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isotp: add tool support for ISO 15765-2:2015 with CAN FD

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Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
This commit is contained in:
Oliver Hartkopp
2014-11-16 22:24:04 +01:00
parent 61a9b8d98e
commit 8150e21a11
4 changed files with 90 additions and 16 deletions
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isotpdump.c
+23 -12
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@@ -60,6 +60,7 @@
#define NO_CAN_ID 0xFFFFFFFFU
const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
const int canfd_on = 1;
void print_usage(char *prg)
{
@@ -80,7 +81,7 @@ int main(int argc, char **argv)
int s;
struct sockaddr_can addr;
struct can_filter rfilter[2];
struct can_frame frame;
struct canfd_frame frame;
int nbytes, i;
canid_t src = NO_CAN_ID;
canid_t dst = NO_CAN_ID;
@@ -180,6 +181,8 @@ int main(int argc, char **argv)
return 1;
}
/* try to switch the socket into CAN FD mode */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
if (src & CAN_EFF_FLAG) {
rfilter[0].can_id = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
@@ -212,12 +215,12 @@ int main(int argc, char **argv)
}
while (1) {
if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
nbytes = read(s, &frame, sizeof(frame));
if (nbytes < 0) {
perror("read");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
} else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
fprintf(stderr, "read: incomplete CAN frame %lu %d\n", sizeof(frame), nbytes);
return 1;
} else {
@@ -284,15 +287,23 @@ int main(int argc, char **argv)
if (ext)
printf("{%02X}", frame.data[0]);
printf(" [%d] ", frame.can_dlc);
if (nbytes == CAN_MTU)
printf(" [%d] ", frame.len);
else
printf(" [%02d] ", frame.len);
datidx = 0;
n_pci = frame.data[ext];
switch (n_pci & 0xF0) {
case 0x00:
printf("[SF] ln: %-4d data:", n_pci & 0x0F);
datidx = ext+1;
if (n_pci & 0xF) {
printf("[SF] ln: %-4d data:", n_pci & 0xF);
datidx = ext+1;
} else {
printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
datidx = ext+2;
}
break;
case 0x10:
@@ -341,16 +352,16 @@ int main(int argc, char **argv)
printf("[??]");
}
if (datidx && frame.can_dlc > datidx) {
if (datidx && frame.len > datidx) {
printf(" ");
for (i = datidx; i < frame.can_dlc; i++) {
for (i = datidx; i < frame.len; i++) {
printf("%02X ", frame.data[i]);
}
if (asc) {
printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
"- '");
for (i = datidx; i < frame.can_dlc; i++) {
for (i = datidx; i < frame.len; i++) {
printf("%c",((frame.data[i] > 0x1F) &&
(frame.data[i] < 0x7F))?
frame.data[i] : '.');