sven
/
can-utils
mirror of https://github.com/linux-can/can-utils.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Initial import of llcf-2.0-pre2

pull/7/head
Urs Thuermann 2006-04-24 14:14:09 +00:00
commit e7a59a9ea4
4 changed files with 1370 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

65
Makefile 100644
View File

@ -0,0 +1,65 @@
#
# $Id: Makefile,v 2.0 2006/04/13 10:37:20 ethuerm Exp $
#
# Copyright (c) 2002-2005 Volkswagen Group Electronic Research
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
# 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
# documentation and/or other materials provided with the distribution.
# 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.
#
# 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.
#
# 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.
#
# Send feedback to <llcf@volkswagen.de>
CFLAGS = -O2 -Wall -Wno-parentheses -I../kernel/2.4/can -fno-strict-aliasing
PROGRAMS_GPL = candump \
can-sniffer
PROGRAMS_VW = tpdump \
tp20-sniffer \
mcnet-vit-emu \
mcnet-sniffer \
pq35speed
default: all-gpl
all: all-gpl all-vw
all-gpl: $(PROGRAMS_GPL)
all-vw: $(PROGRAMS_VW)
clean:
rm -f $(PROGRAMS_GPL) $(PROGRAMS_VW)
distclean:
rm -f $(PROGRAMS_GPL) $(PROGRAMS_VW) *~

697
can-sniffer.c 100644
View File

@ -0,0 +1,697 @@
/*
* $Id: can-sniffer.c,v 2.0 2006/04/13 10:37:20 ethuerm Exp $
*/
/*
* can-sniffer.c
*
* Copyright (c) 2002-2005 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 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
* documentation and/or other materials provided with the distribution.
* 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.
*
* 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.
*
* 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.
*
* Send feedback to <llcf@volkswagen.de>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <signal.h>
#include <ctype.h>
#include <libgen.h>
#include <time.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include "af_can.h"
#include "bcm.h"
#include "terminal.h"
#define U64_DATA(p) (*(unsigned long long*)(p)->data)
#define SETFNAME "sniffset."
/* flags */
#define ENABLE 1 /* by filter or user */
#define DISPLAY 2 /* is on the screen */
#define UPDATE 4 /* needs to be printed on the screen */
#define CLRSCR 8 /* clear screen in next loop */
/* flags testing & setting */
#define is_set(id, flag) (sniftab[id].flags & flag)
#define is_clr(id, flag) (!(sniftab[id].flags & flag))
#define do_set(id, flag) (sniftab[id].flags |= flag)
#define do_clr(id, flag) (sniftab[id].flags &= ~flag)
/* time defaults */
#define TIMEOUT 50 /* in 100ms */
#define HOLD 10 /* in 100ms */
#define LOOP 2 /* in 100ms */
#define MAXANI 8
const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
#define ATTCOLOR ATTBOLD FGRED
#define STARTLINESTR "X time ID data ... "
struct snif {
int flags;
long hold;
long timeout;
struct timeval laststamp;
struct timeval currstamp;
struct can_frame last;
struct can_frame current;
struct can_frame marker;
struct can_frame notch;
} sniftab[2048];
extern int optind, opterr, optopt;
static int running = 1;
static int clearscreen = 1;
static int notch = 0;
static long timeout = TIMEOUT;
static long hold = HOLD;
static long loop = LOOP;
static unsigned char binary = 0;
static unsigned char color = 0;
void rx_setup (int fd, int id);
void rx_delete (int fd, int id);
void print_snifline(int id);
int handle_keyb(int fd);
int handle_bcm(int fd, long currcms);
int handle_timeo(int fd, long currcms);
void writesettings(char* name);
void readsettings(char* name, int sockfd);
void print_usage(char *prg)
{
const char manual [] = {
"commands that can be entered at runtime:\n"
"\n"
"q<ENTER> - quit\n"
"b<ENTER> - toggle binary / HEX-ASCII output\n"
"c<ENTER> - toggle color mode\n"
"#<ENTER> - notch currently marked/changed bits (can be used repeatedly)\n"
"*<ENTER> - clear notched marked\n"
"rMYNAME<ENTER> - read settings file (filter/notch)\n"
"wMYNAME<ENTER> - write settings file (filter/notch)\n"
"+FILTER<ENTER> - add CAN-IDs to sniff\n"
"-FILTER<ENTER> - remove CAN-IDs to sniff\n"
"\n"
"FILTER can be a single CAN-ID or a CAN-ID/Bitmask:\n"
"+1F5<ENTER> - add CAN-ID 0x1F5\n"
"-42E<ENTER> - remove CAN-ID 0x42E\n"
"-42E7FF<ENTER> - remove CAN-ID 0x42E (using Bitmask)\n"
"-500700<ENTER> - remove CAN-IDs 0x500 - 0x5FF\n"
"+400600<ENTER> - add CAN-IDs 0x400 - 0x5FF\n"
"+000000<ENTER> - add all CAN-IDs\n"
"-000000<ENTER> - remove all CAN-IDs\n"
"\n"
"if (id & filter) == (sniff-id & filter) the action (+/-) is performed,\n"
"which is quite easy when the filter is 000\n"
"\n"
};
fprintf(stderr, "\nUsage: %s [can-interface]\n", prg);
fprintf(stderr, "Options: -m <mask> (initial FILTER default 0x00000000)\n");
fprintf(stderr, " -v <value> (initial FILTER default 0x00000000)\n");
fprintf(stderr, " -q (quiet - all IDs deactivated)\n");
fprintf(stderr, " -r <name> (read %sname from file)\n", SETFNAME);
fprintf(stderr, " -b (start with binary mode)\n");
fprintf(stderr, " -c (color changes)\n");
fprintf(stderr, " -t <time> (timeout for ID display [x100ms] default: %d)\n", TIMEOUT);
fprintf(stderr, " -h <time> (hold marker on changes [x100ms] default: %d)\n", HOLD);
fprintf(stderr, " -l <time> (loop time (display) [x100ms] default: %d)\n", LOOP);
fprintf(stderr, "\n");
fprintf(stderr, "%s", manual);
}
void sigterm(int signo)
{
running = 0;
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s;
canid_t mask = 0;
canid_t value = 0;
long currcms = 0;
long lastcms = 0;
unsigned char quiet = 0;
int opt, ret;
struct timeval timeo, start_tv, tv;
struct sockaddr_can addr;
struct ifreq ifr;
int i;
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
signal(SIGINT, sigterm);
for (i=0; i < 2048 ;i++) /* default: check all CAN-IDs */
do_set(i, ENABLE);
while ((opt = getopt(argc, argv, "m:v:r:t:h:l:qbc")) != -1) {
switch (opt) {
case 'm':
sscanf(optarg, "%x", &mask);
break;
case 'v':
sscanf(optarg, "%x", &value);
break;
case 'r':
readsettings(optarg, 0); /* no BCM-setting here */
break;
case 't':
sscanf(optarg, "%ld", &timeout);
break;
case 'h':
sscanf(optarg, "%ld", &hold);
break;
case 'l':
sscanf(optarg, "%ld", &loop);
break;
case 'q':
quiet = 1;
break;
case 'b':
binary = 1;
break;
case 'c':
color = 1;
break;
case '?':
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
break;
}
}
if (optind == argc) {
print_usage(basename(argv[0]));
exit(0);
}
if (mask || value) {
for (i=0; i < 2048 ;i++) {
if ((i & mask) == (value & mask))
do_set(i, ENABLE);
else
do_clr(i, ENABLE);
}
}
if (quiet)
for (i=0; i < 2048 ;i++)
do_clr(i, ENABLE);
if (strlen(argv[optind]) >= IFNAMSIZ) {
printf("name of CAN device '%s' is too long!\n", argv[optind]);
return 1;
}
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[optind]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
for (i=0; i < 2048 ;i++) /* initial BCM setup */
if (is_set(i, ENABLE))
rx_setup(s, i);
gettimeofday(&start_tv, NULL);
tv.tv_sec = tv.tv_usec = 0;
printf("%s", CSR_HIDE); /* hide cursor */
while (running) {
FD_ZERO(&rdfs);
FD_SET(0, &rdfs);
FD_SET(s, &rdfs);
timeo.tv_sec = 0;
timeo.tv_usec = 100000 * loop;
if ((ret = select(s+1, &rdfs, NULL, NULL, &timeo)) < 0) {
//perror("select");
running = 0;
continue;
}
gettimeofday(&tv, NULL);
currcms = (tv.tv_sec - start_tv.tv_sec) * 10 + (tv.tv_usec / 100000);
if (FD_ISSET(0, &rdfs))
running &= handle_keyb(s);
if (FD_ISSET(s, &rdfs))
running &= handle_bcm(s, currcms);
if (currcms - lastcms >= loop) {
running &= handle_timeo(s, currcms);
lastcms = currcms;
}
}
printf("%s", CSR_SHOW); /* show cursor */
close(s);
return 0;
}
void rx_setup (int fd, int id){
struct {
struct bcm_msg_head msg_head;
struct can_frame frame;
} txmsg;
txmsg.msg_head.opcode = RX_SETUP;
txmsg.msg_head.can_id = id;
txmsg.msg_head.flags = RX_CHECK_DLC;
txmsg.msg_head.ival1.tv_sec = 0;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.ival2.tv_sec = 0;
txmsg.msg_head.ival2.tv_usec = 0;
txmsg.msg_head.nframes = 1;
U64_DATA(&txmsg.frame) = (__u64) 0xFFFFFFFFFFFFFFFFULL;
if (write(fd, &txmsg, sizeof(txmsg)) < 0)
perror("write");
};
void rx_delete (int fd, int id){
struct bcm_msg_head msg_head;
msg_head.opcode = RX_DELETE;
msg_head.can_id = id;
msg_head.nframes = 0;
if (write(fd, &msg_head, sizeof(msg_head)) < 0)
perror("write");
}
int handle_keyb(int fd){
char cmd [20] = {0};
int i;
unsigned int mask;
unsigned int value;
if (read(0, cmd, 19) > strlen("+123456\n"))
return 1; /* ignore */
if (strlen(cmd) > 0)
cmd[strlen(cmd)-1] = 0; /* chop off trailing newline */
switch (cmd[0]) {
case '+':
case '-':
sscanf(&cmd[1], "%x", &value);
if (strlen(&cmd[1]) > 3) {
mask = value & 0xFFF;
value >>= 12;
}
else
mask = 0x7FF;
if (cmd[0] == '+') {
for (i=0; i < 2048 ;i++) {
if (((i & mask) == (value & mask)) && (is_clr(i, ENABLE))) {
do_set(i, ENABLE);
rx_setup(fd, i);
}
}
}
else { /* '-' */
for (i=0; i < 2048 ;i++) {
if (((i & mask) == (value & mask)) && (is_set(i, ENABLE))) {
do_clr(i, ENABLE);
rx_delete(fd, i);
}
}
}
break;
case 'w' :
writesettings(&cmd[1]);
break;
case 'r' :
readsettings(&cmd[1], fd);
break;
case 'q' :
running = 0;
break;
case 'b' :
if (binary)
binary = 0;
else
binary = 1;
break;
case 'c' :
if (color)
color = 0;
else
color = 1;
break;
case '#' :
notch = 1;
break;
case '*' :
for (i=0; i < 2048; i++)
U64_DATA(&sniftab[i].notch) = (__u64) 0;
break;
default:
break;
}
clearscreen = 1;
return 1; /* ok */
};
int handle_bcm(int fd, long currcms){
int nbytes, id;
struct {
struct bcm_msg_head msg_head;
struct can_frame frame;
} bmsg;
if ((nbytes = read(fd, &bmsg, sizeof(bmsg))) < 0) {
perror("bcm read");
return 0; /* quit */
}
id = bmsg.msg_head.can_id;
ioctl(fd, SIOCGSTAMP, &sniftab[id].currstamp);
if (bmsg.msg_head.opcode != RX_CHANGED) {
printf("received strange BCM opcode %d!\n", bmsg.msg_head.opcode);
return 0; /* quit */
}
if (nbytes != sizeof(bmsg)) {
printf("received strange BCM data length %d!\n", nbytes);
return 0; /* quit */
}
sniftab[id].current = bmsg.frame;
U64_DATA(&sniftab[id].marker) |=
U64_DATA(&sniftab[id].current) ^ U64_DATA(&sniftab[id].last);
sniftab[id].timeout = currcms + timeout;
if (is_clr(id, DISPLAY))
clearscreen = 1; /* new entry -> new drawing */
do_set(id, DISPLAY);
do_set(id, UPDATE);
return 1; /* ok */
};
int handle_timeo(int fd, long currcms){
int i;
int force_redraw = 0;
if (clearscreen) {
char startline[80];
printf("%s%s", CLR_SCREEN, CSR_HOME);
snprintf(startline, 79, "< can-sniffer parameters: l=%ld h=%ld t=%ld >", loop, hold, timeout);
printf("%s%*s",STARTLINESTR, 79-strlen(STARTLINESTR), startline);
force_redraw = 1;
clearscreen = 0;
}
if (notch) {
for (i=0; i < 2048; i++)
U64_DATA(&sniftab[i].notch) |= U64_DATA(&sniftab[i].marker);
notch = 0;
}
printf("%s", CSR_HOME);
printf("%c\n", anichar[currcms % MAXANI]); /* funny animation */
for (i=0; i < 2048; i++) {
if is_set(i, ENABLE) {
if is_set(i, DISPLAY) {
if (is_set(i, UPDATE) || (force_redraw)){
print_snifline(i);
sniftab[i].hold = currcms + hold;
do_clr(i, UPDATE);
}
else
if ((sniftab[i].hold) && (sniftab[i].hold < currcms)) {
U64_DATA(&sniftab[i].marker) = (__u64) 0;
print_snifline(i);
sniftab[i].hold = 0; /* disable update by hold */
}
else
printf("%s", CSR_DOWN); /* skip my line */
if (sniftab[i].timeout < currcms) {
do_clr(i, DISPLAY);
do_clr(i, UPDATE);
clearscreen = 1; /* removed entry -> new drawing next time */
}
}
sniftab[i].last = sniftab[i].current;
sniftab[i].laststamp = sniftab[i].currstamp;
}
}
return 1; /* ok */
};
void print_snifline(int id){
long diffsec = sniftab[id].currstamp.tv_sec - sniftab[id].laststamp.tv_sec;
long diffusec = sniftab[id].currstamp.tv_usec - sniftab[id].laststamp.tv_usec;
int i,j;
if (diffusec < 0)
diffsec--, diffusec += 1000000;
if (diffsec < 0)
diffsec = diffusec = 0;
if (diffsec > 10)
diffsec = 9, diffusec = 999999;
printf("%ld.%06ld %3x ", diffsec, diffusec, id);
if (binary) {
for (i=0; i<sniftab[id].current.can_dlc; i++)
for (j=7; j>=0; j--)
if ((color) && (sniftab[id].marker.data[i] & 1<<j) &&
(!(sniftab[id].notch.data[i] & 1<<j)))
if (sniftab[id].current.data[i] & 1<<j)
printf("%s1%s", ATTCOLOR, ATTRESET);
else
printf("%s0%s", ATTCOLOR, ATTRESET);
else
if (sniftab[id].current.data[i] & 1<<j)
putchar('1');
else
putchar('0');
}
else {
for (i=0; i<sniftab[id].current.can_dlc; i++)
if ((color) && (sniftab[id].marker.data[i]) && (!(sniftab[id].notch.data[i])))
printf("%s%02X%s ", ATTCOLOR, sniftab[id].current.data[i], ATTRESET);
else
printf("%02X ", sniftab[id].current.data[i]);
if (sniftab[id].current.can_dlc < 8)
printf("%*s", (8 - sniftab[id].current.can_dlc) * 3, "");
for (i=0; i<sniftab[id].current.can_dlc; i++)
if ((sniftab[id].current.data[i] > 0x1F) &&
(sniftab[id].current.data[i] < 0x7F))
if ((color) && (sniftab[id].marker.data[i]) && (!(sniftab[id].notch.data[i])))
printf("%s%c%s", ATTCOLOR, sniftab[id].current.data[i], ATTRESET);
else
putchar(sniftab[id].current.data[i]);
else
putchar('.');
}
putchar('\n');
U64_DATA(&sniftab[id].marker) = (__u64) 0;
};
void writesettings(char* name){
int fd;
char fname[30] = SETFNAME;
int i,j;
char buf[8]= {0};
strncat(fname, name, 29 - strlen(fname));
fd = open(fname, O_WRONLY|O_CREAT, S_IRUSR|S_IWUSR|S_IRGRP|S_IROTH);
if (fd > 0) {
for (i=0; i < 2048 ;i++) {
sprintf(buf, "<%03X>%c.", i, (is_set(i, ENABLE))?'1':'0');
write(fd, buf, 7);
for (j=0; j<8 ; j++){
sprintf(buf, "%02X", sniftab[i].notch.data[j]);
write(fd, buf, 2);
}
write(fd, "\n", 1);
/* 7 + 16 + 1 = 24 bytes per entry */
}
close(fd);
}
else
printf("unable to write setting file '%s'!\n", fname);
};
void readsettings(char* name, int sockfd){
int fd;
char fname[30] = SETFNAME;
char buf[25] = {0};
int i,j;
strncat(fname, name, 29 - strlen(fname));
fd = open(fname, O_RDONLY);
if (fd > 0) {
if (!sockfd)
printf("reading setting file '%s' ... ", fname);
for (i=0; i < 2048 ;i++) {
if (read(fd, &buf, 24) == 24) {
if (buf[5] & 1) {
if (is_clr(i, ENABLE)) {
do_set(i, ENABLE);
if (sockfd)
rx_setup(sockfd, i);
}
}
else
if (is_set(i, ENABLE)) {
do_clr(i, ENABLE);
if (sockfd)
rx_delete(sockfd, i);
}
for (j=7; j>=0 ; j--){
sniftab[i].notch.data[j] =
(__u8) strtoul(&buf[2*j+7], (char **)NULL, 16) & 0xFF;
buf[2*j+7] = 0; /* cut off each time */
}
}
else {
if (!sockfd)
printf("was only able to read until index %d from setting file '%s'!\n",
i, fname);
}
}
if (!sockfd)
printf("done\n");
close(fd);
}
else
printf("unable to read setting file '%s'!\n", fname);
};

509
candump.c 100644
View File

@ -0,0 +1,509 @@
/*
* $Id: candump.c,v 2.0 2006/04/13 10:37:20 ethuerm Exp $
*/
/*
* candump.c
*
* Copyright (c) 2002-2005 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 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
* documentation and/or other materials provided with the distribution.
* 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.
*
* 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.
*
* 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.
*
* Send feedback to <llcf@volkswagen.de>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <ctype.h>
#include <libgen.h>
#include <time.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include "af_can.h"
#include "raw.h"
#include "terminal.h"
#define USE_RECVFROM /* use read() or recvfrom() syscall */
#define MAXDEV 6 /* change sscanf()'s manually if changed here */
#define ANYDEV "any"
#define ANL "\r\n" /* newline in ASC mode */
#define BOLD ATTBOLD
#define RED ATTBOLD FGRED
#define GREEN ATTBOLD FGGREEN
#define YELLOW ATTBOLD FGYELLOW
#define BLUE ATTBOLD FGBLUE
#define MAGENTA ATTBOLD FGMAGENTA
#define CYAN ATTBOLD FGCYAN
static const char col_on [MAXDEV][19] = {BOLD, MAGENTA, GREEN, BLUE, CYAN, RED};
static const char col_off [] = ATTRESET;
#define MAXANI 8
const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
extern int optind, opterr, optopt;
static int running = 1;
void print_usage(char *prg)
{
fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
fprintf(stderr, " -v <value> (default 0x00000000)\n");
fprintf(stderr, " -i <0|1> (inv_filter)\n");
fprintf(stderr, " -t <type> (timestamp: Absolute/Delta/Zero)\n");
fprintf(stderr, " -c (color mode)\n");
fprintf(stderr, " -s <level> (silent mode - 1: animation 2: nothing)\n");
fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
fprintf(stderr, " -a (create ASC compatible output)\n");
fprintf(stderr, " -1 (increment interface numbering in ASC mode)\n");
fprintf(stderr, " -A (enable ASCII output)\n");
fprintf(stderr, "\n");
fprintf(stderr, "When using more than one CAN interface the options\n");
fprintf(stderr, "m/v/i have comma seperated values e.g. '-m 0,7FF,0'\n");
fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
}
void sigterm(int signo)
{
running = 0;
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s[MAXDEV];
int bridge = 0;
canid_t mask[MAXDEV] = {0};
canid_t value[MAXDEV] = {0};
int inv_filter[MAXDEV] = {0};
char devname[MAXDEV][IFNAMSIZ];
unsigned char timestamp = 0;
unsigned char silent = 0;
unsigned char silentani = 0;
unsigned char color = 0;
unsigned char ascii = 0;
unsigned char asc = 0;
unsigned char asc_inc_channel = 0;
int max_devname_len = 0;
int opt, ret;
int currmax = 1; /* we assume at least one can bus ;-) */
struct sockaddr_can addr;
struct can_filter rfilter;
struct can_frame frame;
int nbytes, i, j;
struct ifreq ifr;
time_t currtime;
struct timeval tv, last_tv;
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
signal(SIGINT, sigterm);
last_tv.tv_sec = 0; /* init */
while ((opt = getopt(argc, argv, "m:v:i:b:s:ca1At:")) != -1) {
switch (opt) {
case 'm':
i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
&mask[0], &mask[1], &mask[2],
&mask[3], &mask[4], &mask[5]);
if (i > currmax)
currmax = i;
break;
case 'v':
i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
&value[0], &value[1], &value[2],
&value[3], &value[4], &value[5]);
if (i > currmax)
currmax = i;
break;
case 'i':
i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
&inv_filter[0], &inv_filter[1], &inv_filter[2],
&inv_filter[3], &inv_filter[4], &inv_filter[5]);
if (i > currmax)
currmax = i;
break;
case 'b':
if (strlen(optarg) >= IFNAMSIZ) {
printf("Name of CAN device '%s' is too long!\n\n", optarg);
return 1;
}
else {
if ((bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("bridge socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, optarg);
if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
perror("SIOCGIFINDEX");
addr.can_ifindex = ifr.ifr_ifindex;
if (!addr.can_ifindex) {
perror("invalid bridge interface");
return 1;
}
if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bridge bind");
return 1;
}
}
break;
case 's':
silent = atoi(optarg);
break;
case 'c':
color = 1;
break;
case 'a':
asc = 1;
break;
case '1':
asc_inc_channel = 1;
break;
case 'A':
ascii = 1;
break;
case 't':
timestamp = optarg[0];
if ((timestamp != 'a') && (timestamp != 'A') && (timestamp != 'd') && (timestamp != 'z')) {
printf("%s: unknown timestamp mode '%c' - ignored\n",
basename(argv[0]), optarg[0]);
timestamp = 0;
}
break;
case '?':
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
break;
}
}
if (optind == argc) {
print_usage(basename(argv[0]));
exit(0);
}
/* count in options higher than device count ? */
if (optind + currmax > argc) {
printf("low count of CAN devices!\n");
return 1;
}
currmax = argc - optind; /* find real number of CAN devices */
if (currmax > MAXDEV) {
printf("More than %d CAN devices!\n", MAXDEV);
return 1;
}
for (i=0; i<currmax; i++) {
#ifdef DEBUG
printf("open %d '%s' m%08X v%08X i%d.\n",
i, argv[optind+i], mask[i], value[i], inv_filter[i]);
#endif
if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
if (mask[i] || value[i]) {
if (!(asc)) /* this output is not asc compatible! */
printf("CAN ID filter[%d] for %s set to mask = %08X, value = %08X %s\n",
i, argv[optind+i], mask[i], value[i],
(inv_filter[i]) ? "(inv_filter)" : "");
rfilter.can_id = value[i];
rfilter.can_mask = mask[i];
if (inv_filter[i])
rfilter.can_id |= CAN_INV_FILTER;
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
}
j = strlen(argv[optind+i]);
if (!(j < IFNAMSIZ)) {
printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
return 1;
}
strcpy(devname[i], argv[optind+i]);
if (j > max_devname_len)
max_devname_len = j; /* for nice printing */
addr.can_family = AF_CAN;
if (strcmp(ANYDEV, argv[optind+i])) {
strcpy(ifr.ifr_name, argv[optind+i]);
if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0)
perror("SIOCGIFINDEX");
addr.can_ifindex = ifr.ifr_ifindex;
}
else
addr.can_ifindex = 0; /* any can interface */
if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
}
if (asc) {
char datestring[40];
/* print banner for ASC mode */
if (timestamp != 'd') /* delta time is allowed, else ... */
timestamp = 'z'; /* ASC-files always start with zero time */
if (time(&currtime) == (time_t)-1) {
perror("time");
return 1;
}
strncpy(datestring, ctime(&currtime), 39); /* copy to private buffer */
datestring[strlen(datestring)-1] = 0; /* chop off trailing newline */
printf("date %s%s", datestring, ANL); /* print with own new line representation */
printf("base hex timestamps %s%s", (timestamp == 'd')?"relative":"absolute", ANL);
printf("no internal events logged%s", ANL);
fflush(stdout);
}
while (running) {
FD_ZERO(&rdfs);
for (i=0; i<currmax; i++)
FD_SET(s[i], &rdfs);
if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
//perror("select");
running = 0;
continue;
}
for (i=0; i<currmax; i++) {
if (FD_ISSET(s[i], &rdfs)) {
#ifdef USE_RECVFROM
socklen_t len = sizeof(addr);
if ((nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, &len)) < 0) {
#else
if ((nbytes = read(s[i], &frame, sizeof(struct can_frame))) < 0) {
#endif
perror("read");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
} else {
if (bridge) {
if ((nbytes = write(bridge, &frame, sizeof(struct can_frame))) < 0) {
perror("bridge write");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "bridge write: incomplete CAN frame\n");
return 1;
}
}
if (silent){
if (silent == 1)
printf("%c\b", anichar[silentani%=MAXANI]), silentani++;
}
else {
switch (timestamp) {
case 'a': /* absolute with timestamp */
if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
perror("SIOCGSTAMP");
if (asc)
printf("%4ld.%04ld ", tv.tv_sec, tv.tv_usec/100);
else
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
break;
case 'A': /* absolute with date */
{
struct tm tm;
char timestring[25];
if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
perror("SIOCGSTAMP");
tm = *localtime(&tv.tv_sec);
strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
if (asc)
printf("%s.%04ld ", timestring, tv.tv_usec/100);
else
printf("(%s.%06ld) ", timestring, tv.tv_usec);
}
break;
case 'd': /* delta */
case 'z': /* starting with zero */
{
struct timeval diff;
if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
perror("SIOCGSTAMP");
if (last_tv.tv_sec == 0) /* first init */
last_tv = tv;
diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
if (diff.tv_usec < 0)
diff.tv_sec--, diff.tv_usec += 1000000;
if (diff.tv_sec < 0)
diff.tv_sec = diff.tv_usec = 0;
if (asc)
printf("%4ld.%04ld ", diff.tv_sec, diff.tv_usec/100);
else
printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
if (timestamp == 'd')
last_tv = tv; /* update for delta calculation */
}
break;
default: /* no timestamp output */
break;
}
if (asc) {
char id[10];
printf("%-2d ", i + asc_inc_channel); /* channel number - left aligned */
sprintf(id, "%X%c", frame.can_id & CAN_EFF_MASK,
(frame.can_id & CAN_EFF_FLAG)?'x':' ');
printf("%-15s Rx ", id);
if (frame.can_id & CAN_RTR_FLAG)
printf("r"); /* RTR frame: nothing else to print */
else {
printf("d %d ", frame.can_dlc); /* data frame */
for (j = 0; j < frame.can_dlc; j++) {
printf("%02X ", frame.data[j]);
}
}
printf("%s", ANL);
}
else {
printf(" %s",(color)?col_on[i]:"");
#ifdef USE_RECVFROM
ifr.ifr_ifindex = addr.can_ifindex;
if (ioctl(s[i], SIOCGIFNAME, &ifr) < 0)
perror("SIOCGIFNAME");
if (max_devname_len < strlen(ifr.ifr_name))
max_devname_len = strlen(ifr.ifr_name);
printf("%*s", max_devname_len, ifr.ifr_name);
#else
printf("%*s", max_devname_len, devname[i]); /* device name */
#endif
printf("%s ",(color)?col_off:"");
if (frame.can_id & CAN_EFF_FLAG)
printf("%8X ", frame.can_id & CAN_EFF_MASK);
else
printf("%3X ", frame.can_id & CAN_SFF_MASK);
printf("[%d] ", frame.can_dlc);
for (j = 0; j < frame.can_dlc; j++) {
printf("%02X ", frame.data[j]);
}
if (ascii) {
printf("%*s", 3*(8-frame.can_dlc)+3, "'");
for (j = 0; j < frame.can_dlc; j++)
if ((frame.data[j] > 0x1F) && (frame.data[j] < 0x7F))
putchar(frame.data[j]);
else
putchar('.');
printf("' ");
}
if (frame.can_id & CAN_RTR_FLAG)
printf("remote request");
printf("\n");
}
}
fflush(stdout);
}
}
}
}
for (i=0; i<currmax; i++)
close(s[i]);
if (bridge)
close(bridge);
return 0;
}

99
terminal.h 100644
View File

@ -0,0 +1,99 @@
/*
* $Id: terminal.h,v 2.0 2006/04/13 10:37:21 ethuerm Exp $
*/
/*
* Copyright (c) 2002-2005 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 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
* documentation and/or other materials provided with the distribution.
* 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.
*
* 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.
*
* 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.
*
* Send feedback to <llcf@volkswagen.de>
*
*/
#ifndef TERMINAL_H
#define TERMINAL_H
/* reset to default */
#define ATTRESET "\33[0m"
/* attributes */
#define ATTBOLD "\33[1m"
#define ATTUNDERLINE "\33[4m"
#define ATTBLINK "\33[5m"
#define ATTINVERSE "\33[7m"
#define ATTINVISIBLE "\33[8m"
/* foreground colors */
#define FGBLACK "\33[30m"
#define FGRED "\33[31m"
#define FGGREEN "\33[32m"
#define FGYELLOW "\33[33m"
#define FGBLUE "\33[34m"
#define FGMAGENTA "\33[35m"
#define FGCYAN "\33[36m"
#define FGWHITE "\33[37m"
/* background colors */
#define BGBLACK "\33[40m"
#define BGRED "\33[41m"
#define BGGREEN "\33[42m"
#define BGYELLOW "\33[43m"
#define BGBLUE "\33[44m"
#define BGMAGENTA "\33[45m"
#define BGCYAN "\33[46m"
#define BGWHITE "\33[47m"
/* cursor */
#define CSR_HOME "\33[H"
#define CSR_UP "\33[A"
#define CSR_DOWN "\33[B"
#define CSR_RIGHT "\33[C"
#define CSR_LEFT "\33[D"
#define CSR_HIDE "\33[?25l"
#define CSR_SHOW "\33[?25h"
/* clear screen */
#define CLR_SCREEN "\33[2J"
#endif /* TERMINAL_H */