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

Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
pull/1/head
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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27
include/linux/can/isotp.h
View File

@ -66,6 +66,8 @@
/* ignore received CF frames which */
/* timestamps differ less than val */
#define CAN_ISOTP_LL_OPTS 5 /* pass struct can_isotp_ll_options */
struct can_isotp_options {
__u32 flags; /* set flags for isotp behaviour. */
@ -103,6 +105,24 @@ struct can_isotp_fc_options {
/* __u8 value : 0 = omit FC N_PDU WT */
};
struct can_isotp_ll_options {
__u8 mtu; /* generated & accepted CAN frame type */
/* __u8 value : */
/* CAN_MTU (16) -> standard CAN 2.0 */
/* CANFD_MTU (72) -> CAN FD frame */
__u8 tx_dl; /* tx link layer data length in bytes */
/* (configured maximum payload length) */
/* __u8 value : 8,12,16,20,24,32,48,64 */
/* => rx path supports all LL_DL values */
__u8 tx_flags; /* set into struct canfd_frame.flags */
/* at frame creation: e.g. CANFD_BRS */
/* Obsolete when the BRS flag is fixed */
/* by the CAN netdriver configuration */
};
/* flags for isotp behaviour */
@ -122,13 +142,16 @@ struct can_isotp_fc_options {
#define CAN_ISOTP_DEFAULT_FLAGS 0
#define CAN_ISOTP_DEFAULT_EXT_ADDRESS 0x00
#define CAN_ISOTP_DEFAULT_RXPAD_CONTENT 0x00
#define CAN_ISOTP_DEFAULT_TXPAD_CONTENT 0x00
#define CAN_ISOTP_DEFAULT_PAD_CONTENT 0xCC /* prevent bit-stuffing */
#define CAN_ISOTP_DEFAULT_FRAME_TXTIME 0
#define CAN_ISOTP_DEFAULT_RECV_BS 0
#define CAN_ISOTP_DEFAULT_RECV_STMIN 0x00
#define CAN_ISOTP_DEFAULT_RECV_WFTMAX 0
#define CAN_ISOTP_DEFAULT_LL_MTU CAN_MTU
#define CAN_ISOTP_DEFAULT_LL_TX_DL CAN_MAX_DLEN
#define CAN_ISOTP_DEFAULT_LL_TX_FLAGS 0
/*
* Remark on CAN_ISOTP_DEFAULT_RECV_* values:
*

35
isotpdump.c
View File

@ -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] : '.');

22
isotprecv.c
View File

@ -72,6 +72,7 @@ void print_usage(char *prg)
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 receiption.)\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");
@ -84,6 +85,7 @@ int main(int argc, char **argv)
struct ifreq ifr;
static struct can_isotp_options opts;
static struct can_isotp_fc_options fcopts;
static struct can_isotp_ll_options llopts;
int opt, i;
extern int optind, opterr, optopt;
__u32 force_rx_stmin = 0;
@ -94,7 +96,7 @@ int main(int argc, char **argv)
addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
while ((opt = getopt(argc, argv, "s:d:x:X:p:P:b:m:w:f:l?")) != -1) {
while ((opt = getopt(argc, argv, "s:d:x:X:p:P:b:m:w:f:lL:?")) != -1) {
switch (opt) {
case 's':
addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
@ -158,6 +160,17 @@ int main(int argc, char **argv)
loop = 1;
break;
case 'L':
if (sscanf(optarg, "%hhu:%hhu:%hhu",
&llopts.mtu,
&llopts.tx_dl,
&llopts.tx_flags) != 3) {
printf("unknown link layer options '%s'.\n", optarg);
print_usage(basename(argv[0]));
exit(0);
}
break;
case '?':
print_usage(basename(argv[0]));
exit(0);
@ -191,6 +204,13 @@ int main(int argc, char **argv)
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
if (llopts.tx_dl) {
if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
perror("link layer sockopt");
exit(1);
}
}
if (opts.flags & CAN_ISOTP_FORCE_RXSTMIN)
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RX_STMIN, &force_rx_stmin, sizeof(force_rx_stmin));

22
isotpsend.c
View File

@ -70,6 +70,7 @@ void print_usage(char *prg)
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");
@ -81,6 +82,7 @@ int main(int argc, char **argv)
struct sockaddr_can addr;
struct ifreq ifr;
static struct can_isotp_options opts;
static struct can_isotp_ll_options llopts;
int opt;
extern int optind, opterr, optopt;
__u32 force_tx_stmin = 0;
@ -91,7 +93,7 @@ int main(int argc, char **argv)
addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
while ((opt = getopt(argc, argv, "s:d:x:X:p:P:t:f:D:?")) != -1) {
while ((opt = getopt(argc, argv, "s:d:x:X:p:P:t:f:D:L:?")) != -1) {
switch (opt) {
case 's':
addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
@ -151,6 +153,17 @@ int main(int argc, char **argv)
}
break;
case 'L':
if (sscanf(optarg, "%hhu:%hhu:%hhu",
&llopts.mtu,
&llopts.tx_dl,
&llopts.tx_flags) != 3) {
printf("unknown link layer options '%s'.\n", optarg);
print_usage(basename(argv[0]));
exit(0);
}
break;
case '?':
print_usage(basename(argv[0]));
exit(0);
@ -183,6 +196,13 @@ int main(int argc, char **argv)
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
if (llopts.tx_dl) {
if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
perror("link layer sockopt");
exit(1);
}
}
if (opts.flags & CAN_ISOTP_FORCE_TXSTMIN)
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_TX_STMIN, &force_tx_stmin, sizeof(force_tx_stmin));