Added tiny tool cansend and a library to parse ASCII CAN frames (e.g. from
the command line) that are defined in one concatenated string. This is a requirement for the comming command line tool 'bcmsend' that allows to send more than one CAN frame at a time.pull/7/head
Oliver Hartkopp
parent
063c62c665
commit
99a3bba852
6
Makefile
6
Makefile
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@ -43,7 +43,7 @@
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CFLAGS = -O2 -Wall -Wno-parentheses -I../kernel/2.6/include \
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-fno-strict-aliasing
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PROGRAMS = candump can-sniffer
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PROGRAMS = candump can-sniffer cansend
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all: $(PROGRAMS)
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@ -52,3 +52,7 @@ clean:
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distclean:
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rm -f $(PROGRAMS) *~
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cansend.o: lib.h
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cansend: cansend.o lib.o
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@ -0,0 +1,117 @@
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/*
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* $Id$
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*/
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/*
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* cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
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*
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* Copyright (c) 2002-2005 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions, the following disclaimer and
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* the referenced file 'COPYING'.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of Volkswagen nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* Alternatively, provided that this notice is retained in full, this
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* software may be distributed under the terms of the GNU General
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* Public License ("GPL") version 2 as distributed in the 'COPYING'
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* file from the main directory of the linux kernel source.
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*
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* The provided data structures and external interfaces from this code
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* are not restricted to be used by modules with a GPL compatible license.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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* DAMAGE.
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <net/if.h>
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#include <sys/ioctl.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include "lib.h"
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int main(int argc, char **argv)
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{
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int s; /* can raw socket */
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int nbytes;
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struct sockaddr_can addr;
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struct can_frame frame;
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struct ifreq ifr;
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/* check command line options */
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if (argc != 3) {
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fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
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return 1;
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}
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/* parse CAN frame */
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if (parse_canframe(argv[2], &frame)){
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fprintf(stderr, "\nWrong CAN-frame format!\n\n");
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fprintf(stderr, "Try: <can_id>#{R|data}\n");
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fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
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fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
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fprintf(stderr, " be seperated by '.'\n\n");
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fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
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fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
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fprintf(stderr, "for remote transmission request.\n\n");
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return 1;
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}
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/* open socket */
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if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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perror("socket");
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return 1;
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}
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strcpy(ifr.ifr_name, argv[1]);
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ioctl(s, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind");
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return 1;
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}
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/* send frame */
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if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
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perror("write");
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return 1;
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}
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//fprint_canframe(stdout, &frame, "\n");
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close(s);
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return 0;
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}
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@ -0,0 +1,154 @@
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/*
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* $Id$
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*/
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/*
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* cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
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*
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* Copyright (c) 2002-2005 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions, the following disclaimer and
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* the referenced file 'COPYING'.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of Volkswagen nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* Alternatively, provided that this notice is retained in full, this
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* software may be distributed under the terms of the GNU General
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* Public License ("GPL") version 2 as distributed in the 'COPYING'
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* file from the main directory of the linux kernel source.
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*
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* The provided data structures and external interfaces from this code
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* are not restricted to be used by modules with a GPL compatible license.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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* DAMAGE.
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#include <stdio.h>
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#include <string.h>
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#include <linux/can.h>
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#define CANID_DELIM '#'
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#define DATA_SEPERATOR '.'
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static int asc2nibble(char c){
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if ((c >= '0') && (c <= '9'))
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return c - '0';
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if ((c >= 'A') && (c <= 'F'))
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return c - 'A' + 10;
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if ((c >= 'a') && (c <= 'f'))
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return c - 'a' + 10;
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return 16; /* error */
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}
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int parse_canframe(char *cs, struct can_frame *cf){
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/* documentation see lib.h */
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int i, idx, dlc, len, tmp;
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len = strlen(cs);
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//printf("'%s' len %d\n", cs, len);
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memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
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if (len < 4)
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return 1;
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if (!((cs[3] == CANID_DELIM) || (cs[8] == CANID_DELIM)))
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return 1;
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if (cs[8] == CANID_DELIM) {
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idx = 9;
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cf->can_id = CAN_EFF_FLAG;
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for (i=0; i<8; i++){
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if ((tmp = asc2nibble(cs[i])) > 0x0F)
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return 1;
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cf->can_id |= (tmp << (7-i)*4);
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}
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} else {
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idx = 4;
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for (i=0; i<3; i++){
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if ((tmp = asc2nibble(cs[i])) > 0x0F)
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return 1;
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cf->can_id |= (tmp << (2-i)*4);
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}
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}
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if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
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cf->can_id |= CAN_RTR_FLAG;
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return 0;
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}
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for (i=0, dlc=0; i<8; i++){
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if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
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idx++;
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if(idx >= len) /* end of string => end of data */
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break;
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if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
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return 1;
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cf->data[i] = (tmp << 4);
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if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
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return 1;
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cf->data[i] |= tmp;
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dlc++;
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}
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cf->can_dlc = dlc;
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return 0;
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}
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void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol){
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/* documentation see lib.h */
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int i;
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if (cf->can_id & CAN_EFF_FLAG)
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fprintf(stream, "%8X ", cf->can_id & CAN_EFF_MASK);
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else
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fprintf(stream, "%3X ", cf->can_id & CAN_SFF_MASK);
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fprintf(stream, "[%d] ", cf->can_dlc);
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for (i = 0; i < cf->can_dlc; i++) {
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fprintf(stream, "%02X ", cf->data[i]);
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}
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if (cf->can_id & CAN_RTR_FLAG)
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fprintf(stream, "remote request");
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if (eol)
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fprintf(stream, "%s", eol);
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}
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@ -0,0 +1,86 @@
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/*
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* $Id$
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*/
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/*
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* cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
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*
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* Copyright (c) 2002-2005 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
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* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions, the following disclaimer and
|
||||
* the referenced file 'COPYING'.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in the
|
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of Volkswagen nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
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*
|
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* Alternatively, provided that this notice is retained in full, this
|
||||
* software may be distributed under the terms of the GNU General
|
||||
* Public License ("GPL") version 2 as distributed in the 'COPYING'
|
||||
* file from the main directory of the linux kernel source.
|
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*
|
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* The provided data structures and external interfaces from this code
|
||||
* are not restricted to be used by modules with a GPL compatible license.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
|
||||
* DAMAGE.
|
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*
|
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* Send feedback to <socketcan-users@lists.berlios.de>
|
||||
*
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*/
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int parse_canframe(char *cs, struct can_frame *cf);
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/*
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* Transfers a valid ASCII string decribing a CAN frame into struct can_frame.
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*
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* <can_id>#{R|data}
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*
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* can_id can have 3 (standard frame format) or 8 (extended frame format)
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* hexadecimal chars
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*
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* data has 0 to 8 hex-values that can (optionally) be seperated by '.'
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*
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* Examples:
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*
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* 123# -> standard CAN-Id = 0x123, dlc = 0
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* 12345678# -> exended CAN-Id = 0x12345678, dlc = 0
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* 123#R -> standard CAN-Id = 0x123, dlc = 0, RTR-frame
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* 7A1#r -> standard CAN-Id = 0x7A1, dlc = 0, RTR-frame
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*
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* 123#00 -> standard CAN-Id = 0x123, dlc = 1, data[0] = 0x00
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* 123#1122334455667788 -> standard CAN-Id = 0x123, dlc = 8
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* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8
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* 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, dlc = 8
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*
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*/
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void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol);
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/*
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* Creates a CAN frame hexadecimal output in user readable format.
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*
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* 12345678 [3] 11 22 33 -> exended CAN-Id = 0x12345678, dlc = 3, data
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* 12345678 [0] remote request -> exended CAN-Id = 0x12345678, RTR
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*
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* Examples:
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*
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* fprint_canframe(stdout, &frame, "\n"); // with eol to STDOUT
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* fprint_canframe(stderr, &frame, NULL); // no eol to STDERR
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*
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*/
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Loading…
Reference in New Issue