diff --git a/cansend.c b/cansend.c index 033692f..2749482 100644 --- a/cansend.c +++ b/cansend.c @@ -64,11 +64,13 @@ static void print_usage(char *prg) "Usage: %s .\n" "\n" ":\n" - " #{data} for Classical CAN 2.0 data frames\n" - " #R{len} for Classical CAN 2.0 data frames\n" - " #{data}_{dlc} for Classical CAN 2.0 data frames\n" - " #R{len}_{dlc} for Classical CAN 2.0 data frames\n" - " ##{data} for CAN FD frames\n\n" + " #{data} for CAN CC (Classical CAN 2.0B) data frames\n" + " #R{len} for CAN CC (Classical CAN 2.0B) data frames\n" + " #{data}_{dlc} for CAN CC (Classical CAN 2.0B) data frames\n" + " #R{len}_{dlc} for CAN CC (Classical CAN 2.0B) data frames\n" + " ##{data} for CAN FD frames\n" + " #::# for CAN XL frames\n" + "\n" ":\n" " 3 (SFF) or 8 (EFF) hex chars\n" "{data}:\n" @@ -80,9 +82,23 @@ static void print_usage(char *prg) ":\n" " a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n" "\n" + ":\n" + " 2 hex chars - virtual CAN network identifier (00 .. FF)\n" + ":\n" + " 3 hex chars - 11 bit priority value (000 .. 7FF)\n" + ":\n" + " 2 hex chars values (00 .. FF) which defines canxl_frame.flags\n" + ":\n" + " 2 hex chars values (00 .. FF) which defines canxl_frame.sdt\n" + ":\n" + " 8 hex chars - 32 bit acceptance field (canxl_frame.af)\n" + ":\n" + " 1..2048 ASCII hex-values (optionally separated by '.')\n" + "\n" "Examples:\n" " 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n" - " 1F334455#1122334455667788_B / 123#R / 00000123#R3 / 333#R8_E\n" + " 1F334455#1122334455667788_B / 123#R / 00000123#R3 / 333#R8_E /\n" + " 45123#81:00:12345678#11223344.556677 / 00242#81:07:40000123#112233\n" "\n", prg, prg); } diff --git a/lib.h b/lib.h index d31f50b..23514c7 100644 --- a/lib.h +++ b/lib.h @@ -110,9 +110,10 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen); int parse_canframe(char *cs, cu_t *cu); /* - * Transfers a valid ASCII string describing a CAN frame into struct canfd_frame. + * Transfers a valid ASCII string describing a CAN frame into the CAN union + * containing CAN CC/FD/XL structs. * - * CAN 2.0 frames (aka Classical CAN) + * CAN CC frames (aka Classical CAN, CAN 2.0B) * - string layout #{R{len}|data}{_len8_dlc} * - {data} has 0 to 8 hex-values that can (optionally) be separated by '.' * - {len} can take values from 0 to 8 and can be omitted if zero @@ -125,6 +126,16 @@ int parse_canframe(char *cs, cu_t *cu); * - {data} has 0 to 64 hex-values that can (optionally) be separated by '.' * - return value on successful parsing: CANFD_MTU * + * CAN XL frames + * - string layout #::#{data} + * - a two ASCII Hex value (00 .. FF) which defines the VCID + * - a three ASCII Hex value (000 .. 7FF) which defines the 11 bit PRIO + * - a two ASCII Hex value (00 .. FF) which defines canxl_frame.flags + * - a two ASCII Hex value (00 .. FF) which defines canxl_frame.sdt + * - a 8 digit ASCII Hex value which defines the 32 bit canxl_frame.af + * - {data} has 1 to 2048 hex-values that can (optionally) be separated by '.' + * - return value on successful parsing: CANXL_MTU + * * Return value on detected problems: 0 * * can have 3 (standard frame format) or 8 (extended frame format) @@ -155,6 +166,9 @@ int parse_canframe(char *cs, cu_t *cu); * ^^ * CAN FD extension to handle the canfd_frame.flags content * + * 45123#81:00:12345678#11223344.556677 -> CAN XL frame with len = 7, + * VCID = 0x45, PRIO = 0x123, flags = 0x81, sdt = 0x00, af = 0x12345678 + * * Simple facts on this compact ASCII CAN frame representation: * * - 3 digits: standard frame format @@ -169,8 +183,9 @@ int sprint_canframe(char *buf , cu_t *cu, int sep); * Creates a CAN frame hexadecimal output in compact format. * The CAN data[] is separated by '.' when sep != 0. * - * The type of the CAN frame (CAN CC / CAN FD) is specified by - * by the dual-use struct canfd_frame.flags element: + * A CAN XL frame is detected when CANXL_XLF is set in the struct + * cu.canxl_frame.flags. Otherwise the type of the CAN frame (CAN CC/FD) + * is specified by the dual-use struct cu.canfd_frame.flags element: * w/o CAN FD flags (== 0) -> CAN CC frame (aka Classical CAN, CAN2.0B) * with CAN FD flags (!= 0) -> CAN FD frame (with CANFD_[FDF/BRS/ESI]) * @@ -182,6 +197,8 @@ int sprint_canframe(char *buf , cu_t *cu, int sep); * 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set * 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3 * 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3 + * 45123#81:00:12345678#11223344.556677 -> CAN XL frame with len = 7, + * VCID = 0x45, PRIO = 0x123, flags = 0x81, sdt = 0x00, af = 0x12345678 * */ @@ -198,8 +215,9 @@ int sprint_long_canframe(char *buf , cu_t *cu, int view); /* * Creates a CAN frame hexadecimal output in user readable format. * - * The type of the CAN frame (CAN CC / CAN FD) is specified by - * by the dual-use struct canfd_frame.flags element: + * A CAN XL frame is detected when CANXL_XLF is set in the struct + * cu.canxl_frame.flags. Otherwise the type of the CAN frame (CAN CC/FD) + * is specified by the dual-use struct cu.canfd_frame.flags element: * w/o CAN FD flags (== 0) -> CAN CC frame (aka Classical CAN, CAN2.0B) * with CAN FD flags (!= 0) -> CAN FD frame (with CANFD_[FDF/BRS/ESI]) * @@ -209,10 +227,13 @@ int sprint_long_canframe(char *buf , cu_t *cu, int view); * 321 {B} 11 22 33 44 55 66 77 88 -> Classical CAN with raw '{DLC}' value B * 20001111 [7] C6 23 7B 32 69 98 3C ERRORFRAME -> (CAN_ERR_FLAG set) * 12345678 [03] 11 22 33 -> CAN FD with extended CAN-Id = 0x12345678, len = 3 + * 123 [0003] (45|81:00:12345678) 11 22 33 -> CAN XL frame with VCID 0x45 * * 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == 0 * 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == set * + * There are no binary or ASCII view modes for CAN XL and the number of displayed + * data bytes is limited to 64 to fit terminal output use-cases. */ int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,