (hack) */
+			if (!strptime(date, "%B %d %H:%M:%S.%Y %Y", &tms))
+				return 1;
+			else
+				sscanf(date, "%*s %*d %*d:%*d:%*d.%3u ", &msecs);
+		}
 	}
     
-	//printf("h %d m %d s %d d %d m %d y %d\n",
-	//tms.tm_hour, tms.tm_min, tms.tm_sec,
+	//printf("h %d m %d s %d ms %03d d %d m %d y %d\n",
+	//tms.tm_hour, tms.tm_min, tms.tm_sec, msecs,
 	//tms.tm_mday, tms.tm_mon+1, tms.tm_year+1900);
 
 	tv->tv_sec = mktime(&tms);
+	tv->tv_usec = msecs * 1000;
 
 	if (tv->tv_sec < 0)
 		return 1;
@@ -169,24 +377,17 @@ int get_date(struct timeval *tv, char *date) {
 
 int main(int argc, char **argv)
 {
-	char buf[100], tmp1[100], tmp2[100];
+	char buf[BUFLEN], tmp1[BUFLEN], tmp2[BUFLEN];
 
 	FILE *infile = stdin;
 	FILE *outfile = stdout;
 	static int verbose;
-	struct can_frame cf;
-	static struct timeval tv; /* current frame timestamp */
-	static struct timeval read_tv; /* frame timestamp from ASC file */
+	static struct timeval tmp_tv; /* tmp frame timestamp from ASC file */
 	static struct timeval date_tv; /* date of the ASC file */
 	static int dplace; /* decimal place 4, 5 or 6 or uninitialized */
 	static char base; /* 'd'ec or 'h'ex */
 	static char timestamps; /* 'a'bsolute or 'r'elative */
-
-	int interface;
-	char rtr;
-	int dlc = 0;
-	int data[8];
-	int i, found, opt;
+	int opt;
 
 	while ((opt = getopt(argc, argv, "I:O:v?")) != -1) {
 		switch (opt) {
@@ -224,7 +425,7 @@ int main(int argc, char **argv)
 	}
 
 
-	while (fgets(buf, 99, infile)) {
+	while (fgets(buf, BUFLEN-1, infile)) {
 
 		if (!dplace) { /* the representation of a valid CAN frame not known */
 
@@ -264,7 +465,7 @@ int main(int argc, char **argv)
 			}
 
 			/* check for decimal places length in valid CAN frames */
-			if (sscanf(buf, "%ld.%s %d ", &tv.tv_sec, tmp2, &i) == 3){
+			if (sscanf(buf, "%ld.%s %s ", &tmp_tv.tv_sec, tmp2, tmp1) == 3){
 				dplace = strlen(tmp2);
 				if (verbose)
 					printf("decimal place %d, e.g. '%s'\n", dplace, tmp2);
@@ -279,67 +480,12 @@ int main(int argc, char **argv)
 		/* the representation of a valid CAN frame is known here */
 		/* so try to get CAN frames and ErrorFrames and convert them */
 
-		/* 0.002367 1 390x Rx d 8 17 00 14 00 C0 00 08 00 */
-
-		found = 0; /* found valid CAN frame ? */
-
-		if (base == 'h') { /* check for CAN frames with hexadecimal values */
-
-			if (sscanf(buf, "%ld.%ld %d %s %*s %c %d %x %x %x %x %x %x %x %x",
-				   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
-				   tmp1, &rtr, &dlc,
-				   &data[0], &data[1], &data[2], &data[3],
-				   &data[4], &data[5], &data[6], &data[7]
-				    ) == dlc + 6 ) {
-
-				found = 1;
-				get_can_id(&cf, tmp1, 16);
-			}
-
-		} else { /* check for CAN frames with decimal values */
-
-			if (sscanf(buf, "%ld.%ld %d %s %*s %c %d %d %d %d %d %d %d %d %d",
-				   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
-				   tmp1, &rtr, &dlc,
-				   &data[0], &data[1], &data[2], &data[3],
-				   &data[4], &data[5], &data[6], &data[7]
-				    ) == dlc + 6 ) {
-
-				found = 1;
-				get_can_id(&cf, tmp1, 10);
-			}
-		}
-
-		if (found) {
-			if (rtr == 'r')
-				cf.can_id |= CAN_RTR_FLAG;
- 
-			cf.can_dlc = dlc & 0x0FU;
-			for (i=0; i<dlc; i++)
-				cf.data[i] = data[i] & 0xFFU;
-
-			calc_tv(&tv, &read_tv, &date_tv, timestamps, dplace);
-			prframe(outfile, &tv, interface, &cf);
-			fflush(outfile);
-			continue;
-		}
-
-		/* check for ErrorFrames */
-		if (sscanf(buf, "%ld.%ld %d %s",
-			   &read_tv.tv_sec, &read_tv.tv_usec,
-			   &interface, tmp1) == 4) {
-		
-			if (!strncmp(tmp1, "ErrorFrame", strlen("ErrorFrame"))) {
-
-				memset(&cf, 0, sizeof(cf));
-				/* do not know more than 'Error' */
-				cf.can_id  = (CAN_ERR_FLAG | CAN_ERR_BUSERROR);
-				cf.can_dlc =  CAN_ERR_DLC;
-		    
-				calc_tv(&tv, &read_tv, &date_tv, timestamps, dplace);
-				prframe(outfile, &tv, interface, &cf);
-				fflush(outfile);
-			}
+		/* check classic CAN format or the CANFD tag which can take both types */
+		if (sscanf(buf, "%ld.%ld %s ", &tmp_tv.tv_sec,  &tmp_tv.tv_usec, tmp1) == 3){
+			if (!strncmp(tmp1, "CANFD", 5))
+				eval_canfd(buf, &date_tv, timestamps, dplace, outfile);
+			else
+				eval_can(buf, &date_tv, timestamps, base, dplace, outfile);
 		}
 	}
 	fclose(outfile);
diff --git a/bcmserver.c b/bcmserver.c
index a8a3369..b51cb2c 100644
--- a/bcmserver.c
+++ b/bcmserver.c
@@ -135,7 +135,7 @@ void childdied(int i)
 	wait(NULL);
 }
 
-int main(int argc, char **argv)
+int main(void)
 {
 
 	int sl, sa, sc;
diff --git a/can-calc-bit-timing.c b/can-calc-bit-timing.c
index abbc4ca..e3bee9f 100644
--- a/can-calc-bit-timing.c
+++ b/can-calc-bit-timing.c
@@ -23,6 +23,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <libgen.h>
 #include <string.h>
 
 #include <linux/types.h>
@@ -131,17 +132,16 @@ static inline void *netdev_priv(const struct net_device *dev)
 
 static void print_usage(char *cmd)
 {
+	printf("%s - calculate CAN bit timing parameters.\n", cmd);
 	printf("Usage: %s [options] [<CAN-contoller-name>]\n"
-	       "\tOptions:\n"
-	       "\t-q           : don't print header line\n"
-	       "\t-l           : list all support CAN controller names\n"
-	       "\t-b <bitrate> : bit-rate in bits/sec\n"
-	       "\t-s <samp_pt> : sample-point in one-tenth of a percent\n"
+	       "Options:\n"
+	       "\t-q             don't print header line\n"
+	       "\t-l             list all support CAN controller names\n"
+	       "\t-b <bitrate>   bit-rate in bits/sec\n"
+	       "\t-s <samp_pt>   sample-point in one-tenth of a percent\n"
 	       "\t               or 0 for CIA recommended sample points\n"
-	       "\t-c <clock>   : real CAN system clock in Hz\n",
+	       "\t-c <clock>     real CAN system clock in Hz\n",
 	       cmd);
-
-	exit(EXIT_FAILURE);
 }
 
 static void printf_btr_sja1000(struct can_bittiming *bt, bool hdr)
@@ -638,7 +638,7 @@ int main(int argc, char *argv[])
 
 	const struct calc_bittiming_const *btc;
 
-	while ((opt = getopt(argc, argv, "b:c:lqs:")) != -1) {
+	while ((opt = getopt(argc, argv, "b:c:lqs:?")) != -1) {
 		switch (opt) {
 		case 'b':
 			bitrate_nominal = atoi(optarg);
@@ -660,14 +660,22 @@ int main(int argc, char *argv[])
 			spt_nominal = strtoul(optarg, NULL, 10);
 			break;
 
+		case '?':
+			print_usage(basename(argv[0]));
+			exit(EXIT_SUCCESS);
+			break;
+
 		default:
-			print_usage(argv[0]);
+			print_usage(basename(argv[0]));
+			exit(EXIT_FAILURE);
 			break;
 		}
 	}
 
-	if (argc > optind + 1)
+	if (argc > optind + 1) {
 		print_usage(argv[0]);
+		exit(EXIT_FAILURE);
+	}
 
 	if (argc == optind + 1)
 		name = argv[optind];
@@ -677,8 +685,10 @@ int main(int argc, char *argv[])
 		exit(EXIT_SUCCESS);
 	}
 
-	if (spt_nominal && (spt_nominal >= 1000 || spt_nominal < 100))
+	if (spt_nominal && (spt_nominal >= 1000 || spt_nominal < 100)) {
 		print_usage(argv[0]);
+		exit(EXIT_FAILURE);
+	}
 
 	for (i = 0; i < ARRAY_SIZE(can_calc_consts); i++) {
 		if (name && strcmp(can_calc_consts[i].bittiming_const.name, name))
diff --git a/can-j1939-kickstart.md b/can-j1939-kickstart.md
index bc8f9de..721656a 100644
--- a/can-j1939-kickstart.md
+++ b/can-j1939-kickstart.md
@@ -44,7 +44,7 @@ You should have this output in terminal 1
 	40 02300: 01 23
 
 This means, from NAME 0, SA 40, PGN 02300 was received,
-with 2 databytes, *01* & *02*.
+with 2 databytes, *01* & *23*.
 
 now emit this CAN message:
 
diff --git a/canbusload.c b/canbusload.c
index f5f130b..ff07b60 100644
--- a/canbusload.c
+++ b/canbusload.c
@@ -1,6 +1,6 @@
 /* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * canbusload.c
+ * canbusload.c - monitor CAN bus load
  *
  * Copyright (c) 2002-2008 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -91,14 +91,16 @@ static char *prg;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - monitor CAN bus load.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -t (show current time on the first line)\n");
-	fprintf(stderr, "         -c (colorize lines)\n");
-	fprintf(stderr, "         -b (show bargraph in %d%% resolution)\n", PERCENTRES);
-	fprintf(stderr, "         -r (redraw the terminal - similar to top)\n");
-	fprintf(stderr, "         -i (ignore bitstuffing in bandwidth calculation)\n");
-	fprintf(stderr, "         -e (exact calculation of stuffed bits)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -t  (show current time on the first line)\n");
+	fprintf(stderr, "         -c  (colorize lines)\n");
+	fprintf(stderr, "         -b  (show bargraph in %d%% resolution)\n", PERCENTRES);
+	fprintf(stderr, "         -r  (redraw the terminal - similar to top)\n");
+	fprintf(stderr, "         -i  (ignore bitstuffing in bandwidth calculation)\n");
+	fprintf(stderr, "         -e  (exact calculation of stuffed bits)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with mandatory bitrate can be specified on the \n", MAXSOCK);
 	fprintf(stderr, "commandline in the form: <ifname>@<bitrate>\n\n");
@@ -107,7 +109,7 @@ void print_usage(char *prg)
 	fprintf(stderr, "Due to the bitstuffing estimation the calculated busload may exceed 100%%.\n");
 	fprintf(stderr, "For each given interface the data is presented in one line which contains:\n\n");
 	fprintf(stderr, "(interface) (received CAN frames) (used bits total) (used bits for payload)\n");
-	fprintf(stderr, "\nExample:\n");
+	fprintf(stderr, "\nExamples:\n");
 	fprintf(stderr, "\nuser$> canbusload can0@100000 can1@500000 can2@500000 can3@500000 -r -t -b -c\n\n");
 	fprintf(stderr, "%s 2014-02-01 21:13:16 (worst case bitstuffing)\n", prg);
 	fprintf(stderr, " can0@100000   805   74491  36656  74%% |XXXXXXXXXXXXXX......|\n");
@@ -298,7 +300,7 @@ int main(int argc, char **argv)
 		ptr = argv[optind+i];
 
 		nbytes = strlen(ptr);
-		if (nbytes >= IFNAMSIZ+sizeof("@1000000")+1) {
+		if (nbytes >= (int)(IFNAMSIZ+sizeof("@1000000")+1)) {
 			printf("name of CAN device '%s' is too long!\n", ptr);
 			return 1;
 		}
@@ -322,7 +324,7 @@ int main(int argc, char **argv)
 
 		nbytes = nptr - ptr;  /* interface name is up the first '@' */
 
-		if (nbytes >= IFNAMSIZ) {
+		if (nbytes >= (int)IFNAMSIZ) {
 			printf("name of CAN device '%s' is too long!\n", ptr);
 			return 1;
 		}
@@ -394,7 +396,7 @@ int main(int argc, char **argv)
 					return 1;
 				}
 
-				if (nbytes < sizeof(struct can_frame)) {
+				if (nbytes < (int)sizeof(struct can_frame)) {
 					fprintf(stderr, "read: incomplete CAN frame\n");
 					return 1;
 				}
diff --git a/candump.c b/candump.c
index 16382d1..846c706 100644
--- a/candump.c
+++ b/candump.c
@@ -116,9 +116,11 @@ static volatile int running = 1;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - dump CAN bus traffic.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 	fprintf(stderr, "         -H          (read hardware timestamps instead of system timestamps)\n");
 	fprintf(stderr, "         -c          (increment color mode level)\n");
 	fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
@@ -137,22 +139,23 @@ void print_usage(char *prg)
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 	fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
-	fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
-	fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
-	fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
-	fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
-	fprintf(stderr, " [j|J]               (join the given CAN filters - logical AND semantic)\n");
+	fprintf(stderr, "\nFilters:\n");
+	fprintf(stderr, "  Comma separated filters can be specified for each given CAN interface:\n");
+	fprintf(stderr, "    <can_id>:<can_mask>\n         (matches when <received_can_id> & mask == can_id & mask)\n");
+	fprintf(stderr, "    <can_id>~<can_mask>\n         (matches when <received_can_id> & mask != can_id & mask)\n");
+	fprintf(stderr, "    #<error_mask>\n         (set error frame filter, see include/linux/can/error.h)\n");
+	fprintf(stderr, "    [j|J]\n         (join the given CAN filters - logical AND semantic)\n");
 	fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "When the can_id is 8 digits long the CAN_EFF_FLAG is set for 29 bit EFF format.\n");
 	fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 	fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
-	fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
-	fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
-	fprintf(stderr, "%s vcan2,12345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
-	fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
-	fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
+	fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n\n", prg);
+	fprintf(stderr, "%s -l any,0~0,#FFFFFFFF\n         (log only error frames but no(!) data frames)\n", prg);
+	fprintf(stderr, "%s -l any,0:0,#FFFFFFFF\n         (log error frames and also all data frames)\n", prg);
+	fprintf(stderr, "%s vcan2,12345678:DFFFFFFF\n         (match only for extended CAN ID 12345678)\n", prg);
+	fprintf(stderr, "%s vcan2,123:7FF\n         (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
+	fprintf(stderr, "%s vcan2,123:C00007FF\n         (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 	fprintf(stderr, "\n");
 }
 
@@ -198,7 +201,7 @@ int idx2dindex(int ifidx, int socket) {
 	if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 		perror("SIOCGIFNAME");
 
-	if (max_devname_len < strlen(ifr.ifr_name))
+	if (max_devname_len < (int)strlen(ifr.ifr_name))
 		max_devname_len = strlen(ifr.ifr_name);
 
 	strcpy(devname[i], ifr.ifr_name);
diff --git a/canfdtest.c b/canfdtest.c
index cf59a3a..ba4bfe6 100644
--- a/canfdtest.c
+++ b/canfdtest.c
@@ -28,6 +28,7 @@
 #include <sched.h>
 #include <limits.h>
 #include <errno.h>
+#include <stdint.h>
 
 #include <sys/types.h>
 #include <sys/time.h>
@@ -48,31 +49,37 @@ static int verbose;
 static int sockfd;
 static int test_loops;
 static int exit_sig;
+static int inflight_count = CAN_MSG_COUNT;
 
 static void print_usage(char *prg)
 {
 	fprintf(stderr,
+		"%s - Full-duplex test program (DUT and host part).\n"
 		"Usage: %s [options] <can-interface>\n"
 		"\n"
-		"Options: -v       (low verbosity)\n"
+		"Options:\n"
+		"         -v       (low verbosity)\n"
 		"         -vv      (high verbosity)\n"
 		"         -g       (generate messages)\n"
 		"         -l COUNT (test loop count)\n"
+		"         -f COUNT (number of frames in flight, default: %d)\n"
 		"\n"
 		"With the option '-g' CAN messages are generated and checked\n"
 		"on <can-interface>, otherwise all messages received on the\n"
                 "<can-interface> are sent back incrementing the CAN id and\n"
 		"all data bytes. The program can be aborted with ^C.\n"
 		"\n"
-		"Example:\n"
-		"\ton DUT : %s -v can0\n"
-		"\ton Host: %s -g -v can2\n",
-		prg, prg, prg);
+		"Examples:\n"
+		"\ton DUT:\n"
+		"%s -v can0\n"
+		"\ton Host:\n"
+		"%s -g -v can2\n",
+		prg, prg, CAN_MSG_COUNT, prg, prg);
 
 	exit(1);
 }
 
-static void print_frame(struct can_frame *frame, int inc)
+static void print_frame(const struct can_frame *frame, int inc)
 {
 	int i;
 
@@ -82,12 +89,12 @@ static void print_frame(struct can_frame *frame, int inc)
 	} else {
 		printf("[%d]", frame->can_dlc);
 		for (i = 0; i < frame->can_dlc; i++)
-			printf(" %02x", frame->data[i] + inc);
+			printf(" %02x", (uint8_t)(frame->data[i] + inc));
 	}
 	printf("\n");
 }
 
-static void print_compare(struct can_frame *exp, struct can_frame *rec, int inc)
+static void print_compare(const struct can_frame *exp, const struct can_frame *rec, int inc)
 {
 	printf("expected: ");
 	print_frame(exp, inc);
@@ -109,8 +116,8 @@ static void compare_frame(struct can_frame *exp, struct can_frame *rec, int inc)
 		running = 0;
 	} else {
 		for (i = 0; i < rec->can_dlc; i++) {
-			if (rec->data[i] != ((exp->data[i] + inc) & 0xff)) {
-				printf("Databyte %x mismatch !\n", i);
+			if (rec->data[i] != (uint8_t)(exp->data[i] + inc)) {
+				printf("Databyte %x mismatch!\n", i);
 				print_compare(exp,
 					      rec, inc);
 				running = 0;
@@ -192,11 +199,47 @@ static int send_frame(struct can_frame *frame)
 	return 0;
 }
 
+static int check_frame(const struct can_frame *frame)
+{
+	int err = 0;
+	int i;
+	
+	if (frame->can_id != CAN_MSG_ID) {
+		printf("unexpected Message ID 0x%04x!\n", frame->can_id);
+		err = -1;
+	}
+
+	if (frame->can_dlc != CAN_MSG_LEN) {
+		printf("unexpected Message length %d!\n", frame->can_dlc);
+		err = -1;
+	}
+	
+	for (i = 1; i < frame->can_dlc; i++) {
+		if (frame->data[i] != frame->data[i-1]) {
+			printf("Frame inconsistent!\n");
+			print_frame(frame, 0);
+			err = -1;
+			goto out;
+		}
+	}
+
+ out:
+	return err;
+}
+
+static void inc_frame(struct can_frame *frame)
+{
+	int i;
+
+	frame->can_id++;
+	for (i = 0; i < frame->can_dlc; i++)
+		frame->data[i]++;
+}
+
 static int can_echo_dut(void)
 {
 	unsigned int frame_count = 0;
 	struct can_frame frame;
-	int i;
 
 	while (running) {
 		if (recv_frame(&frame))
@@ -205,19 +248,11 @@ static int can_echo_dut(void)
 		if (verbose == 1) {
 			echo_progress(frame.data[0]);
 		} else if (verbose > 1) {
-			printf("%04x: ", frame.can_id);
-			if (frame.can_id & CAN_RTR_FLAG) {
-				printf("remote request");
-			} else {
-				printf("[%d]", frame.can_dlc);
-				for (i = 0; i < frame.can_dlc; i++)
-					printf(" %02x", frame.data[i]);
-			}
-			printf("\n");
+			print_frame(&frame, 0);
 		}
-		frame.can_id++;
-		for (i = 0; i < frame.can_dlc; i++)
-			frame.data[i]++;
+
+		check_frame(&frame);
+		inc_frame(&frame);
 		if (send_frame(&frame))
 			return -1;
 
@@ -236,15 +271,26 @@ static int can_echo_dut(void)
 
 static int can_echo_gen(void)
 {
-	struct can_frame tx_frames[CAN_MSG_COUNT];
-	int recv_tx[CAN_MSG_COUNT];
+	struct can_frame *tx_frames;
+	int *recv_tx;
 	struct can_frame rx_frame;
 	unsigned char counter = 0;
 	int send_pos = 0, recv_rx_pos = 0, recv_tx_pos = 0, unprocessed = 0, loops = 0;
+	int err = 0;
 	int i;
 
+	tx_frames = calloc(inflight_count, sizeof(* tx_frames));
+	if (!tx_frames)
+		return -1;
+
+	recv_tx = calloc(inflight_count, sizeof(* recv_tx));
+	if (!recv_tx) {
+		err = -1;
+		goto out_free_tx_frames;
+	}
+
 	while (running) {
-		if (unprocessed < CAN_MSG_COUNT) {
+		if (unprocessed < inflight_count) {
 			/* still send messages */
 			tx_frames[send_pos].can_dlc = CAN_MSG_LEN;
 			tx_frames[send_pos].can_id = CAN_MSG_ID;
@@ -252,11 +298,13 @@ static int can_echo_gen(void)
 
 			for (i = 0; i < CAN_MSG_LEN; i++)
 				tx_frames[send_pos].data[i] = counter + i;
-			if (send_frame(&tx_frames[send_pos]))
-				return -1;
+			if (send_frame(&tx_frames[send_pos])) {
+				err = -1;
+				goto out_free;
+			}
 
 			send_pos++;
-			if (send_pos == CAN_MSG_COUNT)
+			if (send_pos == inflight_count)
 				send_pos = 0;
 			unprocessed++;
 			if (verbose == 1)
@@ -268,8 +316,10 @@ static int can_echo_gen(void)
 			else
 				millisleep(1);
 		} else {
-			if (recv_frame(&rx_frame))
-				return -1;
+			if (recv_frame(&rx_frame)) {
+				err = -1;
+				goto out_free;
+			}
 
 			if (verbose > 1)
 				print_frame(&rx_frame, 0);
@@ -279,7 +329,7 @@ static int can_echo_gen(void)
 				compare_frame(&tx_frames[recv_tx_pos], &rx_frame, 0);
 				recv_tx[recv_tx_pos] = 1;
 				recv_tx_pos++;
-				if (recv_tx_pos == CAN_MSG_COUNT)
+				if (recv_tx_pos == inflight_count)
 					recv_tx_pos = 0;
 				continue;
 			} else {
@@ -290,7 +340,7 @@ static int can_echo_gen(void)
 				/* compare with expected */
 				compare_frame(&tx_frames[recv_rx_pos], &rx_frame, 1);
 				recv_rx_pos++;
-				if (recv_rx_pos == CAN_MSG_COUNT)
+				if (recv_rx_pos == inflight_count)
 					recv_rx_pos = 0;
 			}
 
@@ -304,7 +354,12 @@ static int can_echo_gen(void)
 
 	printf("\nTest messages sent and received: %d\n", loops);
 
-	return 0;
+ out_free:
+	free(recv_tx);
+ out_free_tx_frames:
+	free(tx_frames);
+
+	return err;
 }
 
 int main(int argc, char *argv[])
@@ -320,20 +375,24 @@ int main(int argc, char *argv[])
 	signal(SIGHUP, signal_handler);
 	signal(SIGINT, signal_handler);
 
-	while ((opt = getopt(argc, argv, "gl:v")) != -1) {
+	while ((opt = getopt(argc, argv, "f:gl:v?")) != -1) {
 		switch (opt) {
 		case 'v':
 			verbose++;
 			break;
+		case 'f':
+			inflight_count = atoi(optarg);
+			break;
 
 		case 'l':
-			test_loops = atoi(optarg);;
+			test_loops = atoi(optarg);
 			break;
 
 		case 'g':
 			echo_gen = 1;
 			break;
 
+		case '?':
 		default:
 			print_usage(basename(argv[0]));
 			break;
diff --git a/cangen.c b/cangen.c
index 9a1914b..e26c08b 100644
--- a/cangen.c
+++ b/cangen.c
@@ -1,6 +1,6 @@
 /* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * cangen.c - CAN frames generator for testing purposes
+ * cangen.c - CAN frames generator
  *
  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -66,6 +66,7 @@
 #include "lib.h"
 
 #define DEFAULT_GAP 200 /* ms */
+#define DEFAULT_BURST_COUNT 1
 
 #define MODE_RANDOM	0
 #define MODE_INCREMENT	1
@@ -78,17 +79,20 @@ static unsigned long long enobufs_count;
 
 void print_usage(char *prg)
 {
-	fprintf(stderr, "\n%s: generate CAN frames\n\n", prg);
+	fprintf(stderr, "%s - CAN frames generator.\n\n", prg);
 	fprintf(stderr, "Usage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -g <ms>       (gap in milli seconds "
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -g <ms>       (gap in milli seconds "
 		"- default: %d ms)\n", DEFAULT_GAP);
 	fprintf(stderr, "         -e            (generate extended frame mode "
 		"(EFF) CAN frames)\n");
 	fprintf(stderr, "         -f            (generate CAN FD CAN frames)\n");
 	fprintf(stderr, "         -b            (generate CAN FD CAN frames"
 		" with bitrate switch (BRS))\n");
+	fprintf(stderr, "         -E            (generate CAN FD CAN frames"
+		" with error state (ESI))\n");
 	fprintf(stderr, "         -R            (send RTR frame)\n");
-	fprintf(stderr, "         -m            (mix -e -f -b -R frames)\n");
+	fprintf(stderr, "         -m            (mix -e -f -b -E -R frames)\n");
 	fprintf(stderr, "         -I <mode>     (CAN ID"
 		" generation mode - see below)\n");
 	fprintf(stderr, "         -L <mode>     (CAN data length code (dlc)"
@@ -103,28 +107,30 @@ void print_usage(char *prg)
 		" write() syscalls)\n");
 	fprintf(stderr, "         -x            (disable local loopback of "
 		"generated CAN frames)\n");
+	fprintf(stderr, "         -c            (number of messages to send in burst, "
+		"default 1)\n");
 	fprintf(stderr, "         -v            (increment verbose level for "
 		"printing sent CAN frames)\n\n");
 	fprintf(stderr, "Generation modes:\n");
-	fprintf(stderr, "'r'        => random values (default)\n");
-	fprintf(stderr, "'i'        => increment values\n");
-	fprintf(stderr, "<hexvalue> => fix value using <hexvalue>\n\n");
+	fprintf(stderr, " 'r'         => random values (default)\n");
+	fprintf(stderr, " 'i'         => increment values\n");
+	fprintf(stderr, " <hexvalue>  => fix value using <hexvalue>\n\n");
 	fprintf(stderr, "When incrementing the CAN data the data length code "
 		"minimum is set to 1.\n");
 	fprintf(stderr, "CAN IDs and data content are given and expected in hexadecimal values.\n\n");
 	fprintf(stderr, "Examples:\n");
-	fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v   ", prg);
-	fprintf(stderr, "(fixed CAN ID and length, inc. data)\n");
-	fprintf(stderr, "%s vcan0 -e -L i -v -v -v              ", prg);
-	fprintf(stderr, "(generate EFF frames, incr. length)\n");
-	fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8      ", prg);
-	fprintf(stderr, "(fixed CAN data payload and length)\n");
-	fprintf(stderr, "%s vcan0 -g 0 -i -x                    ", prg);
-	fprintf(stderr, "(full load test ignoring -ENOBUFS)\n");
-	fprintf(stderr, "%s vcan0 -g 0 -p 10 -x                 ", prg);
-	fprintf(stderr, "(full load test with polling, 10ms timeout)\n");
-	fprintf(stderr, "%s vcan0                               ", prg);
-	fprintf(stderr, "(my favourite default :)\n\n");
+	fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v\n", prg);
+	fprintf(stderr, "\t(fixed CAN ID and length, inc. data)\n");
+	fprintf(stderr, "%s vcan0 -e -L i -v -v -v\n", prg);
+	fprintf(stderr, "\t(generate EFF frames, incr. length)\n");
+	fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8\n", prg);
+	fprintf(stderr, "\t(fixed CAN data payload and length)\n");
+	fprintf(stderr, "%s vcan0 -g 0 -i -x\n", prg);
+	fprintf(stderr, "\t(full load test ignoring -ENOBUFS)\n");
+	fprintf(stderr, "%s vcan0 -g 0 -p 10 -x\n", prg);
+	fprintf(stderr, "\t(full load test with polling, 10ms timeout)\n");
+	fprintf(stderr, "%s vcan0\n", prg);
+	fprintf(stderr, "\t(my favourite default :)\n\n");
 }
 
 void sigterm(int signo)
@@ -135,11 +141,13 @@ void sigterm(int signo)
 int main(int argc, char **argv)
 {
 	double gap = DEFAULT_GAP;
+	unsigned long burst_count = DEFAULT_BURST_COUNT;
 	unsigned long polltimeout = 0;
 	unsigned char ignore_enobufs = 0;
 	unsigned char extended = 0;
 	unsigned char canfd = 0;
 	unsigned char brs = 0;
+	unsigned char esi = 0;
 	unsigned char mix = 0;
 	unsigned char id_mode = MODE_RANDOM;
 	unsigned char data_mode = MODE_RANDOM;
@@ -148,6 +156,7 @@ int main(int argc, char **argv)
 	unsigned char verbose = 0;
 	unsigned char rtr_frame = 0;
 	int count = 0;
+	unsigned long burst_sent_count = 0;
 	int mtu, maxdlen;
 	uint64_t incdata = 0;
 	int incdlc = 0;
@@ -175,7 +184,7 @@ int main(int argc, char **argv)
 	signal(SIGHUP, sigterm);
 	signal(SIGINT, sigterm);
 
-	while ((opt = getopt(argc, argv, "ig:ebfmI:L:D:xp:n:vRh?")) != -1) {
+	while ((opt = getopt(argc, argv, "ig:ebEfmI:L:D:xp:n:c:vRh?")) != -1) {
 		switch (opt) {
 
 		case 'i':
@@ -199,6 +208,11 @@ int main(int argc, char **argv)
 			canfd = 1;
 			break;
 
+		case 'E':
+			esi = 1; /* error state indicator implies CAN FD */
+			canfd = 1;
+			break;
+
 		case 'm':
 			mix = 1;
 			canfd = 1; /* to switch the socket into CAN FD mode */
@@ -240,6 +254,10 @@ int main(int argc, char **argv)
 			}
 			break;
 
+		case 'c':
+			burst_count = strtoul(optarg, NULL, 10);
+			break;
+
 		case 'v':
 			verbose++;
 			break;
@@ -369,6 +387,8 @@ int main(int argc, char **argv)
 			maxdlen = CANFD_MAX_DLEN;
 			if (brs)
 				frame.flags |= CANFD_BRS;
+			if (esi)
+				frame.flags |= CANFD_ESI;
 		} else {
 			mtu = CAN_MTU;
 			maxdlen = CAN_MAX_DLEN;
@@ -458,10 +478,14 @@ resend:
 			return 1;
 		}
 
-		if (gap) /* gap == 0 => performance test :-] */
+		burst_sent_count++;
+		if (gap && burst_sent_count >= burst_count) /* gap == 0 => performance test :-] */
 			if (nanosleep(&ts, NULL))
 				return 1;
 
+		if (burst_sent_count >= burst_count)
+			burst_sent_count = 0;
+
 		if (id_mode == MODE_INCREMENT)
 			frame.can_id++;
 
@@ -490,8 +514,10 @@ resend:
 			i = random();
 			extended = i&1;
 			canfd = i&2;
-			if (canfd)
+			if (canfd) {
 				brs = i&4;
+				esi = i&8;
+			}
 			rtr_frame = ((i&24) == 24); /* reduce RTR frames to 1/4 */
 		}
 	}
diff --git a/cangw.c b/cangw.c
index 52314f6..715a44f 100644
--- a/cangw.c
+++ b/cangw.c
@@ -80,7 +80,7 @@ struct fdmodattr {
 
 /* some netlink helpers stolen from iproute2 package */
 #define NLMSG_TAIL(nmsg) \
-        ((struct rtattr *)(((void *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len)))
+        ((struct rtattr *)(((char *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len)))
 
 int addattr_l(struct nlmsghdr *n, int maxlen, int type, const void *data,
 	      int alen)
@@ -88,7 +88,7 @@ int addattr_l(struct nlmsghdr *n, int maxlen, int type, const void *data,
 	int len = RTA_LENGTH(alen);
 	struct rtattr *rta;
 
-	if (NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len) > maxlen) {
+	if ((int)(NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len)) > maxlen) {
 		fprintf(stderr, "addattr_l: message exceeded bound of %d\n",
 			maxlen);
 		return -1;
@@ -222,55 +222,60 @@ void print_cs_crc8(struct cgw_csum_crc8 *cs_crc8)
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - manage PF_CAN netlink gateway.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options]\n\n", prg);
-	fprintf(stderr, "Commands:  -A (add a new rule)\n");
-	fprintf(stderr, "           -D (delete a rule)\n");
-	fprintf(stderr, "           -F (flush / delete all rules)\n");
-	fprintf(stderr, "           -L (list all rules)\n");
-	fprintf(stderr, "Mandatory: -s <src_dev>  (source netdevice)\n");
-	fprintf(stderr, "           -d <dst_dev>  (destination netdevice)\n");
-	fprintf(stderr, "Options:   -X (this is a CAN FD rule)\n");
-	fprintf(stderr, "           -t (preserve src_dev rx timestamp)\n");
-	fprintf(stderr, "           -e (echo sent frames - recommended on vcanx)\n");
-	fprintf(stderr, "           -i (allow to route to incoming interface)\n");
-	fprintf(stderr, "           -u <uid> (user defined modification identifier)\n");
-	fprintf(stderr, "           -l <hops> (limit the number of frame hops / routings)\n");
-	fprintf(stderr, "           -f <filter> (set CAN filter)\n");
-	fprintf(stderr, "           -m <mod> (set Classic CAN frame modifications)\n");
-	fprintf(stderr, "           -M <MOD> (set CAN FD frame modifications)\n");
-	fprintf(stderr, "           -x <from_idx>:<to_idx>:<result_idx>:<init_xor_val> (XOR checksum)\n");
-	fprintf(stderr, "           -c <from>:<to>:<result>:<init_val>:<xor_val>:<crctab[256]> (CRC8 cs)\n");
-	fprintf(stderr, "           -p <profile>:[<profile_data>] (CRC8 checksum profile & parameters)\n");
+	fprintf(stderr, "Commands:\n");
+	fprintf(stderr, "          -A  (add a new rule)\n");
+	fprintf(stderr, "          -D  (delete a rule)\n");
+	fprintf(stderr, "          -F  (flush / delete all rules)\n");
+	fprintf(stderr, "          -L  (list all rules)\n");
+	fprintf(stderr, "Mandatory:\n");
+	fprintf(stderr, "          -s <src_dev>  (source netdevice)\n");
+	fprintf(stderr, "          -d <dst_dev>  (destination netdevice)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "          -X  (this is a CAN FD rule)\n");
+	fprintf(stderr, "          -t  (preserve src_dev rx timestamp)\n");
+	fprintf(stderr, "          -e  (echo sent frames - recommended on vcanx)\n");
+	fprintf(stderr, "          -i  (allow to route to incoming interface)\n");
+	fprintf(stderr, "          -u <uid>  (user defined modification identifier)\n");
+	fprintf(stderr, "          -l <hops>  (limit the number of frame hops / routings)\n");
+	fprintf(stderr, "          -f <filter>  (set CAN filter)\n");
+	fprintf(stderr, "          -m <mod>  (set Classic CAN frame modifications)\n");
+	fprintf(stderr, "          -M <MOD>  (set CAN FD frame modifications)\n");
+	fprintf(stderr, "          -x <from_idx>:<to_idx>:<result_idx>:<init_xor_val>  (XOR checksum)\n");
+	fprintf(stderr, "          -c <from>:<to>:<result>:<init_val>:<xor_val>:<crctab[256]>  (CRC8 cs)\n");
+	fprintf(stderr, "          -p <profile>:[<profile_data>]  (CRC8 checksum profile & parameters)\n");
 	fprintf(stderr, "\nValues are given and expected in hexadecimal values. Leading 0s can be omitted.\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "<filter> is a <value><mask> CAN identifier filter\n");
-	fprintf(stderr, "   <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
-	fprintf(stderr, "   <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
+	fprintf(stderr, "<filter> is a <value><mask> CAN identifier filter:\n");
+	fprintf(stderr, "  <can_id>:<can_mask>  (matches when <received_can_id> & mask == can_id & mask)\n");
+	fprintf(stderr, "  <can_id>~<can_mask>  (matches when <received_can_id> & mask != can_id & mask)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "<mod> is a CAN frame modification instruction consisting of\n");
 	fprintf(stderr, "<instruction>:<can_frame-elements>:<can_id>.<can_dlc>.<can_data>\n");
-	fprintf(stderr, " - <instruction> is one of 'AND' 'OR' 'XOR' 'SET'\n");
-	fprintf(stderr, " - <can_frame-elements> is _one_ or _more_ of 'I'dentifier 'L'ength 'D'ata\n");
-	fprintf(stderr, " - <can_id> is an u32 value containing the CAN Identifier\n");
-	fprintf(stderr, " - <can_dlc> is an u8 value containing the data length code (0 .. 8)\n");
-	fprintf(stderr, " - <can_data> is always eight(!) u8 values containing the CAN frames data\n");
+	fprintf(stderr, "  <instruction>  is one of 'AND' 'OR' 'XOR' 'SET'\n");
+	fprintf(stderr, "  <can_frame-elements>  is _one_ or _more_ of 'I'dentifier 'L'ength 'D'ata\n");
+	fprintf(stderr, "  <can_id>  is an u32 value containing the CAN Identifier\n");
+	fprintf(stderr, "  <can_dlc>  is an u8 value containing the data length code (0 .. 8)\n");
+	fprintf(stderr, "  <can_data>  is always eight(!) u8 values containing the CAN frames data\n");
+	fprintf(stderr, "\n");
 	fprintf(stderr, "<MOD> is a CAN FD frame modification instruction consisting of\n");
 	fprintf(stderr, "<instruction>:<canfd_frame-elements>:<can_id>.<flags>.<len>.<can_data>\n");
-	fprintf(stderr, " - <instruction> is one of 'AND' 'OR' 'XOR' 'SET'\n");
-	fprintf(stderr, " - <canfd_frame-elements> is _one_ or _more_ of 'I'd 'F'lags 'L'ength 'D'ata\n");
-	fprintf(stderr, " - <can_id> is an u32 value containing the CAN FD Identifier\n");
-	fprintf(stderr, " - <flags> is an u8 value containing CAN FD flags (CANFD_BRS, CANFD_ESI)\n");
-	fprintf(stderr, " - <len> is an u8 value containing the data length (0 .. 64)\n");
-	fprintf(stderr, " - <can_data> is always 64(!) u8 values containing the CAN FD frames data\n");
+	fprintf(stderr, "  <instruction>  is one of 'AND' 'OR' 'XOR' 'SET'\n");
+	fprintf(stderr, "  <canfd_frame-elements>  is _one_ or _more_ of 'I'd 'F'lags 'L'ength 'D'ata\n");
+	fprintf(stderr, "  <can_id>  is an u32 value containing the CAN FD Identifier\n");
+	fprintf(stderr, "  <flags>  is an u8 value containing CAN FD flags (CANFD_BRS, CANFD_ESI)\n");
+	fprintf(stderr, "  <len>  is an u8 value containing the data length (0 .. 64)\n");
+	fprintf(stderr, "  <can_data>  is always 64(!) u8 values containing the CAN FD frames data\n");
 	fprintf(stderr, "The max. four modifications are performed in the order AND -> OR -> XOR -> SET\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "Example:\n");
-	fprintf(stderr, "%s -A -s can0 -d vcan3 -e -f 123:C00007FF -m SET:IL:333.4.1122334455667788\n", prg);
-	fprintf(stderr, "\n");
 	fprintf(stderr, "Supported CRC 8 profiles:\n");
-	fprintf(stderr, "Profile '%d' (1U8)       - add one additional u8 value\n", CGW_CRC8PRF_1U8);
-	fprintf(stderr, "Profile '%d' (16U8)      - add u8 value from table[16] indexed by (data[1] & 0xF)\n", CGW_CRC8PRF_16U8);
-	fprintf(stderr, "Profile '%d' (SFFID_XOR) - add u8 value (can_id & 0xFF) ^ (can_id >> 8 & 0xFF)\n", CGW_CRC8PRF_SFFID_XOR);
+	fprintf(stderr, " Profile '%d' (1U8)        add one additional u8 value\n", CGW_CRC8PRF_1U8);
+	fprintf(stderr, " Profile '%d' (16U8)       add u8 value from table[16] indexed by (data[1] & 0xF)\n", CGW_CRC8PRF_16U8);
+	fprintf(stderr, " Profile '%d' (SFFID_XOR)  add u8 value (can_id & 0xFF) ^ (can_id >> 8 & 0xFF)\n", CGW_CRC8PRF_SFFID_XOR);
+	fprintf(stderr, "\n");
+	fprintf(stderr, "Examples:\n");
+	fprintf(stderr, "%s -A -s can0 -d vcan3 -e -f 123:C00007FF -m SET:IL:333.4.1122334455667788\n", prg);
 	fprintf(stderr, "\n");
 }
 
diff --git a/canlogserver.c b/canlogserver.c
index 4429ccd..0f7f255 100644
--- a/canlogserver.c
+++ b/canlogserver.c
@@ -89,7 +89,8 @@ void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -m <mask>   (ID filter mask.  Default 0x00000000) *\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -m <mask>   (ID filter mask.  Default 0x00000000) *\n");
 	fprintf(stderr, "         -v <value>  (ID filter value. Default 0x00000000) *\n");
 	fprintf(stderr, "         -i <0|1>    (invert the specified ID filter) *\n");
 	fprintf(stderr, "         -e <emask>  (mask for error frames)\n");
@@ -139,7 +140,7 @@ int idx2dindex(int ifidx, int socket)
 	if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 		perror("SIOCGIFNAME");
 
-	if (max_devname_len < strlen(ifr.ifr_name))
+	if (max_devname_len < (int)strlen(ifr.ifr_name))
 		max_devname_len = strlen(ifr.ifr_name);
 
 	strcpy(devname[i], ifr.ifr_name);
diff --git a/canplayer.c b/canplayer.c
index 7932f7a..1482dc8 100644
--- a/canplayer.c
+++ b/canplayer.c
@@ -77,30 +77,32 @@ extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - replay a compact CAN frame logfile to CAN devices.\n", prg);
 	fprintf(stderr, "\nUsage: %s <options> [interface assignment]*\n\n", prg);
-	fprintf(stderr, "Options:              -I <infile>  (default stdin)\n");
-	fprintf(stderr, "                      -l <num>     "
-		"(process input file <num> times)\n"
-		"                                   "
-		"(Use 'i' for infinite loop - default: %d)\n", DEFAULT_LOOPS);
-	fprintf(stderr, "                      -t           (ignore timestamps: "
-		"send frames immediately)\n");
-	fprintf(stderr, "                      -g <ms>      (gap in milli "
-		"seconds - default: %d ms)\n", DEFAULT_GAP);
-	fprintf(stderr, "                      -s <s>       (skip gaps in "
-		"timestamps > 's' seconds)\n");
-	fprintf(stderr, "                      -x           (disable local "
-		"loopback of sent CAN frames)\n");
-	fprintf(stderr, "                      -v           (verbose: print "
-		"sent CAN frames)\n\n");
-	fprintf(stderr, "Interface assignment:  0..n assignments like "
-		"<write-if>=<log-if>\n");
-	fprintf(stderr, "e.g. vcan2=can0 ( send frames received from can0 on "
-		"vcan2 )\n");
-	fprintf(stderr, "extra hook: stdout=can0 ( print logfile line marked with can0 on "
-		"stdout )\n");
-	fprintf(stderr, "No assignments => send frames to the interface(s) they "
-		"had been received from.\n\n");
+        fprintf(stderr, "Options:\n");
+        fprintf(stderr, "         -I <infile>  (default stdin)\n");
+        fprintf(stderr, "         -l <num>     "
+                "(process input file <num> times)\n"
+                "                      "
+                "(Use 'i' for infinite loop - default: %d)\n", DEFAULT_LOOPS);
+        fprintf(stderr, "         -t           (ignore timestamps: "
+                "send frames immediately)\n");
+        fprintf(stderr, "         -g <ms>      (gap in milli "
+                "seconds - default: %d ms)\n", DEFAULT_GAP);
+        fprintf(stderr, "         -s <s>       (skip gaps in "
+                "timestamps > 's' seconds)\n");
+        fprintf(stderr, "         -x           (disable local "
+                "loopback of sent CAN frames)\n");
+        fprintf(stderr, "         -v           (verbose: print "
+                "sent CAN frames)\n\n");
+        fprintf(stderr, "Interface assignment:\n");
+	fprintf(stderr, " 0..n assignments like <write-if>=<log-if>\n\n");
+	fprintf(stderr, " e.g. vcan2=can0  (send frames received from can0 on "
+		"vcan2)\n");
+	fprintf(stderr, " extra hook: stdout=can0  (print logfile line marked with can0 on "
+		"stdout)\n");
+	fprintf(stderr, " No assignments  => send frames to the interface(s) they "
+		"had been received from\n\n");
 	fprintf(stderr, "Lines in the logfile not beginning with '(' (start of "
 		"timestamp) are ignored.\n\n");
 }
@@ -357,7 +359,7 @@ int main(int argc, char **argv)
 				return 1;
 			}
 			strcpy(buf, argv[optind+i]);
-			for (j=0; j<BUFSZ; j++) { /* find '=' in assignment */
+			for (j=0; j<(int)BUFSZ; j++) { /* find '=' in assignment */
 				if (buf[j] == '=')
 					break;
 			}
@@ -493,7 +495,7 @@ int main(int argc, char **argv)
 					/* test for logfile timestamps jumping backwards OR      */
 					/* if the user likes to skip long gaps in the timestamps */
 					if ((last_log_tv.tv_sec > log_tv.tv_sec) ||
-					    (skipgap && labs(last_log_tv.tv_sec - log_tv.tv_sec) > skipgap))
+					    (skipgap && labs(last_log_tv.tv_sec - log_tv.tv_sec) > (long)skipgap))
 						create_diff_tv(&today_tv, &diff_tv, &log_tv);
 
 					last_log_tv = log_tv;
diff --git a/cansend.c b/cansend.c
index 8db9fd2..76aacfc 100644
--- a/cansend.c
+++ b/cansend.c
@@ -1,6 +1,6 @@
 /* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
+ * cansend.c - send CAN-frames via CAN_RAW sockets
  *
  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -56,6 +56,29 @@
 
 #include "lib.h"
 
+void print_usage(char *prg)
+{
+	fprintf(stderr, "%s - send CAN-frames via CAN_RAW sockets.\n", prg);
+	fprintf(stderr, "\nUsage: %s <device> <can_frame>.\n", prg);
+	fprintf(stderr, "\n<can_frame>:\n");
+	fprintf(stderr, " <can_id>#{data}          for 'classic' CAN 2.0 data frames\n");
+	fprintf(stderr, " <can_id>#R{len}          for 'classic' CAN 2.0 data frames\n");
+	fprintf(stderr, " <can_id>##<flags>{data}  for CAN FD frames\n\n");
+	fprintf(stderr, "<can_id>:\n"
+	        " 3 (SFF) or 8 (EFF) hex chars\n");
+	fprintf(stderr, "{data}:\n"
+	        " 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')\n");
+	fprintf(stderr, "{len}:\n"
+		 " an optional 0..8 value as RTR frames can contain a valid dlc field\n");
+	fprintf(stderr, "<flags>:\n"
+	        " a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n\n");
+	fprintf(stderr, "Examples:\n");
+	fprintf(stderr, "  5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n"
+		 "  1F334455#1122334455667788 / 123#R / 00000123#R3\n\n");
+}
+
+
+
 int main(int argc, char **argv)
 {
 	int s; /* can raw socket */ 
@@ -68,27 +91,15 @@ int main(int argc, char **argv)
 
 	/* check command line options */
 	if (argc != 3) {
-		fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
+		print_usage(argv[0]);
 		return 1;
 	}
 
 	/* parse CAN frame */
 	required_mtu = parse_canframe(argv[2], &frame);
 	if (!required_mtu){
-		fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
-		fprintf(stderr, "    <can_id>#{data}            for 'classic' CAN 2.0 data frames\n");
-		fprintf(stderr, "    <can_id>#R{len}            for 'classic' CAN 2.0 RTR frames\n");
-		fprintf(stderr, "    <can_id>##<flags>{data}    for CAN FD frames\n\n");
-		fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
-		fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
-		fprintf(stderr, " separated by '.')\n");
-		fprintf(stderr, "{len} is an optional 0..8 value as RTR frames can contain a");
-		fprintf(stderr, " valid dlc field\n");
-		fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
-		fprintf(stderr, " canfd_frame.flags\n\n");
-		fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
-		fprintf(stderr, "123##1 / 213##311223344\n     1F334455#1122334455667788 / ");
-		fprintf(stderr, "123#R / 00000123#R3\n\n");
+		fprintf(stderr, "\nWrong CAN-frame format!\n\n");
+		print_usage(argv[0]);
 		return 1;
 	}
 
@@ -110,7 +121,7 @@ int main(int argc, char **argv)
 	addr.can_family = AF_CAN;
 	addr.can_ifindex = ifr.ifr_ifindex;
 
-	if (required_mtu > CAN_MTU) {
+	if (required_mtu > (int)CAN_MTU) {
 
 		/* check if the frame fits into the CAN netdevice */
 		if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
diff --git a/cansniffer.c b/cansniffer.c
index 0ff29b4..90d8d75 100644
--- a/cansniffer.c
+++ b/cansniffer.c
@@ -1,6 +1,6 @@
 /* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * cansniffer.c
+ * cansniffer.c - volatile CAN content visualizer
  *
  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -44,6 +44,8 @@
 
 #include <stdio.h>
 #include <stdlib.h>
+#include <stdint.h>
+#include <stdbool.h>
 #include <unistd.h>
 #include <string.h>
 #include <fcntl.h>
@@ -61,13 +63,14 @@
 #include <net/if.h>
 
 #include <linux/can.h>
-#include <linux/can/bcm.h>
+#include <linux/can/raw.h>
 #include <linux/sockios.h>
 
 #include "terminal.h"
 
 #define SETFNAME "sniffset."
 #define ANYDEV   "any"
+#define MAX_SLOTS 2048
 
 /* flags */
 
@@ -92,9 +95,10 @@
 
 #define ATTCOLOR ATTBOLD FGRED
 
-#define STARTLINESTR "XX delta   ID  data ... "
+#define LDL " | "	/* long delimiter */
+#define SDL "|"		/* short delimiter for binary on 80 chars terminal */
 
-struct snif {
+static struct snif {
 	int flags;
 	long hold;
 	long timeout;
@@ -104,75 +108,118 @@ struct snif {
 	struct can_frame current;
 	struct can_frame marker;
 	struct can_frame notch;
-} sniftab[2048];
-
+} sniftab[MAX_SLOTS];
 
 extern int optind, opterr, optopt;
 
+static int idx;
 static int running = 1;
 static int clearscreen = 1;
+static int print_eff;
 static int notch;
-static int filter_id_only;
 static long timeout = TIMEOUT;
 static long hold = HOLD;
 static long loop = LOOP;
 static unsigned char binary;
+static unsigned char binary8;
 static unsigned char binary_gap;
 static unsigned char color;
 static char *interface;
+static char *vdl = LDL; /* variable delimiter */
+static char *ldl = LDL; /* long delimiter */
 
-void rx_setup (int fd, int id);
-void rx_delete (int fd, int id);
-void print_snifline(int id);
-int handle_keyb(int fd);
-int handle_bcm(int fd, long currcms);
-int handle_timeo(int fd, long currcms);
+void print_snifline(int slot);
+int handle_keyb(void);
+int handle_frame(int fd, long currcms);
+int handle_timeo(long currcms);
 void writesettings(char* name);
-void readsettings(char* name, int sockfd);
+int readsettings(char* name);
+int sniftab_index(canid_t id);
+
+void switchvdl(char *delim)
+{
+	/* reduce delimiter size for EFF IDs in binary display of up
+	   to 8 data bytes payload to fit into 80 chars per line */
+	if (binary8)
+		vdl = delim;
+}
+
+int comp(const void *elem1, const void *elem2)
+{
+    unsigned long f = ((struct snif*)elem1)->current.can_id;
+    unsigned long s = ((struct snif*)elem2)->current.can_id;
+
+    if (f > s)
+	    return  1;
+    if (f < s)
+	    return -1;
+
+    return 0;
+}
 
 void print_usage(char *prg)
 {
 	const char manual [] = {
 		"commands that can be entered at runtime:\n"
-		"\n"
-		"q<ENTER>       - quit\n"
-		"b<ENTER>       - toggle binary / HEX-ASCII output\n"
-		"B<ENTER>       - toggle binary with gap / HEX-ASCII output (exceeds 80 chars!)\n"
-		"c<ENTER>       - toggle color mode\n"
-		"#<ENTER>       - notch currently marked/changed bits (can be used repeatedly)\n"
-		"*<ENTER>       - clear notched marked\n"
-		"rMYNAME<ENTER> - read settings file (filter/notch)\n"
-		"wMYNAME<ENTER> - write settings file (filter/notch)\n"
-		"+FILTER<ENTER> - add CAN-IDs to sniff\n"
-		"-FILTER<ENTER> - remove CAN-IDs to sniff\n"
+		" q<ENTER>        - quit\n"
+		" b<ENTER>        - toggle binary / HEX-ASCII output\n"
+		" 8<ENTER>        - toggle binary / HEX-ASCII output (small for EFF on 80 chars)\n"
+		" B<ENTER>        - toggle binary with gap / HEX-ASCII output (exceeds 80 chars!)\n"
+		" c<ENTER>        - toggle color mode\n"
+		" <SPACE><ENTER>  - force a clear screen\n"
+		" #<ENTER>        - notch currently marked/changed bits (can be used repeatedly)\n"
+		" *<ENTER>        - clear notched marked\n"
+		" rMYNAME<ENTER>  - read settings file (filter/notch)\n"
+		" wMYNAME<ENTER>  - write settings file (filter/notch)\n"
+		" a<ENTER>        - enable 'a'll SFF CAN-IDs to sniff\n"
+		" n<ENTER>        - enable 'n'one SFF CAN-IDs to sniff\n"
+		" A<ENTER>        - enable 'A'll EFF CAN-IDs to sniff\n"
+		" N<ENTER>        - enable 'N'one EFF CAN-IDs to sniff\n"
+		" +FILTER<ENTER>  - add CAN-IDs to sniff\n"
+		" -FILTER<ENTER>  - remove CAN-IDs to sniff\n"
 		"\n"
 		"FILTER can be a single CAN-ID or a CAN-ID/Bitmask:\n"
-		"+1F5<ENTER>    - add CAN-ID 0x1F5\n"
-		"-42E<ENTER>    - remove CAN-ID 0x42E\n"
-		"-42E7FF<ENTER> - remove CAN-ID 0x42E (using Bitmask)\n"
-		"-500700<ENTER> - remove CAN-IDs 0x500 - 0x5FF\n"
-		"+400600<ENTER> - add CAN-IDs 0x400 - 0x5FF\n"
-		"+000000<ENTER> - add all CAN-IDs\n"
-		"-000000<ENTER> - remove all CAN-IDs\n"
+		"\n"
+		" single SFF 11 bit IDs:\n"
+		"  +1F5<ENTER>               - add SFF CAN-ID 0x1F5\n"
+		"  -42E<ENTER>               - remove SFF CAN-ID 0x42E\n"
+		"\n"
+		" single EFF 29 bit IDs:\n"
+		"  +18FEDF55<ENTER>          - add EFF CAN-ID 0x18FEDF55\n"
+		"  -00000090<ENTER>          - remove EFF CAN-ID 0x00000090\n"
+		"\n"
+		" CAN-ID/Bitmask SFF:\n"
+		"  -42E7FF<ENTER>            - remove SFF CAN-ID 0x42E (using Bitmask)\n"
+		"  -500700<ENTER>            - remove SFF CAN-IDs 0x500 - 0x5FF\n"
+		"  +400600<ENTER>            - add SFF CAN-IDs 0x400 - 0x5FF\n"
+		"  +000000<ENTER>            - add all SFF CAN-IDs\n"
+		"  -000000<ENTER>            - remove all SFF CAN-IDs\n"
+		"\n"
+		" CAN-ID/Bitmask EFF:\n"
+		"  -0000000000000000<ENTER>  - remove all EFF CAN-IDs\n"
+		"  +12345678000000FF<ENTER>  - add EFF CAN IDs xxxxxx78\n"
+		"  +0000000000000000<ENTER>  - add all EFF CAN-IDs\n"
 		"\n"
 		"if (id & filter) == (sniff-id & filter) the action (+/-) is performed,\n"
-		"which is quite easy when the filter is 000\n"
+		"which is quite easy when the filter is 000 resp. 00000000 for EFF.\n"
 		"\n"
 	};
 
+	fprintf(stderr, "%s - volatile CAN content visualizer.\n", prg);
 	fprintf(stderr, "\nUsage: %s [can-interface]\n", prg);
-	fprintf(stderr, "Options: -m <mask>  (initial FILTER default 0x00000000)\n");
-	fprintf(stderr, "         -v <value> (initial FILTER default 0x00000000)\n");
-	fprintf(stderr, "         -q         (quiet - all IDs deactivated)\n");
-	fprintf(stderr, "         -r <name>  (read %sname from file)\n", SETFNAME);
-	fprintf(stderr, "         -b         (start with binary mode)\n");
-	fprintf(stderr, "         -B         (start with binary mode with gap - exceeds 80 chars!)\n");
-	fprintf(stderr, "         -c         (color changes)\n");
-	fprintf(stderr, "         -f         (filter on CAN-ID only)\n");
-	fprintf(stderr, "         -t <time>  (timeout for ID display [x10ms] default: %d, 0 = OFF)\n", TIMEOUT);
-	fprintf(stderr, "         -h <time>  (hold marker on changes [x10ms] default: %d)\n", HOLD);
-	fprintf(stderr, "         -l <time>  (loop time (display) [x10ms] default: %d)\n", LOOP);
-	fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -q          (quiet - all IDs deactivated)\n");
+	fprintf(stderr, "         -r <name>   (read %sname from file)\n", SETFNAME);
+	fprintf(stderr, "         -e          (fix extended frame format output - no auto detect)\n");
+	fprintf(stderr, "         -b          (start with binary mode)\n");
+	fprintf(stderr, "         -8          (start with binary mode - for EFF on 80 chars)\n");
+	fprintf(stderr, "         -B          (start with binary mode with gap - exceeds 80 chars!)\n");
+	fprintf(stderr, "         -c          (color changes)\n");
+	fprintf(stderr, "         -t <time>   (timeout for ID display [x10ms] default: %d, 0 = OFF)\n", TIMEOUT);
+	fprintf(stderr, "         -h <time>   (hold marker on changes [x10ms] default: %d)\n", HOLD);
+	fprintf(stderr, "         -l <time>   (loop time (display) [x10ms] default: %d)\n", LOOP);
+	fprintf(stderr, "         -?          (print this help text)\n");
+	fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces.\n", ANYDEV);
 	fprintf(stderr, "\n");
 	fprintf(stderr, "%s", manual);
 }
@@ -186,37 +233,28 @@ int main(int argc, char **argv)
 {
 	fd_set rdfs;
 	int s;
-	canid_t mask = 0;
-	canid_t value = 0;
 	long currcms = 0;
 	long lastcms = 0;
 	unsigned char quiet = 0;
 	int opt, ret;
 	struct timeval timeo, start_tv, tv;
 	struct sockaddr_can addr;
-	struct ifreq ifr;
 	int i;
 
-
 	signal(SIGTERM, sigterm);
 	signal(SIGHUP, sigterm);
 	signal(SIGINT, sigterm);
 
-	for (i=0; i < 2048 ;i++) /* default: check all CAN-IDs */
+	for (i = 0; i < MAX_SLOTS ;i++) /* default: enable all slots */
 		do_set(i, ENABLE);
 
-	while ((opt = getopt(argc, argv, "m:v:r:t:h:l:qbBcf?")) != -1) {
+	while ((opt = getopt(argc, argv, "r:t:h:l:qeb8Bc?")) != -1) {
 		switch (opt) {
-		case 'm':
-			sscanf(optarg, "%x", &mask);
-			break;
-
-		case 'v':
-			sscanf(optarg, "%x", &value);
-			break;
-
 		case 'r':
-			readsettings(optarg, 0); /* no BCM-setting here */
+			if (readsettings(optarg) < 0) {
+				fprintf(stderr, "Unable to read setting file '%s%s'!\n", SETFNAME, optarg);
+				exit(1);
+			}
 			break;
 
 		case 't':
@@ -235,11 +273,22 @@ int main(int argc, char **argv)
 			quiet = 1;
 			break;
 
+		case 'e':
+			print_eff = 1;
+			break;
+
 		case 'b':
 			binary = 1;
 			binary_gap = 0;
 			break;
 
+		case '8':
+			binary = 1;
+			binary8 = 1; /* enable variable delimiter for EFF */
+			switchvdl(SDL); /* switch directly to short delimiter */
+			binary_gap = 0;
+			break;
+
 		case 'B':
 			binary = 1;
 			binary_gap = 1;
@@ -249,11 +298,9 @@ int main(int argc, char **argv)
 			color = 1;
 			break;
 
-		case 'f':
-			filter_id_only = 1;
-			break;
-
 		case '?':
+			print_usage(basename(argv[0]));
+			exit(0);
 			break;
 
 		default:
@@ -268,16 +315,8 @@ int main(int argc, char **argv)
 	}
 	
 	if (quiet)
-		for (i = 0; i < 2048; i++)
+		for (i = 0; i < MAX_SLOTS; i++)
 			do_clr(i, ENABLE);
-	else if (mask || value) {
-		for (i=0; i < 2048 ;i++) {
-			if ((i & mask) ==  (value & mask))
-				do_set(i, ENABLE);
-			else
-				do_clr(i, ENABLE);
-		}
-	}
 
 	if (strlen(argv[optind]) >= IFNAMSIZ) {
 		printf("name of CAN device '%s' is too long!\n", argv[optind]);
@@ -286,33 +325,24 @@ int main(int argc, char **argv)
 
 	interface = argv[optind];
 
-	if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
+	s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+	if (s < 0) {
 		perror("socket");
 		return 1;
 	}
 
 	addr.can_family = AF_CAN;
 
-	if (strcmp(ANYDEV, argv[optind])) {
-		strcpy(ifr.ifr_name, argv[optind]);
-		if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
-			perror("SIOCGIFINDEX");
-			exit(1);
-		}
-		addr.can_ifindex = ifr.ifr_ifindex;
-	}
+	if (strcmp(ANYDEV, argv[optind]))
+		addr.can_ifindex = if_nametoindex(argv[optind]);
 	else
 		addr.can_ifindex = 0; /* any can interface */
 
-	if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 		perror("connect");
 		return 1;
 	}
 
-	for (i=0; i < 2048 ;i++) /* initial BCM setup */
-		if (is_set(i, ENABLE))
-			rx_setup(s, i);
-
 	gettimeofday(&start_tv, NULL);
 	tv.tv_sec = tv.tv_usec = 0;
 
@@ -337,13 +367,13 @@ int main(int argc, char **argv)
 		currcms = (tv.tv_sec - start_tv.tv_sec) * 100 + (tv.tv_usec / 10000);
 
 		if (FD_ISSET(0, &rdfs))
-			running &= handle_keyb(s);
+			running &= handle_keyb();
 
 		if (FD_ISSET(s, &rdfs))
-			running &= handle_bcm(s, currcms);
+			running &= handle_frame(s, currcms);
 
 		if (currcms - lastcms >= loop) {
-			running &= handle_timeo(s, currcms);
+			running &= handle_timeo(currcms);
 			lastcms = currcms;
 		}
 	}
@@ -354,85 +384,99 @@ int main(int argc, char **argv)
 	return 0;
 }
 
-void rx_setup (int fd, int id){
+void do_modify_sniftab(unsigned int value, unsigned int mask, char cmd)
+{
+	int i;
 
-	struct {
-		struct bcm_msg_head msg_head;
-		struct can_frame frame;
-	} txmsg;
-
-	txmsg.msg_head.opcode  = RX_SETUP;
-	txmsg.msg_head.can_id  = id;
-	txmsg.msg_head.flags   = RX_CHECK_DLC;
-	txmsg.msg_head.ival1.tv_sec  = 0;
-	txmsg.msg_head.ival1.tv_usec = 0;
-	txmsg.msg_head.ival2.tv_sec  = 0;
-	txmsg.msg_head.ival2.tv_usec = 0;
-	txmsg.msg_head.nframes = 1;
-
-	/* set all bits to be relevant */
-	memset(&txmsg.frame.data, 0xFF, 8);
-
-	if (filter_id_only)
-		txmsg.msg_head.flags |= RX_FILTER_ID;
-
-	if (write(fd, &txmsg, sizeof(txmsg)) < 0)
-		perror("write");
-};
-
-void rx_delete (int fd, int id){
-
-	struct bcm_msg_head msg_head;
-
-	msg_head.opcode  = RX_DELETE;
-	msg_head.can_id  = id;
-	msg_head.nframes = 0;
-
-	if (write(fd, &msg_head, sizeof(msg_head)) < 0)
-		perror("write");
+	for (i = 0; i < idx ;i++) {
+		if ((sniftab[i].current.can_id & mask) == (value & mask)) {
+			if (cmd == '+')
+				do_set(i, ENABLE);
+			else
+				do_clr(i, ENABLE);
+		}
+	}
 }
 
-int handle_keyb(int fd){
-
-	char cmd [20] = {0};
-	int i;
+int handle_keyb(void)
+{
+	char cmd [25] = {0};
+	int i, clen;
 	unsigned int mask;
 	unsigned int value;
 
-	if (read(0, cmd, 19) > strlen("+123456\n"))
+	if (read(0, cmd, 24) > (long)strlen("+1234567812345678\n"))
 		return 1; /* ignore */
 
 	if (strlen(cmd) > 0)
 		cmd[strlen(cmd)-1] = 0; /* chop off trailing newline */
 
+	clen = strlen(&cmd[1]); /* content length behind command */
+
 	switch (cmd[0]) {
 
 	case '+':
 	case '-':
-		sscanf(&cmd[1], "%x", &value);
-		if (strlen(&cmd[1]) > 3) {
-			mask = value & 0xFFF;
+		if (clen == 6) {
+			/* masking strict SFF ID content vvvmmm */
+			sscanf(&cmd[1], "%x", &value);
+			mask = value | 0xFFFF800; /* cleared flags! */
 			value >>= 12;
+			value &= 0x7FF;
+			do_modify_sniftab(value, mask, cmd[0]);
+			break;
+		} else if (clen == 16) {
+			sscanf(&cmd[9], "%x", &mask);
+			cmd[9] = 0; /* terminate 'value' */
+			sscanf(&cmd[1], "%x", &value);
+			mask |= CAN_EFF_FLAG;
+			value |= CAN_EFF_FLAG;
+			do_modify_sniftab(value, mask, cmd[0]);
+			break;
 		}
-		else
-			mask = 0x7FF;
 
-		if (cmd[0] == '+') {
-			for (i=0; i < 2048 ;i++) {
-				if (((i & mask) == (value & mask)) && (is_clr(i, ENABLE))) {
-					do_set(i, ENABLE);
-					rx_setup(fd, i);
-				}
-			}
-		}
-		else { /* '-' */
-			for (i=0; i < 2048 ;i++) {
-				if (((i & mask) == (value & mask)) && (is_set(i, ENABLE))) {
-					do_clr(i, ENABLE);
-					rx_delete(fd, i);
-				}
-			}
-		}
+		/* check for single SFF/EFF CAN ID length */
+		if (!((clen == 3) || (clen == 8)))
+			break;
+
+		/* enable/disable single SFF/EFF CAN ID */
+		sscanf(&cmd[1], "%x", &value);
+		if (clen == 8)
+			value |= CAN_EFF_FLAG;
+
+		i = sniftab_index(value);
+		if (i < 0)
+			break; /* No Match */
+
+		if (cmd[0] == '+')
+			do_set(i, ENABLE);
+		else
+			do_clr(i, ENABLE);
+
+		break;
+
+	case 'a' : /* all SFF CAN IDs */
+		value = 0;
+		mask = 0xFFFF800; /* cleared flags! */
+		do_modify_sniftab(value, mask, '+');
+		break;
+
+	case 'n' : /* none SFF CAN IDs */
+		value = 0;
+		mask = 0xFFFF800; /* cleared flags! */
+		do_modify_sniftab(value, mask, '-');
+		break;
+
+	case 'A' : /* all EFF CAN IDs */
+		value = CAN_EFF_FLAG;
+		mask = CAN_EFF_FLAG;
+		do_modify_sniftab(value, mask, '+');
+		break;
+
+	case 'N' : /* none EFF CAN IDs */
+		value = CAN_EFF_FLAG;
+		mask = CAN_EFF_FLAG;
+		do_modify_sniftab(value, mask, '-');
 		break;
 
 	case 'w' :
@@ -440,7 +484,7 @@ int handle_keyb(int fd){
 		break;
 
 	case 'r' :
-		readsettings(&cmd[1], fd);
+		readsettings(&cmd[1]); /* don't care about success */
 		break;
 
 	case 'q' :
@@ -449,6 +493,7 @@ int handle_keyb(int fd){
 
 	case 'B' :
 		binary_gap = 1;
+		switchvdl(LDL);
 		if (binary)
 			binary = 0;
 		else
@@ -456,13 +501,19 @@ int handle_keyb(int fd){
 
 		break;
 
+	case '8' :
+		binary8 = 1;
+		/* fallthrough */
+
 	case 'b' :
 		binary_gap = 0;
-		if (binary)
+		if (binary) {
 			binary = 0;
-		else
+			switchvdl(LDL);
+		} else {
 			binary = 1;
-
+			switchvdl(SDL);
+		}
 		break;
 
 	case 'c' :
@@ -473,12 +524,16 @@ int handle_keyb(int fd){
 
 		break;
 
+	case ' ' :
+		clearscreen = 1;
+		break;
+
 	case '#' :
 		notch = 1;
 		break;
 
 	case '*' :
-		for (i=0; i < 2048; i++)
+		for (i = 0; i < idx; i++)
 			memset(&sniftab[i].notch.data, 0, 8);
 		break;
 
@@ -491,66 +546,102 @@ int handle_keyb(int fd){
 	return 1; /* ok */
 };
 
-int handle_bcm(int fd, long currcms){
+int handle_frame(int fd, long currcms)
+{
+	bool rx_changed = false;
+	bool run_qsort = false;
+	int nbytes, i, pos;
+	struct can_frame cf;
 
-	int nbytes, id, i;
-
-	struct {
-		struct bcm_msg_head msg_head;
-		struct can_frame frame;
-	} bmsg;
-
-	if ((nbytes = read(fd, &bmsg, sizeof(bmsg))) < 0) {
-		perror("bcm read");
+	if ((nbytes = read(fd, &cf, sizeof(cf))) < 0) {
+		perror("raw read");
 		return 0; /* quit */
 	}
 
-	id = bmsg.msg_head.can_id;
-	ioctl(fd, SIOCGSTAMP, &sniftab[id].currstamp);
-
-	if (bmsg.msg_head.opcode != RX_CHANGED) {
-		printf("received strange BCM opcode %d!\n", bmsg.msg_head.opcode);
+	if (nbytes != CAN_MTU) {
+		printf("received strange frame data length %d!\n", nbytes);
 		return 0; /* quit */
 	}
 
-	if (nbytes != sizeof(bmsg)) {
-		printf("received strange BCM data length %d!\n", nbytes);
-		return 0; /* quit */
+	if (!print_eff && (cf.can_id & CAN_EFF_FLAG)) {
+		print_eff = 1;
+		clearscreen = 1;
 	}
 
-	sniftab[id].current = bmsg.frame;
-	for (i=0; i < 8; i++)
-		sniftab[id].marker.data[i] |= sniftab[id].current.data[i] ^ sniftab[id].last.data[i];
+	pos = sniftab_index(cf.can_id);
+	if (pos < 0) {
+		/* CAN ID not existing */
+		if (idx < MAX_SLOTS) {
+			/* assign new slot */
+			pos = idx++;
+			rx_changed = true;
+			run_qsort = true;
+		} else {
+			/* informative exit */
+			perror("number of different CAN IDs exceeded MAX_SLOTS");
+			return 0; /* quit */
+		}
+	}
+	else {
+		if (cf.can_dlc == sniftab[pos].current.can_dlc)
+			for (i = 0; i < cf.can_dlc; i++) {
+				if (cf.data[i] != sniftab[pos].current.data[i] ) {
+					rx_changed = true;
+					break;
+				}
+			}
+		else
+			rx_changed = true;
+	}
 
-	sniftab[id].timeout = (timeout)?(currcms + timeout):0;
+	/* print received frame even if the data didn't change to get a gap time */
+	if ((sniftab[pos].laststamp.tv_sec == 0) && (sniftab[pos].laststamp.tv_usec == 0))
+		rx_changed = true;
 
-	if (is_clr(id, DISPLAY))
-		clearscreen = 1; /* new entry -> new drawing */
+	if (rx_changed == true) {
+		sniftab[pos].laststamp = sniftab[pos].currstamp;
+		ioctl(fd, SIOCGSTAMP, &sniftab[pos].currstamp);
+
+		sniftab[pos].current = cf;
+		for (i = 0; i < 8; i++)
+			sniftab[pos].marker.data[i] |= sniftab[pos].current.data[i] ^ sniftab[pos].last.data[i];
+
+		sniftab[pos].timeout = (timeout)?(currcms + timeout):0;
+
+		if (is_clr(pos, DISPLAY))
+			clearscreen = 1; /* new entry -> new drawing */
+
+		do_set(pos, DISPLAY);
+		do_set(pos, UPDATE);
+	}
+
+	if (run_qsort == true)
+		qsort(sniftab, idx, sizeof(sniftab[0]), comp);
 
-	do_set(id, DISPLAY);
-	do_set(id, UPDATE);
-	
 	return 1; /* ok */
 };
 
-int handle_timeo(int fd, long currcms){
-
+int handle_timeo(long currcms)
+{
 	int i, j;
 	int force_redraw = 0;
 	static unsigned int frame_count;
 
 	if (clearscreen) {
-		char startline[80];
-		printf("%s%s", CLR_SCREEN, CSR_HOME);
-		snprintf(startline, 79, "< cansniffer %s # l=%ld h=%ld t=%ld >", interface, loop, hold, timeout);
-		printf("%s%*s",STARTLINESTR, 79-(int)strlen(STARTLINESTR), startline);
+		if (print_eff)
+			printf("%s%sXX|ms%s-- ID --%sdata ...     < %s # l=%ld h=%ld t=%ld slots=%d >",
+			       CLR_SCREEN, CSR_HOME, vdl, vdl, interface, loop, hold, timeout, idx);
+		else
+			printf("%s%sXX|ms%sID %sdata ...     < %s # l=%ld h=%ld t=%ld slots=%d >",
+			       CLR_SCREEN, CSR_HOME, ldl, ldl, interface, loop, hold, timeout, idx);
+
 		force_redraw = 1;
 		clearscreen = 0;
 	}
 
 	if (notch) {
-		for (i=0; i < 2048; i++) {
-			for (j=0; j < 8; j++)
+		for (i = 0; i < idx; i++) {
+			for (j = 0; j < 8; j++)
 				sniftab[i].notch.data[j] |= sniftab[i].marker.data[j];
 		}
 		notch = 0;
@@ -560,25 +651,21 @@ int handle_timeo(int fd, long currcms){
 	printf("%02d\n", frame_count++); /* rolling display update counter */
 	frame_count %= 100;
 
-	for (i=0; i < 2048; i++) {
-
+	for (i = 0; i < idx; i++) {
 		if is_set(i, ENABLE) {
-
 				if is_set(i, DISPLAY) {
-
-						if (is_set(i, UPDATE) || (force_redraw)){
+						if (is_set(i, UPDATE) || (force_redraw)) {
 							print_snifline(i);
 							sniftab[i].hold = currcms + hold;
 							do_clr(i, UPDATE);
 						}
-						else
-							if ((sniftab[i].hold) && (sniftab[i].hold < currcms)) {
+						else  if ((sniftab[i].hold) && (sniftab[i].hold < currcms)) {
 								memset(&sniftab[i].marker.data, 0, 8);
 								print_snifline(i);
 								sniftab[i].hold = 0; /* disable update by hold */
 							}
-							else
-								printf("%s", CSR_DOWN); /* skip my line */
+						else
+							printf("%s", CSR_DOWN); /* skip my line */
 
 						if (sniftab[i].timeout && sniftab[i].timeout < currcms) {
 							do_clr(i, DISPLAY);
@@ -587,19 +674,18 @@ int handle_timeo(int fd, long currcms){
 						}
 					}
 				sniftab[i].last      = sniftab[i].current;
-				sniftab[i].laststamp = sniftab[i].currstamp;
 			}
 	}
 
 	return 1; /* ok */
-
 };
 
-void print_snifline(int id){
-
-	long diffsec  = sniftab[id].currstamp.tv_sec  - sniftab[id].laststamp.tv_sec;
-	long diffusec = sniftab[id].currstamp.tv_usec - sniftab[id].laststamp.tv_usec;
-	int dlc_diff  = sniftab[id].last.can_dlc - sniftab[id].current.can_dlc;
+void print_snifline(int slot)
+{
+	long diffsec  = sniftab[slot].currstamp.tv_sec  - sniftab[slot].laststamp.tv_sec;
+	long diffusec = sniftab[slot].currstamp.tv_usec - sniftab[slot].laststamp.tv_usec;
+	int dlc_diff  = sniftab[slot].last.can_dlc - sniftab[slot].current.can_dlc;
+	canid_t cid = sniftab[slot].current.can_id;
 	int i,j;
 
 	if (diffusec < 0)
@@ -608,23 +694,27 @@ void print_snifline(int id){
 	if (diffsec < 0)
 		diffsec = diffusec = 0;
 
-	if (diffsec > 10)
-		diffsec = 9, diffusec = 999999;
+	if (diffsec >= 100)
+		diffsec = 99, diffusec = 999999;
 
-	printf("%ld.%06ld  %3X  ", diffsec, diffusec, id);
+	if (cid & CAN_EFF_FLAG)
+		printf("%02ld%03ld%s%08X%s", diffsec, diffusec/1000, vdl, cid & CAN_EFF_MASK, vdl);
+	else if (print_eff)
+		printf("%02ld%03ld%s---- %03X%s", diffsec, diffusec/1000, vdl, cid & CAN_SFF_MASK, vdl);
+	else
+		printf("%02ld%03ld%s%03X%s", diffsec, diffusec/1000, ldl, cid & CAN_SFF_MASK, ldl);
 
 	if (binary) {
-
-		for (i=0; i<sniftab[id].current.can_dlc; i++) {
-			for (j=7; j>=0; j--) {
-				if ((color) && (sniftab[id].marker.data[i] & 1<<j) &&
-				    (!(sniftab[id].notch.data[i] & 1<<j)))
-					if (sniftab[id].current.data[i] & 1<<j)
+		for (i = 0; i < sniftab[slot].current.can_dlc; i++) {
+			for (j=7; j >= 0; j--) {
+				if ((color) && (sniftab[slot].marker.data[i] & 1<<j) &&
+				    (!(sniftab[slot].notch.data[i] & 1<<j)))
+					if (sniftab[slot].current.data[i] & 1<<j)
 						printf("%s1%s", ATTCOLOR, ATTRESET);
 					else
 						printf("%s0%s", ATTCOLOR, ATTRESET);
 				else
-					if (sniftab[id].current.data[i] & 1<<j)
+					if (sniftab[slot].current.data[i] & 1<<j)
 						putchar('1');
 					else
 						putchar('0');
@@ -637,30 +727,29 @@ void print_snifline(int id){
 		 * when the can_dlc decreased (dlc_diff > 0),
 		 * we need to blank the former data printout
 		 */
-		for (i=0; i<dlc_diff; i++) {
+		for (i = 0; i < dlc_diff; i++) {
 			printf("        ");
 			if (binary_gap)
 				putchar(' ');
 		}
 	}
 	else {
-
-		for (i=0; i<sniftab[id].current.can_dlc; i++)
-			if ((color) && (sniftab[id].marker.data[i]) && (!(sniftab[id].notch.data[i])))
-				printf("%s%02X%s ", ATTCOLOR, sniftab[id].current.data[i], ATTRESET);
+		for (i = 0; i < sniftab[slot].current.can_dlc; i++)
+			if ((color) && (sniftab[slot].marker.data[i] & ~sniftab[slot].notch.data[i]))
+				printf("%s%02X%s ", ATTCOLOR, sniftab[slot].current.data[i], ATTRESET);
 			else
-				printf("%02X ", sniftab[id].current.data[i]);
+				printf("%02X ", sniftab[slot].current.data[i]);
 
-		if (sniftab[id].current.can_dlc < 8)
-			printf("%*s", (8 - sniftab[id].current.can_dlc) * 3, "");
+		if (sniftab[slot].current.can_dlc < 8)
+			printf("%*s", (8 - sniftab[slot].current.can_dlc) * 3, "");
 
-		for (i=0; i<sniftab[id].current.can_dlc; i++)
-			if ((sniftab[id].current.data[i] > 0x1F) && 
-			    (sniftab[id].current.data[i] < 0x7F))
-				if ((color) && (sniftab[id].marker.data[i]) && (!(sniftab[id].notch.data[i])))
-					printf("%s%c%s", ATTCOLOR, sniftab[id].current.data[i], ATTRESET);
+		for (i = 0; i<sniftab[slot].current.can_dlc; i++)
+			if ((sniftab[slot].current.data[i] > 0x1F) &&
+			    (sniftab[slot].current.data[i] < 0x7F))
+				if ((color) && (sniftab[slot].marker.data[i] & ~sniftab[slot].notch.data[i]))
+					printf("%s%c%s", ATTCOLOR, sniftab[slot].current.data[i], ATTRESET);
 				else
-					putchar(sniftab[id].current.data[i]);
+					putchar(sniftab[slot].current.data[i]);
 			else
 				putchar('.');
 
@@ -668,40 +757,38 @@ void print_snifline(int id){
 		 * when the can_dlc decreased (dlc_diff > 0),
 		 * we need to blank the former data printout
 		 */
-		for (i=0; i<dlc_diff; i++)
+		for (i = 0; i < dlc_diff; i++)
 			putchar(' ');
 	}
 
 	putchar('\n');
 
-	memset(&sniftab[id].marker.data, 0, 8);
+	memset(&sniftab[slot].marker.data, 0, 8);
 };
 
-
-void writesettings(char* name){
-
+void writesettings(char* name)
+{
 	int fd;
 	char fname[30] = SETFNAME;
 	int i,j;
-	char buf[8]= {0};
+	char buf[13]= {0};
 
 	strncat(fname, name, 29 - strlen(fname)); 
-	fd = open(fname,  O_WRONLY|O_CREAT, S_IRUSR|S_IWUSR|S_IRGRP|S_IROTH);
+	fd = open(fname, O_WRONLY|O_CREAT, S_IRUSR|S_IWUSR|S_IRGRP|S_IROTH);
     
 	if (fd > 0) {
-
-		for (i=0; i < 2048 ;i++) {
-			sprintf(buf, "<%03X>%c.", i, (is_set(i, ENABLE))?'1':'0');
-			if (write(fd, buf, 7) < 0)
+		for (i = 0; i < idx ;i++) {
+			sprintf(buf, "<%08X>%c.", sniftab[i].current.can_id, (is_set(i, ENABLE))?'1':'0');
+			if (write(fd, buf, 12) < 0)
 				perror("write");
-			for (j=0; j<8 ; j++){
+			for (j = 0; j < 8 ; j++) {
 				sprintf(buf, "%02X", sniftab[i].notch.data[j]);
 				if (write(fd, buf, 2) < 0)
 					perror("write");
 			}
 			if (write(fd, "\n", 1) < 0)
 				perror("write");
-			/* 7 + 16 + 1 = 24 bytes per entry */ 
+			/* 12 + 16 + 1 = 29 bytes per entry */
 		}
 		close(fd);
 	}
@@ -709,53 +796,57 @@ void writesettings(char* name){
 		printf("unable to write setting file '%s'!\n", fname);
 };
 
-void readsettings(char* name, int sockfd){
-
+int readsettings(char* name)
+{
 	int fd;
 	char fname[30] = SETFNAME;
-	char buf[25] = {0};
-	int i,j;
+	char buf[30] = {0};
+	int j;
+	bool done = false;
 
 	strncat(fname, name, 29 - strlen(fname)); 
 	fd = open(fname, O_RDONLY);
     
 	if (fd > 0) {
-		if (!sockfd)
-			printf("reading setting file '%s' ... ", fname);
+		idx = 0;
+		while (!done) {
+			if (read(fd, &buf, 29) == 29) {
+				unsigned long id = strtoul(&buf[1], (char **)NULL, 16);
 
-		for (i=0; i < 2048 ;i++) {
-			if (read(fd, &buf, 24) == 24) {
-				if (buf[5] & 1) {
-					if (is_clr(i, ENABLE)) {
-						do_set(i, ENABLE);
-						if (sockfd)
-							rx_setup(sockfd, i);
-					}
-				}
+				sniftab[idx].current.can_id = id;
+
+				if (buf[10] & 1)
+					do_set(idx, ENABLE);
 				else
-					if (is_set(i, ENABLE)) {
-						do_clr(i, ENABLE);
-						if (sockfd)
-							rx_delete(sockfd, i);
-					}
-				for (j=7; j>=0 ; j--){
-					sniftab[i].notch.data[j] =
-						(__u8) strtoul(&buf[2*j+7], (char **)NULL, 16) & 0xFF;
-					buf[2*j+7] = 0; /* cut off each time */
-				}
-			}
-			else {
-				if (!sockfd)
-					printf("was only able to read until index %d from setting file '%s'!\n",
-					       i, fname);
-			}
-		}
-    
-		if (!sockfd)
-			printf("done\n");
+					do_clr(idx, ENABLE);
 
+				for (j = 7; j >= 0 ; j--) {
+					sniftab[idx].notch.data[j] =
+						(__u8) strtoul(&buf[2*j+12], (char **)NULL, 16) & 0xFF;
+					buf[2*j+12] = 0; /* cut off each time */
+				}
+
+				if (++idx >= MAX_SLOTS)
+					break;
+			}
+			else
+				done = true;
+		}
 		close(fd);
 	}
 	else
-		printf("unable to read setting file '%s'!\n", fname);
+		return -1;
+
+	return idx;
 };
+
+int sniftab_index(canid_t id)
+{
+	int i;
+
+	for (i = 0; i <= idx; i++)
+		if (id == sniftab[i].current.can_id)
+			return i;
+
+	return -1; /* No match */
+}
diff --git a/include/linux/netlink.h b/include/linux/netlink.h
index 0a4d733..8e8b8e7 100644
--- a/include/linux/netlink.h
+++ b/include/linux/netlink.h
@@ -96,7 +96,7 @@ struct nlmsghdr {
 				  (struct nlmsghdr*)(((char*)(nlh)) + NLMSG_ALIGN((nlh)->nlmsg_len)))
 #define NLMSG_OK(nlh,len) ((len) >= (int)sizeof(struct nlmsghdr) && \
 			   (nlh)->nlmsg_len >= sizeof(struct nlmsghdr) && \
-			   (nlh)->nlmsg_len <= (len))
+			   (int)((nlh)->nlmsg_len) <= (len))
 #define NLMSG_PAYLOAD(nlh,len) ((nlh)->nlmsg_len - NLMSG_SPACE((len)))
 
 #define NLMSG_NOOP		0x1	/* Nothing.		*/
diff --git a/isotpdump.c b/isotpdump.c
index f2db482..e9d9620 100644
--- a/isotpdump.c
+++ b/isotpdump.c
@@ -68,20 +68,23 @@ const int canfd_on = 1;
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", 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");
-	fprintf(stderr, "         -u          (print uds messages)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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");
+	fprintf(stderr, "         -u           (print uds messages)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
-	fprintf(stderr, "\nUDS output contains a flag which provides information about the type of the message.\n");
-	fprintf(stderr, "Flags: [SRQ] = Service Request\n");
-	fprintf(stderr, "       [PSR] = Positive Service Response\n");
-	fprintf(stderr, "       [NRC] = Negative Response Code\n");
-	fprintf(stderr, "       [???] = Unknown (not specified)\n");	
+	fprintf(stderr, "\nUDS output contains a flag which provides information about the type of the \n");
+	fprintf(stderr, "message.\n\n");
+	fprintf(stderr, "Flags:\n");
+	fprintf(stderr, "       [SRQ]  = Service Request\n");
+	fprintf(stderr, "       [PSR]  = Positive Service Response\n");
+	fprintf(stderr, "       [NRC]  = Negative Response Code\n");
+	fprintf(stderr, "       [???]  = Unknown (not specified)\n");
 	fprintf(stderr, "\n");
 }
 
diff --git a/isotpperf.c b/isotpperf.c
index 5ad302a..fe74802 100644
--- a/isotpperf.c
+++ b/isotpperf.c
@@ -65,11 +65,13 @@
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - ISO15765-2 protocol performance visualisation.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", 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)\n");
-	fprintf(stderr, "         -X <addr>   (extended addressing mode (rx addr))\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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)\n");
+	fprintf(stderr, "         -X <addr>    (extended addressing mode (rx addr))\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
 }
@@ -363,7 +365,7 @@ int main(int argc, char **argv)
 					percent = 100;
 
 				for (i=0; i < NUMBAR; i++){
-					if (i < percent/PERCENTRES)
+					if (i < (int)(percent/PERCENTRES))
 						printf("X");
 					else
 						printf(".");
diff --git a/isotprecv.c b/isotprecv.c
index c0fb386..c4b8e04 100644
--- a/isotprecv.c
+++ b/isotprecv.c
@@ -62,17 +62,18 @@
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", 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>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
-	fprintf(stderr, "         -b <bs>      (blocksize. 0 = off)\n");
-	fprintf(stderr, "         -m <val>     (STmin in ms/ns. See spec.)\n");
-	fprintf(stderr, "         -f <time ns> (force rx stmin value in nanosecs)\n");
-	fprintf(stderr, "         -w <num>     (max. wait frame transmissions.)\n");
-	fprintf(stderr, "         -l           (loop: do not exit after pdu reception.)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -b <bs>       (blocksize. 0 = off)\n");
+	fprintf(stderr, "         -m <val>      (STmin in ms/ns. See spec.)\n");
+	fprintf(stderr, "         -f <time ns>  (force rx stmin value in nanosecs)\n");
+	fprintf(stderr, "         -w <num>      (max. wait frame transmissions.)\n");
+	fprintf(stderr, "         -l            (loop: do not exit after pdu reception.)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "The pdu data is written on STDOUT in space separated ASCII hex values.\n");
 	fprintf(stderr, "\n");
diff --git a/isotpsend.c b/isotpsend.c
index 01026b7..c32add3 100644
--- a/isotpsend.c
+++ b/isotpsend.c
@@ -62,15 +62,16 @@
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
-	fprintf(stderr, "         -t <time ns> (frame transmit time (N_As) in nanosecs)\n");
-	fprintf(stderr, "         -f <time ns> (ignore FC and force local tx stmin value in nanosecs)\n");
-	fprintf(stderr, "         -D <len>     (send a fixed PDU with len bytes - no STDIN data)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -t <time ns>  (frame transmit time (N_As) in nanosecs)\n");
+	fprintf(stderr, "         -f <time ns>  (ignore FC and force local tx stmin value in nanosecs)\n");
+	fprintf(stderr, "         -D <len>      (send a fixed PDU with len bytes - no STDIN data)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
 	fprintf(stderr, "\n");
diff --git a/isotpserver.c b/isotpserver.c
index 448cacd..91719f0 100644
--- a/isotpserver.c
+++ b/isotpserver.c
@@ -100,28 +100,29 @@ void childdied(int i)
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s -l <port> -s <can_id> -d <can_id> [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: (* = mandatory)\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "Options:\n");
 	fprintf(stderr, "ip addressing:\n");
-	fprintf(stderr, " *       -l <port>    (local port for the server)\n");
+	fprintf(stderr, "         -l <port>    * (local port for the server)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "isotp addressing:\n");
-	fprintf(stderr, " *       -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>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -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>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "padding:\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "rx path: (config, which is sent to the sender / data source)\n");
-	fprintf(stderr, "         -b <bs>      (blocksize. 0 = off)\n");
-	fprintf(stderr, "         -m <val>     (STmin in ms/ns. See spec.)\n");
-	fprintf(stderr, "         -w <num>     (max. wait frame transmissions)\n");
+	fprintf(stderr, "rx path:\n (config, which is sent to the sender / data source)\n");
+	fprintf(stderr, "         -b <bs>       (blocksize. 0 = off)\n");
+	fprintf(stderr, "         -m <val>      (STmin in ms/ns. See spec.)\n");
+	fprintf(stderr, "         -w <num>      (max. wait frame transmissions)\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "tx path: (config, which changes local tx settings)\n");
-	fprintf(stderr, "         -t <time ns> (transmit time in nanosecs)\n");
+	fprintf(stderr, "tx path:\n (config, which changes local tx settings)\n");
+	fprintf(stderr, "         -t <time ns>  (transmit time in nanosecs)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "(* = mandatory option)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "All values except for '-l' and '-t' are expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
diff --git a/isotpsniffer.c b/isotpsniffer.c
index 6f053c8..bbae2f4 100644
--- a/isotpsniffer.c
+++ b/isotpsniffer.c
@@ -69,14 +69,15 @@
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", 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)\n");
-	fprintf(stderr, "         -X <addr>   (extended addressing mode - rx addr)\n");
-	fprintf(stderr, "         -c          (color mode)\n");
-	fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
-	fprintf(stderr, "         -f <format> (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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)\n");
+	fprintf(stderr, "         -X <addr>    (extended addressing mode - rx addr)\n");
+	fprintf(stderr, "         -c           (color mode)\n");
+	fprintf(stderr, "         -t <type>    (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+	fprintf(stderr, "         -f <format>  (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "         -h <len>    (head: print only first <len> bytes)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
diff --git a/isotptun.c b/isotptun.c
index 2318f21..cb40ecc 100644
--- a/isotptun.c
+++ b/isotptun.c
@@ -102,23 +102,25 @@ void perror_syslog(const char *s)
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n\n", prg);
 	fprintf(stderr, "This program creates a Linux tunnel netdevice 'ctunX' and transfers the\n");
 	fprintf(stderr, "ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.\n\n");
-	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, "         -n <name>    (name of created IP netdevice. Default: '%s')\n", DEFAULT_NAME);
-	fprintf(stderr, "         -x <addr>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
-	fprintf(stderr, "         -t <time ns> (transmit time in nanosecs)\n");
-	fprintf(stderr, "         -b <bs>      (blocksize. 0 = off)\n");
-	fprintf(stderr, "         -m <val>     (STmin in ms/ns. See spec.)\n");
-	fprintf(stderr, "         -w <num>     (max. wait frame transmissions.)\n");
-	fprintf(stderr, "         -D           (daemonize to background when tun device created)\n");
-	fprintf(stderr, "         -h           (half duplex mode.)\n");
-	fprintf(stderr, "         -v           (verbose mode. Print symbols for tunneled msgs.)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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, "         -n <name>     (name of created IP netdevice. Default: '%s')\n", DEFAULT_NAME);
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -t <time ns>  (transmit time in nanosecs)\n");
+	fprintf(stderr, "         -b <bs>       (blocksize. 0 = off)\n");
+	fprintf(stderr, "         -m <val>      (STmin in ms/ns. See spec.)\n");
+	fprintf(stderr, "         -w <num>      (max. wait frame transmissions.)\n");
+	fprintf(stderr, "         -D            (daemonize to background when tun device created)\n");
+	fprintf(stderr, "         -h            (half duplex mode.)\n");
+	fprintf(stderr, "         -v            (verbose mode. Print symbols for tunneled msgs.)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "Use e.g. 'ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up'\n");
 	fprintf(stderr, "to create a point-to-point IP connection on CAN.\n");
diff --git a/jacd.c b/j1939acd.c
similarity index 93%
rename from jacd.c
rename to j1939acd.c
index 3cf45e2..57bcc18 100644
--- a/jacd.c
+++ b/j1939acd.c
@@ -30,9 +30,9 @@
 #include "libj1939.h"
 
 static const char help_msg[] =
-	"jacd: An SAE J1939 address claiming daemon" "\n"
-	"Usage: jacd [options] NAME [INTF]" "\n"
-	"\n"
+	"j1939acd: An SAE J1939 address claiming daemon" "\n"
+	"Usage: j1939acd [options] NAME [INTF]" "\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -r, --range=RANGE	Ranges of source addresses" "\n"
 	"			e.g. 80,50-100,200-210 (defaults to 0-253)" "\n"
@@ -43,7 +43,9 @@ static const char help_msg[] =
 	"NAME is the 64bit nodename" "\n"
 	"\n"
 	"Example:" "\n"
-	"jacd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788" "\n"
+	"j1939acd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788" "\n"
+	"Examples:" "\n"
+	"j1939acd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788" "\n"
 	;
 
 #ifdef _GNU_SOURCE
@@ -182,7 +184,7 @@ static const struct j1939_filter filt[] = {
 		.pgn = J1939_PGN_REQUEST,
 		.pgn_mask = J1939_PGN_PDU1_MAX,
 	}, {
-		.pgn = 0x0fed8,
+		.pgn = J1939_PGN_ADDRESS_COMMANDED,
 		.pgn_mask = J1939_PGN_MAX,
 	},
 };
@@ -198,7 +200,7 @@ static int open_socket(const char *device, uint64_t name)
 			.addr = J1939_IDLE_ADDR,
 			.pgn = J1939_NO_PGN,
 		},
-		.can_ifindex = if_nametoindex(s.intf),
+		.can_ifindex = if_nametoindex(device),
 	};
 
 	if (s.verbose)
@@ -251,7 +253,7 @@ static int repeat_address(int sock, uint64_t name)
 	ret = sendto(sock, dat, sizeof(dat), 0, (const struct sockaddr *)&saddr,
 		     sizeof(saddr));
 	if (must_warn(ret))
-		err(1, "send address claim for 0x%02x", s.last_sa);
+		fprintf(stderr, "send address claim for 0x%02x\n", s.last_sa);
 	return ret;
 }
 static int claim_address(int sock, uint64_t name, int sa)
@@ -290,7 +292,7 @@ static int request_addresses(int sock)
 		fprintf(stderr, "- sendto(, { 0, 0xee, 0, }, %zi, 0, %s, %zi);\n", sizeof(dat), libj1939_addr2str(&saddr), sizeof(saddr));
 	ret = sendto(sock, dat, sizeof(dat), 0, (void *)&saddr, sizeof(saddr));
 	if (must_warn(ret))
-		err(1, "send request for address claims");
+		fprintf(stdout, "send request for address claims");
 	return ret;
 }
 
@@ -512,12 +514,12 @@ int main(int argc, char *argv[])
 
 	if ((s.current_sa < J1939_IDLE_ADDR) && !(addr[s.current_sa].flags & F_USE)) {
 		if (s.verbose)
-			err(0, "forget saved address 0x%02x", s.current_sa);
+			fprintf(stderr, "- forget saved address 0x%02x\n", s.current_sa);
 		s.current_sa = J1939_IDLE_ADDR;
 	}
 
 	if (s.verbose)
-		err(0, "ready for %s:%016llx", s.intf, (long long)s.name);
+		fprintf(stderr, "- ready for %s:%016llx\n", s.intf, (long long)s.name);
 	if (!s.intf || !s.name)
 		err(1, "bad arguments");
 	ret = sock = open_socket(s.intf, s.name);
@@ -581,7 +583,7 @@ int main(int argc, char *argv[])
 				break;
 			if (s.state == STATE_REQ_SENT) {
 				if (s.verbose)
-					err(0, "request sent, pending for 1250 ms");
+					fprintf(stderr, "- request sent, pending for 1250 ms\n");
 				schedule_itimer(1250);
 				s.state = STATE_REQ_PENDING;
 			} else if (s.state == STATE_OPERATIONAL) {
@@ -611,14 +613,14 @@ int main(int argc, char *argv[])
 				/* ourselves, disable itimer */
 				s.current_sa = sa;
 				if (s.verbose)
-					err(0, "claimed 0x%02x", sa);
+					fprintf(stderr, "- claimed 0x%02x\n", sa);
 			} else if (sa == s.current_sa) {
 				if (s.verbose)
-					err(0, "address collision for 0x%02x", sa);
+					fprintf(stderr, "- address collision for 0x%02x\n", sa);
 				if (s.name > saddr.can_addr.j1939.name) {
 					sa = choose_new_sa(s.name, sa);
 					if (sa == J1939_IDLE_ADDR) {
-						err(0, "no address left");
+						fprintf(stdout, "no address left");
 						/* put J1939_IDLE_ADDR in cache file */
 						s.current_sa = sa;
 						goto done;
@@ -629,7 +631,7 @@ int main(int argc, char *argv[])
 					schedule_itimer(50);
 			}
 			break;
-		case 0x0fed8:
+		case J1939_PGN_ADDRESS_COMMANDED:
 			if (!host_is_little_endian())
 				bswap(dat, 8);
 			memcpy(&cmd_name, dat, 8);
@@ -643,7 +645,7 @@ int main(int argc, char *argv[])
 	}
 done:
 	if (s.verbose)
-		err(0, "shutdown");
+		fprintf(stderr, "- shutdown\n");
 	claim_address(sock, s.name, J1939_IDLE_ADDR);
 	save_cache();
 	return 0;
diff --git a/jcat.c b/j1939cat.c
similarity index 81%
rename from jcat.c
rename to j1939cat.c
index fedeb66..a37c5ba 100644
--- a/jcat.c
+++ b/j1939cat.c
@@ -36,13 +36,13 @@
 	_min1 < _min2 ? _min1 : _min2; })
 
 
-struct jcat_stats {
+struct j1939cat_stats {
 	int err;
 	uint32_t tskey;
 	uint32_t send;
 };
 
-struct jcat_priv {
+struct j1939cat_priv {
 	int sock;
 	int infile;
 	int outfile;
@@ -63,12 +63,12 @@ struct jcat_priv {
 
 	struct sock_extended_err *serr;
 	struct scm_timestamping *tss;
-	struct jcat_stats stats;
+	struct j1939cat_stats stats;
 };
 
 static const char help_msg[] =
-	"jcat: netcat tool for j1939\n"
-	"Usage: jcat FROM TO\n"
+	"j1939cat: netcat-like tool for j1939\n"
+	"Usage: j1939cat [options] FROM TO\n"
 	" FROM / TO	- or [IFACE][:[SA][,[PGN][,NAME]]]\n"
 	"Options:\n"
 	" -i <infile>	(default stdin)\n"
@@ -79,15 +79,15 @@ static const char help_msg[] =
 	" -R <count>	Set send repeat count. Default: 1\n"
 	"\n"
 	"Example:\n"
-	"jcat -i some_file_to_send  can0:0x80 :0x90,0x12300\n"
-	"jcat can0:0x90 -r > /tmp/some_file_to_receive\n"
+	"j1939cat -i some_file_to_send  can0:0x80 :0x90,0x12300\n"
+	"j1939cat can0:0x90 -r > /tmp/some_file_to_receive\n"
 	"\n"
 	;
 
-static const char optstring[] = "?i:vs:rp:P:R:";
+static const char optstring[] = "?hi:vs:rp:P:R:";
 
 
-static void jcat_init_sockaddr_can(struct sockaddr_can *sac)
+static void j1939cat_init_sockaddr_can(struct sockaddr_can *sac)
 {
 	sac->can_family = AF_CAN;
 	sac->can_addr.j1939.addr = J1939_NO_ADDR;
@@ -95,7 +95,7 @@ static void jcat_init_sockaddr_can(struct sockaddr_can *sac)
 	sac->can_addr.j1939.pgn = J1939_NO_PGN;
 }
 
-static ssize_t jcat_send_one(struct jcat_priv *priv, int out_fd,
+static ssize_t j1939cat_send_one(struct j1939cat_priv *priv, int out_fd,
 			     const void *buf, size_t buf_size)
 {
 	ssize_t num_sent;
@@ -121,7 +121,7 @@ static ssize_t jcat_send_one(struct jcat_priv *priv, int out_fd,
 		return -EINVAL;
 	}
 
-	if (num_sent > buf_size) /* Should never happen */ {
+	if (num_sent > (ssize_t)buf_size) /* Should never happen */ {
 		warn("%s: send more then read", __func__);
 		return -EINVAL;
 	}
@@ -129,10 +129,10 @@ static ssize_t jcat_send_one(struct jcat_priv *priv, int out_fd,
 	return num_sent;
 }
 
-static void jcat_print_timestamp(struct jcat_priv *priv, const char *name,
+static void j1939cat_print_timestamp(struct j1939cat_priv *priv, const char *name,
 			      struct timespec *cur)
 {
-	struct jcat_stats *stats = &priv->stats;
+	struct j1939cat_stats *stats = &priv->stats;
 
 	if (!(cur->tv_sec | cur->tv_nsec))
 		return;
@@ -144,7 +144,7 @@ static void jcat_print_timestamp(struct jcat_priv *priv, const char *name,
 	fprintf(stderr, "\n");
 }
 
-static const char *jcat_tstype_to_str(int tstype)
+static const char *j1939cat_tstype_to_str(int tstype)
 {
 	switch (tstype) {
 	case SCM_TSTAMP_SCHED:
@@ -159,17 +159,17 @@ static const char *jcat_tstype_to_str(int tstype)
 }
 
 /* Check the stats of SCM_TIMESTAMPING_OPT_STATS */
-static void jcat_scm_opt_stats(struct jcat_priv *priv, void *buf, int len)
+static void j1939cat_scm_opt_stats(struct j1939cat_priv *priv, void *buf, int len)
 {
-	struct jcat_stats *stats = &priv->stats;
+	struct j1939cat_stats *stats = &priv->stats;
 	int offset = 0;
 
 	while (offset < len) {
-		struct nlattr *nla = (struct nlattr *) (buf + offset);
+		struct nlattr *nla = (struct nlattr *) ((char *)buf + offset);
 
 		switch (nla->nla_type) {
 		case J1939_NLA_BYTES_ACKED:
-			stats->send = *(uint32_t *)((void *)nla + NLA_HDRLEN);
+			stats->send = *(uint32_t *)((char *)nla + NLA_HDRLEN);
 			break;
 		default:
 			warnx("not supported J1939_NLA field\n");
@@ -179,9 +179,9 @@ static void jcat_scm_opt_stats(struct jcat_priv *priv, void *buf, int len)
 	}
 }
 
-static int jcat_extract_serr(struct jcat_priv *priv)
+static int j1939cat_extract_serr(struct j1939cat_priv *priv)
 {
-	struct jcat_stats *stats = &priv->stats;
+	struct j1939cat_stats *stats = &priv->stats;
 	struct sock_extended_err *serr = priv->serr;
 	struct scm_timestamping *tss = priv->tss;
 
@@ -205,7 +205,7 @@ static int jcat_extract_serr(struct jcat_priv *priv)
 			      serr->ee_errno);
 		stats->tskey = serr->ee_data;
 
-		jcat_print_timestamp(priv, jcat_tstype_to_str(serr->ee_info),
+		j1939cat_print_timestamp(priv, j1939cat_tstype_to_str(serr->ee_info),
 				     &tss->ts[0]);
 
 		if (serr->ee_info == SCM_TSTAMP_SCHED)
@@ -232,7 +232,7 @@ static int jcat_extract_serr(struct jcat_priv *priv)
 			warnx("serr: unknown ee_info: %i",
 			      serr->ee_info);
 
-		jcat_print_timestamp(priv, "  ABT", &tss->ts[0]);
+		j1939cat_print_timestamp(priv, "  ABT", &tss->ts[0]);
 		warnx("serr: tx error: %i, %s", serr->ee_errno, strerror(serr->ee_errno));
 
 		return serr->ee_errno;
@@ -243,7 +243,7 @@ static int jcat_extract_serr(struct jcat_priv *priv)
 	return 0;
 }
 
-static int jcat_parse_cm(struct jcat_priv *priv, struct cmsghdr *cm)
+static int j1939cat_parse_cm(struct j1939cat_priv *priv, struct cmsghdr *cm)
 {
 	const size_t hdr_len = CMSG_ALIGN(sizeof(struct cmsghdr));
 
@@ -253,7 +253,7 @@ static int jcat_parse_cm(struct jcat_priv *priv, struct cmsghdr *cm)
 		void *jstats = (void *)CMSG_DATA(cm);
 
 		/* Activated with SOF_TIMESTAMPING_OPT_STATS */
-		jcat_scm_opt_stats(priv, jstats, cm->cmsg_len - hdr_len);
+		j1939cat_scm_opt_stats(priv, jstats, cm->cmsg_len - hdr_len);
 	} else if (cm->cmsg_level == SOL_CAN_J1939 &&
 		   cm->cmsg_type == SCM_J1939_ERRQUEUE) {
 		priv->serr = (void *)CMSG_DATA(cm);
@@ -264,7 +264,7 @@ static int jcat_parse_cm(struct jcat_priv *priv, struct cmsghdr *cm)
 	return 0;
 }
 
-static int jcat_recv_err(struct jcat_priv *priv)
+static int j1939cat_recv_err(struct j1939cat_priv *priv)
 {
 	char control[100];
 	struct cmsghdr *cm;
@@ -285,18 +285,18 @@ static int jcat_recv_err(struct jcat_priv *priv)
 
 	for (cm = CMSG_FIRSTHDR(&msg); cm && cm->cmsg_len;
 	     cm = CMSG_NXTHDR(&msg, cm)) {
-		jcat_parse_cm(priv, cm);
+		j1939cat_parse_cm(priv, cm);
 		if (priv->serr && priv->tss)
-			return jcat_extract_serr(priv);
+			return j1939cat_extract_serr(priv);
 	}
 
 	return 0;
 }
 
-static int jcat_send_loop(struct jcat_priv *priv, int out_fd, char *buf,
+static int j1939cat_send_loop(struct j1939cat_priv *priv, int out_fd, char *buf,
 			  size_t buf_size)
 {
-	struct jcat_stats *stats = &priv->stats;
+	struct j1939cat_stats *stats = &priv->stats;
 	ssize_t count;
 	char *tmp_buf = buf;
 	unsigned int events = POLLOUT | POLLERR;
@@ -328,7 +328,7 @@ static int jcat_send_loop(struct jcat_priv *priv, int out_fd, char *buf,
 			}
 
 			if (fds.revents & POLLERR) {
-				ret = jcat_recv_err(priv);
+				ret = j1939cat_recv_err(priv);
 				if (ret == -EINTR)
 					continue;
 				else if (ret)
@@ -339,12 +339,12 @@ static int jcat_send_loop(struct jcat_priv *priv, int out_fd, char *buf,
 			}
 
 			if (fds.revents & POLLOUT) {
-				num_sent = jcat_send_one(priv, out_fd, tmp_buf, count);
+				num_sent = j1939cat_send_one(priv, out_fd, tmp_buf, count);
 				if (num_sent < 0)
 					return num_sent;
 			}
 		} else {
-			num_sent = jcat_send_one(priv, out_fd, tmp_buf, count);
+			num_sent = j1939cat_send_one(priv, out_fd, tmp_buf, count);
 			if (num_sent < 0)
 				return num_sent;
 		}
@@ -366,13 +366,14 @@ static int jcat_send_loop(struct jcat_priv *priv, int out_fd, char *buf,
 	return 0;
 }
 
-static int jcat_sendfile(struct jcat_priv *priv, int out_fd, int in_fd,
+static int j1939cat_sendfile(struct j1939cat_priv *priv, int out_fd, int in_fd,
 			 off_t *offset, size_t count)
 {
 	int ret = EXIT_SUCCESS;
 	off_t orig = 0;
 	char *buf;
-	size_t to_read, num_read, buf_size;
+	ssize_t num_read;
+	size_t to_read, buf_size;
 
 	buf_size = min(priv->max_transfer, count);
 	buf = malloc(buf_size);
@@ -408,7 +409,7 @@ static int jcat_sendfile(struct jcat_priv *priv, int out_fd, int in_fd,
 		if (num_read == 0)
 			break; /* EOF */
 
-		ret = jcat_send_loop(priv, out_fd, buf, num_read);
+		ret = j1939cat_send_loop(priv, out_fd, buf, num_read);
 		if (ret)
 			goto do_free;
 
@@ -437,7 +438,7 @@ do_nofree:
 	return ret;
 }
 
-static size_t jcat_get_file_size(int fd)
+static size_t j1939cat_get_file_size(int fd)
 {
 	off_t offset;
 
@@ -451,20 +452,21 @@ static size_t jcat_get_file_size(int fd)
 	return offset;
 }
 
-static int jcat_send(struct jcat_priv *priv)
+static int j1939cat_send(struct j1939cat_priv *priv)
 {
 	unsigned int size = 0;
-	int ret, i;
+	unsigned int i;
+	int ret;
 
 	if (priv->todo_filesize)
-		size = jcat_get_file_size(priv->infile);
+		size = j1939cat_get_file_size(priv->infile);
 
 	if (!size)
 		return EXIT_FAILURE;
 
 	for (i = 0; i < priv->repeat; i++) {
 		priv->round++;
-		ret = jcat_sendfile(priv, priv->sock, priv->infile, NULL, size);
+		ret = j1939cat_sendfile(priv, priv->sock, priv->infile, NULL, size);
 		if (ret)
 			break;
 
@@ -475,7 +477,7 @@ static int jcat_send(struct jcat_priv *priv)
 	return ret;
 }
 
-static int jcat_recv_one(struct jcat_priv *priv, uint8_t *buf, size_t buf_size)
+static int j1939cat_recv_one(struct j1939cat_priv *priv, uint8_t *buf, size_t buf_size)
 {
 	int ret;
 
@@ -494,7 +496,7 @@ static int jcat_recv_one(struct jcat_priv *priv, uint8_t *buf, size_t buf_size)
 	return EXIT_SUCCESS;
 }
 
-static int jcat_recv(struct jcat_priv *priv)
+static int j1939cat_recv(struct j1939cat_priv *priv)
 {
 	int ret = EXIT_SUCCESS;
 	size_t buf_size;
@@ -508,7 +510,7 @@ static int jcat_recv(struct jcat_priv *priv)
 	}
 
 	while (priv->todo_recv) {
-		ret = jcat_recv_one(priv, buf, buf_size);
+		ret = j1939cat_recv_one(priv, buf, buf_size);
 		if (ret)
 			break;
 	}
@@ -517,7 +519,7 @@ static int jcat_recv(struct jcat_priv *priv)
 	return ret;
 }
 
-static int jcat_sock_prepare(struct jcat_priv *priv)
+static int j1939cat_sock_prepare(struct j1939cat_priv *priv)
 {
 	unsigned int sock_opt;
 	int value;
@@ -581,7 +583,7 @@ static int jcat_sock_prepare(struct jcat_priv *priv)
 	return EXIT_SUCCESS;
 }
 
-static int jcat_parse_args(struct jcat_priv *priv, int argc, char *argv[])
+static int j1939cat_parse_args(struct j1939cat_priv *priv, int argc, char *argv[])
 {
 	int opt;
 
@@ -617,6 +619,7 @@ static int jcat_parse_args(struct jcat_priv *priv, int argc, char *argv[])
 		if (priv->repeat < 1)
 			err(EXIT_FAILURE, "send/repeat count can't be less then 1\n");
 		break;
+	case 'h': /*fallthrough*/
 	default:
 		fputs(help_msg, stderr);
 		return EXIT_FAILURE;
@@ -641,7 +644,7 @@ static int jcat_parse_args(struct jcat_priv *priv, int argc, char *argv[])
 
 int main(int argc, char *argv[])
 {
-	struct jcat_priv *priv;
+	struct j1939cat_priv *priv;
 	int ret;
 
 	priv = malloc(sizeof(*priv));
@@ -657,21 +660,21 @@ int main(int argc, char *argv[])
 	priv->polltimeout = 100000;
 	priv->repeat = 1;
 
-	jcat_init_sockaddr_can(&priv->sockname);
-	jcat_init_sockaddr_can(&priv->peername);
+	j1939cat_init_sockaddr_can(&priv->sockname);
+	j1939cat_init_sockaddr_can(&priv->peername);
 
-	ret = jcat_parse_args(priv, argc, argv);
+	ret = j1939cat_parse_args(priv, argc, argv);
 	if (ret)
 		return ret;
 
-	ret = jcat_sock_prepare(priv);
+	ret = j1939cat_sock_prepare(priv);
 	if (ret)
 		return ret;
 
 	if (priv->todo_recv)
-		ret = jcat_recv(priv);
+		ret = j1939cat_recv(priv);
 	else
-		ret = jcat_send(priv);
+		ret = j1939cat_send(priv);
 
 	close(priv->infile);
 	close(priv->outfile);
diff --git a/jspy.c b/j1939spy.c
similarity index 97%
rename from jspy.c
rename to j1939spy.c
index d2ae177..313d266 100644
--- a/jspy.c
+++ b/j1939spy.c
@@ -30,9 +30,9 @@
  * getopt
  */
 static const char help_msg[] =
-	"jspy: An SAE J1939 spy utility" "\n"
-	"Usage: jspy [OPTION...] [[IFACE:][NAME|SA][,PGN]]" "\n"
-	"\n"
+	"j1939spy: An SAE J1939 spy utility" "\n"
+	"Usage: j1939spy [OPTION...] [[IFACE:][NAME|SA][,PGN]]" "\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -P, --promisc		Run in promiscuous mode" "\n"
 	"			(= receive traffic not for this ECU)" "\n"
@@ -95,8 +95,8 @@ static uint8_t *buf;
  */
 int main(int argc, char **argv)
 {
-	int ret, sock, j, opt;
-	unsigned int len;
+	int ret, sock, opt;
+	unsigned int j, len;
 	struct timeval tref, tdut, ttmp;
 	struct sockaddr_can src;
 	struct j1939_filter filt;
@@ -287,7 +287,7 @@ int main(int argc, char **argv)
 
 		printf("[%i%s]", len, (msg.msg_flags & MSG_TRUNC) ? "..." : "");
 		for (j = 0; j < len; ) {
-			int end = j + 4;
+			unsigned int end = j + 4;
 			if (end > len)
 				end = len;
 			printf(" ");
diff --git a/jsr.c b/j1939sr.c
similarity index 97%
rename from jsr.c
rename to j1939sr.c
index 3b84f0d..8c63f34 100644
--- a/jsr.c
+++ b/j1939sr.c
@@ -31,9 +31,9 @@
  * getopt
  */
 static const char help_msg[] =
-	"jsr: An SAE J1939 send/recv utility" "\n"
-	"Usage: jsr [OPTION...] SOURCE [DEST]" "\n"
-	"\n"
+	"j1939sr: An SAE J1939 send/recv utility" "\n"
+	"Usage: j1939sr [OPTION...] SOURCE [DEST]" "\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -p, --priority=VAL	J1939 priority (0..7, default 6)" "\n"
 	"  -S, --serialize	Strictly serialize outgoing packets" "\n"
diff --git a/lib.c b/lib.c
index 7433933..097b2e8 100644
--- a/lib.c
+++ b/lib.c
@@ -583,7 +583,7 @@ void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *c
 	if (!sep)
 		sep = defsep;
 
-	for (i = 0; i < ARRAY_SIZE(error_classes); i++) {
+	for (i = 0; i < (int)ARRAY_SIZE(error_classes); i++) {
 		mask = 1 << i;
 		if (class & mask) {
 			if (classes)
diff --git a/libj1939.c b/libj1939.c
index 8215c86..08e4fd7 100644
--- a/libj1939.c
+++ b/libj1939.c
@@ -53,7 +53,7 @@ static const char *libj1939_ifnam(int ifindex)
 	fetch_names();
 
 	for (lp = saved; lp->if_index; ++lp) {
-		if (lp->if_index == ifindex)
+		if (lp->if_index == (unsigned int)ifindex)
 			return lp->if_name;
 	}
 	if (cached) {
diff --git a/log2asc.c b/log2asc.c
index ffa0baf..3ce800b 100644
--- a/log2asc.c
+++ b/log2asc.c
@@ -60,24 +60,102 @@ extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
-	fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
-	fprintf(stderr, "Options: -I <infile>  (default stdin)\n");
-	fprintf(stderr, "         -O <outfile> (default stdout)\n");
-	fprintf(stderr, "         -4 (reduce decimal place to 4 digits)\n");
-	fprintf(stderr, "         -n (set newline to cr/lf - default lf)\n");
+	fprintf(stderr, "%s - convert compact CAN frame logfile to ASC logfile.\n", prg);
+	fprintf(stderr, "Usage: %s <options> [can-interfaces]\n", prg);
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -I <infile>   (default stdin)\n");
+	fprintf(stderr, "         -O <outfile>  (default stdout)\n");
+	fprintf(stderr, "         -4  (reduce decimal place to 4 digits)\n");
+	fprintf(stderr, "         -n  (set newline to cr/lf - default lf)\n");
+	fprintf(stderr, "         -f  (use CANFD format also for Classic CAN)\n");
+	fprintf(stderr, "         -r  (supress dlc for RTR frames - pre v8.5 tools)\n");
+}
+
+void can_asc(struct canfd_frame *cf, int devno, int nortrdlc, FILE *outfile)
+{
+	int i;
+	char id[10];
+
+	fprintf(outfile, "%-2d ", devno); /* channel number left aligned */
+
+	if (cf->can_id & CAN_ERR_FLAG)
+		fprintf(outfile, "ErrorFrame");
+	else {
+		sprintf(id, "%X%c", cf->can_id & CAN_EFF_MASK,
+			(cf->can_id & CAN_EFF_FLAG)?'x':' ');
+		fprintf(outfile, "%-15s Rx   ", id);
+
+		if (cf->can_id & CAN_RTR_FLAG) {
+			if (nortrdlc)
+				fprintf(outfile, "r"); /* RTR frame */
+			else
+				fprintf(outfile, "r %d", cf->len); /* RTR frame */
+		} else {
+			fprintf(outfile, "d %d", cf->len); /* data frame */
+
+			for (i = 0; i < cf->len; i++) {
+				fprintf(outfile, " %02X", cf->data[i]);
+			}
+		}
+	}
+}
+
+void canfd_asc(struct canfd_frame *cf, int devno, int mtu, FILE *outfile)
+{
+	int i;
+	char id[10];
+	unsigned int flags = 0;
+	unsigned int dlen = cf->len;
+
+	/* relevant flags in Flags field */
+#define ASC_F_RTR 0x00000010
+#define ASC_F_FDF 0x00001000
+#define ASC_F_BRS 0x00002000
+#define ASC_F_ESI 0x00004000
+
+	fprintf(outfile, "CANFD %3d Rx ", devno); /* 3 column channel number right aligned */
+
+	sprintf(id, "%X%c", cf->can_id & CAN_EFF_MASK,
+		(cf->can_id & CAN_EFF_FLAG)?'x':' ');
+	fprintf(outfile, "%11s                                  ", id);
+	fprintf(outfile, "%c ", (cf->flags & CANFD_BRS)?'1':'0');
+	fprintf(outfile, "%c ", (cf->flags & CANFD_ESI)?'1':'0');
+	fprintf(outfile, "%x ", can_len2dlc(dlen));
+
+	if (mtu == CAN_MTU) {
+		if (cf->can_id & CAN_RTR_FLAG) {
+			/* no data length but dlc for RTR frames */
+			dlen = 0;
+			flags = ASC_F_RTR;
+		}
+	} else {
+		flags = ASC_F_FDF;
+		if (cf->flags & CANFD_BRS)
+			flags |= ASC_F_BRS;
+		if (cf->flags & CANFD_ESI)
+			flags |= ASC_F_ESI;
+	}
+
+	fprintf(outfile, "%2d", dlen);
+
+	for (i = 0; i < (int)dlen; i++) {
+		fprintf(outfile, " %02X", cf->data[i]);
+	}
+
+	fprintf(outfile, " %8d %4d %8X 0 0 0 0 0", 130000, 130, flags);
 }
 
 int main(int argc, char **argv)
 {
-	static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ], id[10];
+	static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ];
 
 	struct canfd_frame cf;
 	static struct timeval tv, start_tv;
 	FILE *infile = stdin;
 	FILE *outfile = stdout;
-	static int maxdev, devno, i, crlf, d4, opt;
+	static int maxdev, devno, i, crlf, fdfmt, nortrdlc, d4, opt, mtu;
 
-	while ((opt = getopt(argc, argv, "I:O:4n?")) != -1) {
+	while ((opt = getopt(argc, argv, "I:O:4nfr?")) != -1) {
 		switch (opt) {
 		case 'I':
 			infile = fopen(optarg, "r");
@@ -99,6 +177,14 @@ int main(int argc, char **argv)
 			crlf = 1;
 			break;
 
+		case 'f':
+			fdfmt = 1;
+			break;
+
+		case 'r':
+			nortrdlc = 1;
+			break;
+
 		case '4':
 			d4 = 1;
 			break;
@@ -160,9 +246,14 @@ int main(int argc, char **argv)
 		}
 
 		if (devno) { /* only convert for selected CAN devices */
-			if (parse_canframe(ascframe, &cf) != CAN_MTU) /* no CAN FD support so far */
+			mtu = parse_canframe(ascframe, &cf);
+			if ((mtu != CAN_MTU) && (mtu != CANFD_MTU))
 				return 1;
 
+			/* we don't support error message frames in CAN FD */
+			if ((mtu == CANFD_MTU) && (cf.can_id & CAN_ERR_FLAG))
+				continue;
+
 			tv.tv_sec  = tv.tv_sec - start_tv.tv_sec;
 			tv.tv_usec = tv.tv_usec - start_tv.tv_usec;
 			if (tv.tv_usec < 0)
@@ -175,25 +266,11 @@ int main(int argc, char **argv)
 			else
 				fprintf(outfile, "%4ld.%06ld ", tv.tv_sec, tv.tv_usec);
 
-			fprintf(outfile, "%-2d ", devno); /* channel number left aligned */
+			if ((mtu == CAN_MTU) && (fdfmt == 0))
+				can_asc(&cf, devno, nortrdlc, outfile);
+			else
+				canfd_asc(&cf, devno, mtu, outfile);
 
-			if (cf.can_id & CAN_ERR_FLAG)
-				fprintf(outfile, "ErrorFrame");
-			else {
-				sprintf(id, "%X%c", cf.can_id & CAN_EFF_MASK,
-					(cf.can_id & CAN_EFF_FLAG)?'x':' ');
-				fprintf(outfile, "%-15s Rx   ", id);
-		
-				if (cf.can_id & CAN_RTR_FLAG)
-					fprintf(outfile, "r"); /* RTR frame */
-				else {
-					fprintf(outfile, "d %d", cf.len); /* data frame */
-		    
-					for (i = 0; i < cf.len; i++) {
-						fprintf(outfile, " %02X", cf.data[i]);
-					}
-				}
-			}
 			if (crlf)
 				fprintf(outfile, "\r");
 			fprintf(outfile, "\n");
diff --git a/log2long.c b/log2long.c
index e1c386a..2033d2c 100644
--- a/log2long.c
+++ b/log2long.c
@@ -52,7 +52,7 @@
 #define COMMENTSZ 200
 #define BUFSZ (sizeof("(1345212884.318850)") + IFNAMSIZ + 4 + CL_CFSZ + COMMENTSZ) /* for one line in the logfile */
 
-int main(int argc, char **argv)
+int main(void)
 {
 	char buf[BUFSZ], timestamp[BUFSZ], device[BUFSZ], ascframe[BUFSZ];
 	struct canfd_frame cf;
diff --git a/slcan_attach.c b/slcan_attach.c
index 7027666..6fa9269 100644
--- a/slcan_attach.c
+++ b/slcan_attach.c
@@ -57,22 +57,23 @@
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - userspace tool for serial line CAN interface driver SLCAN.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] tty\n\n", prg);
-	fprintf(stderr, "Options: -o         (send open command 'O\\r')\n");
-	fprintf(stderr, "         -l         (send listen only command 'L\\r', overrides -o)\n");
-	fprintf(stderr, "         -c         (send close command 'C\\r')\n");
-	fprintf(stderr, "         -f         (read status flags with 'F\\r' to reset error states)\n");
-	fprintf(stderr, "         -s <speed> (set CAN speed 0..8)\n");
-	fprintf(stderr, "         -b <btr>   (set bit time register value)\n");
-	fprintf(stderr, "         -d         (only detach line discipline)\n");
-	fprintf(stderr, "         -w         (attach - wait for keypess - detach)\n");
-	fprintf(stderr, "         -n <name>  (assign created netdevice name)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -o          (send open command 'O\\r')\n");
+	fprintf(stderr, "         -l          (send listen only command 'L\\r', overrides -o)\n");
+	fprintf(stderr, "         -c          (send close command 'C\\r')\n");
+	fprintf(stderr, "         -f          (read status flags with 'F\\r' to reset error states)\n");
+	fprintf(stderr, "         -s <speed>  (set CAN speed 0..8)\n");
+	fprintf(stderr, "         -b <btr>    (set bit time register value)\n");
+	fprintf(stderr, "         -d          (only detach line discipline)\n");
+	fprintf(stderr, "         -w          (attach - wait for keypess - detach)\n");
+	fprintf(stderr, "         -n <name>   (assign created netdevice name)\n");
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "slcan_attach -w -o -f -s6 -c /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach -d /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach -w -n can15 /dev/ttyS1\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "slcan_attach -w -o -f -s6 -c /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach -d /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach -w -n can15 /dev/ttyS1\n\n");
 	exit(1);
 }
 
diff --git a/slcand.c b/slcand.c
index 220048a..72e7ed4 100644
--- a/slcand.c
+++ b/slcand.c
@@ -72,22 +72,23 @@ static syslog_t syslogger = syslog;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - userspace daemon for serial line CAN interface driver SLCAN.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <tty> [canif-name]\n\n", prg);
-	fprintf(stderr, "Options: -o         (send open command 'O\\r')\n");
-	fprintf(stderr, "         -c         (send close command 'C\\r')\n");
-	fprintf(stderr, "         -f         (read status flags with 'F\\r' to reset error states)\n");
-	fprintf(stderr, "         -l         (send listen only command 'L\\r', overrides -o)\n");
-	fprintf(stderr, "         -s <speed> (set CAN speed 0..8)\n");
-	fprintf(stderr, "         -S <speed> (set UART speed in baud)\n");
-	fprintf(stderr, "         -t <type>  (set UART flow control type 'hw' or 'sw')\n");
-	fprintf(stderr, "         -b <btr>   (set bit time register value)\n");
-	fprintf(stderr, "         -F         (stay in foreground; no daemonize)\n");
-	fprintf(stderr, "         -h         (show this help page)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -o          (send open command 'O\\r')\n");
+	fprintf(stderr, "         -c          (send close command 'C\\r')\n");
+	fprintf(stderr, "         -f          (read status flags with 'F\\r' to reset error states)\n");
+	fprintf(stderr, "         -l          (send listen only command 'L\\r', overrides -o)\n");
+	fprintf(stderr, "         -s <speed>  (set CAN speed 0..8)\n");
+	fprintf(stderr, "         -S <speed>  (set UART speed in baud)\n");
+	fprintf(stderr, "         -t <type>   (set UART flow control type 'hw' or 'sw')\n");
+	fprintf(stderr, "         -b <btr>    (set bit time register value)\n");
+	fprintf(stderr, "         -F          (stay in foreground; no daemonize)\n");
+	fprintf(stderr, "         -h          (show this help page)\n");
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0\n");
-	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0 can0\n");
-	fprintf(stderr, "slcand -o -c -f -s6 /dev/ttyUSB0\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0\n\n");
+	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0 can0\n\n");
+	fprintf(stderr, "slcand -o -c -f -s6 /dev/ttyUSB0\n\n");
 	exit(EXIT_FAILURE);
 }
 
diff --git a/slcanpty.c b/slcanpty.c
index fd11cc8..fc72dfe 100644
--- a/slcanpty.c
+++ b/slcanpty.c
@@ -1,6 +1,8 @@
 /* SPDX-License-Identifier: GPL-2.0-only */
 /*
- * slcanpty.c -  creates a pty for applications using the slcan ASCII protocol
+ * slcanpty: adapter for applications using the slcan ASCII protocol
+ *
+ * slcanpty.c - creates a pty for applications using the slcan ASCII protocol
  * and converts the ASCII data to a CAN network interface (and vice versa)
  *
  * Copyright (c)2009 Oliver Hartkopp
@@ -24,6 +26,7 @@
 
 #include <stdio.h>
 #include <stdlib.h>
+#include <libgen.h>
 #include <string.h>
 #include <unistd.h>
 #include <fcntl.h>
@@ -428,16 +431,18 @@ int main(int argc, char **argv)
 
 	/* check command line options */
 	if (argc != 3) {
-		fprintf(stderr, "\n");
-		fprintf(stderr, "%s creates a pty for applications using"
-			" the slcan ASCII protocol and\n", argv[0]);
+		fprintf(stderr, "%s: adapter for applications using"
+			" the slcan ASCII protocol.\n", basename(argv[0]));
+		fprintf(stderr, "\n%s creates a pty for applications using"
+			" the slcan ASCII protocol and\n", basename(argv[0]));
 		fprintf(stderr, "converts the ASCII data to a CAN network"
 			" interface (and vice versa)\n\n");
-		fprintf(stderr, "Usage: %s <pty> <can interface>\n", argv[0]);
-		fprintf(stderr, "e.g. '%s /dev/ptyc0 can0' creates"
-			" /dev/ttyc0 for the slcan application\n", argv[0]);
+		fprintf(stderr, "Usage: %s <pty> <can interface>\n", basename(argv[0]));
+		fprintf(stderr, "\nExamples:\n");
+		fprintf(stderr, "%s /dev/ptyc0 can0  - creates /dev/ttyc0 for the slcan application\n\n",
+			basename(argv[0]));
 		fprintf(stderr, "e.g. for pseudo-terminal '%s %s can0' creates"
-			" /dev/pts/N\n", argv[0], DEVICE_NAME_PTMX);
+			" /dev/pts/N\n", basename(argv[0]), DEVICE_NAME_PTMX);
 		fprintf(stderr, "\n");
 		return 1;
 	}
diff --git a/testj1939.c b/testj1939.c
index c8fff13..80b2d0b 100644
--- a/testj1939.c
+++ b/testj1939.c
@@ -29,7 +29,7 @@
 
 static const char help_msg[] =
 	"testj1939: demonstrate j1939 use\n"
-	"Usage: testj1939 FROM TO\n"
+	"Usage: testj1939 [OPTIONS] FROM TO\n"
 	" FROM / TO	- or [IFACE][:[SA][,[PGN][,NAME]]]\n"
 	"Options:\n"
 	" -v		Print relevant API calls\n"
@@ -46,7 +46,7 @@ static const char help_msg[] =
 	" -n		Emit 64bit NAMEs in output\n"
 	" -w[TIME]	Return after TIME (default 1) seconds\n"
 	"\n"
-	"Example:\n"
+	"Examples:\n"
 	"testj1939 can1 20\n"
 	"\n"
 	;
@@ -72,7 +72,8 @@ static void schedule_oneshot_itimer(double delay)
 /* main */
 int main(int argc, char *argv[])
 {
-	int ret, sock, opt, j;
+	int ret, sock, opt;
+	unsigned int j;
 	int verbose = 0;
 	socklen_t peernamelen;
 	struct sockaddr_can sockname = {
@@ -92,7 +93,8 @@ int main(int argc, char *argv[])
 	};
 	uint8_t dat[128];
 	int valid_peername = 0;
-	int todo_send = 0, todo_recv = 0, todo_echo = 0, todo_prio = -1;
+	unsigned int todo_send = 0;
+	int todo_recv = 0, todo_echo = 0, todo_prio = -1;
 	int todo_connect = 0, todo_names = 0, todo_wait = 0, todo_rebind = 0;
 	int todo_broadcast = 0, todo_promisc = 0;
 	int no_bind = 0;
@@ -289,16 +291,16 @@ int main(int argc, char *argv[])
 				err(1, "sendto");
 		}
 		if (todo_recv) {
-			int i = 0;
+			int i;
 
 			if (todo_names && peername.can_addr.j1939.name)
 				printf("%016llx ", peername.can_addr.j1939.name);
 			printf("%02x %05x:", peername.can_addr.j1939.addr,
 					peername.can_addr.j1939.pgn);
-			for (j = 0; j < ret; ++j, i++) {
-				if (i == 8) {
+			for (i = 0, j = 0; i < ret; ++i, j++) {
+				if (j == 8) {
 					printf("\n%05x    ", j);
-					i = 0;
+					j = 0;
 				}
 				printf(" %02x", dat[j]);
 			}