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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
lib.c
+127 -62
View File
@@ -58,8 +58,36 @@
#define CANID_DELIM '#'
#define DATA_SEPERATOR '.'
#define MAX_CANFRAME "12345678#01.23.45.67.89.AB.CD.EF"
#define MAX_LONG_CANFRAME_SIZE 256
/* CAN DLC to real data length conversion helpers */
static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
8, 12, 16, 20, 24, 32, 48, 64};
/* get data length from can_dlc with sanitized can_dlc */
unsigned char can_dlc2len(unsigned char can_dlc)
{
return dlc2len[can_dlc & 0x0F];
}
static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, /* 0 - 8 */
9, 9, 9, 9, /* 9 - 12 */
10, 10, 10, 10, /* 13 - 16 */
11, 11, 11, 11, /* 17 - 20 */
12, 12, 12, 12, /* 21 - 24 */
13, 13, 13, 13, 13, 13, 13, 13, /* 25 - 32 */
14, 14, 14, 14, 14, 14, 14, 14, /* 33 - 40 */
14, 14, 14, 14, 14, 14, 14, 14, /* 41 - 48 */
15, 15, 15, 15, 15, 15, 15, 15, /* 49 - 56 */
15, 15, 15, 15, 15, 15, 15, 15}; /* 57 - 64 */
/* map the sanitized data length to an appropriate data length code */
unsigned char can_len2dlc(unsigned char len)
{
if (len > 64)
return 0xF;
return len2dlc[len];
}
unsigned char asc2nibble(char c) {
@@ -75,53 +103,57 @@ unsigned char asc2nibble(char c) {
return 16; /* error */
}
int hexstring2candata(char *arg, struct can_frame *cf) {
int hexstring2data(char *arg, unsigned char *data, int maxdlen) {
int len = strlen(arg);
int i;
unsigned char tmp;
if (!len || len%2 || len > 16)
if (!len || len%2 || len > maxdlen*2)
return 1;
memset(data, 0, maxdlen);
for (i=0; i < len/2; i++) {
tmp = asc2nibble(*(arg+(2*i)));
if (tmp > 0x0F)
return 1;
cf->data[i] = (tmp << 4);
data[i] = (tmp << 4);
tmp = asc2nibble(*(arg+(2*i)+1));
if (tmp > 0x0F)
return 1;
cf->data[i] |= tmp;
data[i] |= tmp;
}
return 0;
}
int parse_canframe(char *cs, struct can_frame *cf) {
int parse_canframe(char *cs, struct canfd_frame *cf) {
/* documentation see lib.h */
int i, idx, dlc, len;
int i, idx, dlen, len;
int maxdlen = CAN_MAX_DLEN;
int ret = CAN_MTU;
unsigned char tmp;
len = strlen(cs);
//printf("'%s' len %d\n", cs, len);
memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
if (len < 4)
return 1;
return 0;
if (cs[3] == CANID_DELIM) { /* 3 digits */
idx = 4;
for (i=0; i<3; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 1;
return 0;
cf->can_id |= (tmp << (2-i)*4);
}
@@ -130,21 +162,34 @@ int parse_canframe(char *cs, struct can_frame *cf) {
idx = 9;
for (i=0; i<8; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 1;
return 0;
cf->can_id |= (tmp << (7-i)*4);
}
if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
} else
return 1;
return 0;
if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
cf->can_id |= CAN_RTR_FLAG;
return 0;
return ret;
}
for (i=0, dlc=0; i<8; i++){
if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
maxdlen = CANFD_MAX_DLEN;
ret = CANFD_MTU;
/* CAN FD frame <canid>##<flags><data>* */
if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
return 0;
cf->flags = tmp;
idx += 2;
}
for (i=0, dlen=0; i < maxdlen; i++){
if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
idx++;
@@ -153,35 +198,34 @@ int parse_canframe(char *cs, struct can_frame *cf) {
break;
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 1;
return 0;
cf->data[i] = (tmp << 4);
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 1;
return 0;
cf->data[i] |= tmp;
dlc++;
dlen++;
}
cf->len = dlen;
cf->can_dlc = dlc;
return 0;
return ret;
}
void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol, int sep) {
void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen) {
/* documentation see lib.h */
char buf[sizeof(MAX_CANFRAME)+1]; /* max length */
char buf[CL_CFSZ]; /* max length */
sprint_canframe(buf, cf, sep);
sprint_canframe(buf, cf, sep, maxdlen);
fprintf(stream, "%s", buf);
if (eol)
fprintf(stream, "%s", eol);
}
void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen) {
/* documentation see lib.h */
int i,offset;
int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc;
int len = (cf->len > maxdlen) ? maxdlen : cf->len;
if (cf->can_id & CAN_ERR_FLAG) {
sprintf(buf, "%08X#", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
@@ -194,25 +238,34 @@ void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
offset = 4;
}
if (cf->can_id & CAN_RTR_FLAG) /* there are no ERR frames with RTR */
/* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
if (maxdlen == CAN_MAX_DLEN && cf->can_id & CAN_RTR_FLAG) {
sprintf(buf+offset, "R");
else
for (i = 0; i < dlc; i++) {
sprintf(buf+offset, "%02X", cf->data[i]);
offset += 2;
if (sep && (i+1 < dlc))
sprintf(buf+offset++, ".");
}
return;
}
if (maxdlen == CANFD_MAX_DLEN) {
/* add CAN FD specific escape char and flags */
sprintf(buf+offset, "#%X", cf->flags & 0xF);
offset += 2;
if (sep && len)
sprintf(buf+offset++, ".");
}
for (i = 0; i < len; i++) {
sprintf(buf+offset, "%02X", cf->data[i]);
offset += 2;
if (sep && (i+1 < len))
sprintf(buf+offset++, ".");
}
}
void fprint_long_canframe(FILE *stream , struct can_frame *cf, char *eol, int view) {
void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen) {
/* documentation see lib.h */
char buf[MAX_LONG_CANFRAME_SIZE];
char buf[CL_LONGCFSZ];
sprint_long_canframe(buf, cf, view);
sprint_long_canframe(buf, cf, view, maxdlen);
fprintf(stream, "%s", buf);
if ((view & CANLIB_VIEW_ERROR) && (cf->can_id & CAN_ERR_FLAG)) {
snprintf_can_error_frame(buf, sizeof(buf), cf, "\n\t");
@@ -222,41 +275,45 @@ void fprint_long_canframe(FILE *stream , struct can_frame *cf, char *eol, int vi
fprintf(stream, "%s", eol);
}
void sprint_long_canframe(char *buf , struct can_frame *cf, int view) {
void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen) {
/* documentation see lib.h */
int i, j, dlen, offset;
int dlc = (cf->can_dlc > 8)? 8 : cf->can_dlc;
int len = (cf->len > maxdlen)? maxdlen : cf->len;
if (cf->can_id & CAN_ERR_FLAG) {
sprintf(buf, "%8X ", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
sprintf(buf, "%08X ", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
offset = 10;
} else if (cf->can_id & CAN_EFF_FLAG) {
sprintf(buf, "%8X ", cf->can_id & CAN_EFF_MASK);
sprintf(buf, "%08X ", cf->can_id & CAN_EFF_MASK);
offset = 10;
} else {
sprintf(buf, "%3X ", cf->can_id & CAN_SFF_MASK);
sprintf(buf, "%03X ", cf->can_id & CAN_SFF_MASK);
offset = 5;
}
sprintf(buf+offset, "[%d]", dlc);
offset += 3;
if (cf->can_id & CAN_RTR_FLAG) { /* there are no ERR frames with RTR */
sprintf(buf+offset, " remote request");
return;
if (maxdlen == CAN_MAX_DLEN) {
sprintf(buf+offset, " [%d] ", len);
/* standard CAN frames may have RTR enabled */
if (cf->can_id & CAN_RTR_FLAG) {
sprintf(buf+offset+5, " remote request");
return;
}
} else {
sprintf(buf+offset, "[%02d] ", len);
}
offset += 5;
if (view & CANLIB_VIEW_BINARY) {
dlen = 9; /* _10101010 */
if (view & CANLIB_VIEW_SWAP) {
for (i = dlc - 1; i >= 0; i--) {
buf[offset++] = (i == dlc-1)?' ':SWAP_DELIMITER;
for (i = len - 1; i >= 0; i--) {
buf[offset++] = (i == len-1)?' ':SWAP_DELIMITER;
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
}
} else {
for (i = 0; i < dlc; i++) {
for (i = 0; i < len; i++) {
buf[offset++] = ' ';
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
@@ -266,28 +323,36 @@ void sprint_long_canframe(char *buf , struct can_frame *cf, int view) {
} else {
dlen = 3; /* _AA */
if (view & CANLIB_VIEW_SWAP) {
for (i = dlc - 1; i >= 0; i--) {
for (i = len - 1; i >= 0; i--) {
sprintf(buf+offset, "%c%02X",
(i == dlc-1)?' ':SWAP_DELIMITER,
(i == len-1)?' ':SWAP_DELIMITER,
cf->data[i]);
offset += dlen;
}
} else {
for (i = 0; i < dlc; i++) {
for (i = 0; i < len; i++) {
sprintf(buf+offset, " %02X", cf->data[i]);
offset += dlen;
}
}
}
/*
* The ASCII & ERRORFRAME output is put at a fixed len behind the data.
* For now we support ASCII output only for payload length up to 8 bytes.
* Does it make sense to write 64 ASCII byte behind 64 ASCII HEX data on the console?
*/
if (len > CAN_MAX_DLEN)
return;
if (cf->can_id & CAN_ERR_FLAG)
sprintf(buf+offset, "%*s", dlen*(8-dlc)+13, "ERRORFRAME");
sprintf(buf+offset, "%*s", dlen*(8-len)+13, "ERRORFRAME");
else if (view & CANLIB_VIEW_ASCII) {
j = dlen*(8-dlc)+4;
j = dlen*(8-len)+4;
if (view & CANLIB_VIEW_SWAP) {
sprintf(buf+offset, "%*s", j, "`");
offset += j;
for (i = dlc - 1; i >= 0; i--)
for (i = len - 1; i >= 0; i--)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
@@ -297,7 +362,7 @@ void sprint_long_canframe(char *buf , struct can_frame *cf, int view) {
} else {
sprintf(buf+offset, "%*s", j, "'");
offset += j;
for (i = 0; i < dlc; i++)
for (i = 0; i < len; i++)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
@@ -399,14 +464,14 @@ static int snprintf_error_data(char *buf, size_t len, uint8_t err,
return n;
}
static int snprintf_error_lostarb(char *buf, size_t len, struct can_frame *cf)
static int snprintf_error_lostarb(char *buf, size_t len, struct canfd_frame *cf)
{
if (len <= 0)
return 0;
return snprintf(buf, len, "{at bit %d}", cf->data[0]);
}
static int snprintf_error_ctrl(char *buf, size_t len, struct can_frame *cf)
static int snprintf_error_ctrl(char *buf, size_t len, struct canfd_frame *cf)
{
int n = 0;
@@ -422,7 +487,7 @@ static int snprintf_error_ctrl(char *buf, size_t len, struct can_frame *cf)
return n;
}
static int snprintf_error_prot(char *buf, size_t len, struct can_frame *cf)
static int snprintf_error_prot(char *buf, size_t len, struct canfd_frame *cf)
{
int n = 0;
@@ -443,7 +508,7 @@ static int snprintf_error_prot(char *buf, size_t len, struct can_frame *cf)
return n;
}
void snprintf_can_error_frame(char *buf, size_t len, struct can_frame *cf,
void snprintf_can_error_frame(char *buf, size_t len, struct canfd_frame *cf,
char* sep)
{
canid_t class, mask;