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canfd: upgrade tools to support CAN FD for Linux 3.6

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This is a major upgrade of the basic tools to handle CAN FD frames.
The library to parse and print CAN frames and logfiles has been extended.

In detail:

 asc2log.c      |    5 +
 candump.c      |   24 ++++---
 cangen.c       |  172 +++++++++++++++++++++++++++++++++------------------
 canlogserver.c |   28 +++++---
 canplayer.c    |   25 ++++---
 cansend.c      |   55 ++++++++++++----
 lib.c          |  189 ++++++++++++++++++++++++++++++++++++++-------------------
 lib.h          |  109 ++++++++++++++++++++++++--------
 log2asc.c      |    8 +-
 log2long.c     |   26 ++++++-
 10 files changed, 440 insertions(+), 201 deletions(-)

asc2log.c / log2asc.c
- updates for new lib functions
- still can only handle CAN2.0 frames (no new info about ASC file layout)

log2long.c / canlogserver.c / canplayer.c
- updates for new lib functions to handle CAN FD

lib.h / lib.c
- reworked lib functions to handle CAN FD
- parse_canframe() now returns CAN_MTU and CANFD_MTU on success, 0 at failure
- added can_dlc2len() and can_len2dlc() helpers
- moved hexstring2candata to hexstring2data to support simple byte buffers
- in the long CAN frame representation use %03X/%08X instead of %3X/%8X
- introduced unified buffer size definitions for ASCII CAN frames
- updated documentation

cangen.c
- support CAN FD frames (added -f option to create CAN FD frames)
- added -m option ('mix') to create random extended / RTR / CAN FD frames
- fixed the 'fixed data' option which was zero'ing the payload by the time
- updated help text

candump.c
- support CAN FD frames (print, bridge, log)
- distinguish frame types by length info: [0] = CAN2.0 [00] = CAN FD frame

Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>
This commit is contained in:
Oliver Hartkopp
2012-11-14 19:47:21 +01:00
parent a2b13452c7
commit e7631bd7f9
10 changed files with 440 additions and 201 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cansend.c
+42 -13
View File
@@ -62,9 +62,11 @@
int main(int argc, char **argv)
{
int s; /* can raw socket */
int nbytes;
int required_mtu;
int mtu;
int enable_canfd = 1;
struct sockaddr_can addr;
struct can_frame frame;
struct canfd_frame frame;
struct ifreq ifr;
/* check command line options */
@@ -74,14 +76,18 @@ int main(int argc, char **argv)
}
/* parse CAN frame */
if (parse_canframe(argv[2], &frame)){
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
fprintf(stderr, "Try: <can_id>#{R|data}\n");
fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
fprintf(stderr, " be seperated by '.'\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
required_mtu = parse_canframe(argv[2], &frame);
if (!required_mtu){
fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 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, " seperated by '.')\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##311\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
@@ -101,6 +107,31 @@ int main(int argc, char **argv)
}
addr.can_ifindex = ifr.ifr_ifindex;
if (required_mtu > CAN_MTU) {
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
perror("SIOCGIFMTU");
return 1;
}
mtu = ifr.ifr_mtu;
if (mtu != CANFD_MTU) {
printf("CAN interface ist not CAN FD capable - sorry.\n");
return 1;
}
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
frame.len = can_dlc2len(can_len2dlc(frame.len));
}
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
@@ -113,13 +144,11 @@ int main(int argc, char **argv)
}
/* send frame */
if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
}
//fprint_long_canframe(stdout, &frame, "\n", 0);
close(s);
return 0;