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https://github.com/linux-can/can-utils.git
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Added ISO 15765-2 CAN transport protocol for protocol family CAN.
Including some tools and coarse documentation README.isotp
This commit is contained in:
Oliver Hartkopp
+334
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/*
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* $Id: isotpsniffer.c 824 2008-09-02 07:01:51Z hartko $
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*/
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/*
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* isotpsniffer.c - dump ISO15765-2 datagrams using PF_CAN isotp protocol
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*
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* Copyright (c) 2008 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 and the following disclaimer.
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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, in which case the provisions of the
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* GPL apply INSTEAD OF those given above.
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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 <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <libgen.h>
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#include <time.h>
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#include <net/if.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include <linux/can.h>
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#include <linux/can/isotp.h>
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#include "terminal.h"
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#define NO_CAN_ID 0xFFFFFFFFU
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#define FORMAT_HEX 1
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#define FORMAT_ASCII 2
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#define FORMAT_DEFAULT (FORMAT_ASCII | FORMAT_HEX)
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void print_usage(char *prg)
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{
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fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
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fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
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fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
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fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
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fprintf(stderr, " -c (color mode)\n");
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fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
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fprintf(stderr, " -f <format> (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
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fprintf(stderr, " -h <len> (head: print only first <len> bytes)\n");
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fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
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fprintf(stderr, "\n");
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}
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void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
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int format, struct timeval *tv, struct timeval *last_tv,
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canid_t src, int socket, char *candevice, int head)
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{
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int i;
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if (color == 1)
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printf("%s", FGRED);
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if (color == 2)
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printf("%s", FGBLUE);
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if (timestamp) {
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ioctl(socket, SIOCGSTAMP, tv);
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switch (timestamp) {
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case 'a': /* absolute with timestamp */
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printf("(%ld.%06ld) ", tv->tv_sec, tv->tv_usec);
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break;
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case 'A': /* absolute with date */
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{
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struct tm tm;
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char timestring[25];
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tm = *localtime(&tv->tv_sec);
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strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
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printf("(%s.%06ld) ", timestring, tv->tv_usec);
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}
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break;
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case 'd': /* delta */
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case 'z': /* starting with zero */
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{
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struct timeval diff;
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if (last_tv->tv_sec == 0) /* first init */
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*last_tv = *tv;
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diff.tv_sec = tv->tv_sec - last_tv->tv_sec;
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diff.tv_usec = tv->tv_usec - last_tv->tv_usec;
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if (diff.tv_usec < 0)
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diff.tv_sec--, diff.tv_usec += 1000000;
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if (diff.tv_sec < 0)
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diff.tv_sec = diff.tv_usec = 0;
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printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
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if (timestamp == 'd')
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*last_tv = *tv; /* update for delta calculation */
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}
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break;
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default: /* no timestamp output */
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break;
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}
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}
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/* the source socket gets pdu data from the detination id */
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printf(" %s %03X [%d] ", candevice, src & CAN_EFF_MASK, nbytes);
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if (format & FORMAT_HEX) {
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for (i=0; i<nbytes; i++) {
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printf("%02X ", buffer[i]);
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if (head && i+1 >= head) {
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printf("... ");
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break;
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}
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}
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if (format & FORMAT_ASCII)
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printf(" - ");
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}
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if (format & FORMAT_ASCII) {
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printf("'");
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for (i=0; i<nbytes; i++) {
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if ((buffer[i] > 0x1F) && (buffer[i] < 0x7F))
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printf("%c", buffer[i]);
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else
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printf(".");
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if (head && i+1 >= head)
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break;
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}
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printf("'");
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if (head && i+1 >= head)
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printf(" ... ");
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}
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if (color)
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printf("%s", ATTRESET);
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printf("\n");
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fflush(stdout);
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}
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int main(int argc, char **argv)
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{
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fd_set rdfs;
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int s, t;
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struct sockaddr_can addr;
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struct ifreq ifr;
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static struct can_isotp_options opts;
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int opt, quit = 0;
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int color = 0;
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int head = 0;
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int timestamp = 0;
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int format = FORMAT_DEFAULT;
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canid_t src = NO_CAN_ID;
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canid_t dst = NO_CAN_ID;
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extern int optind, opterr, optopt;
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static struct timeval tv, last_tv;
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unsigned char buffer[4096];
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int nbytes;
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while ((opt = getopt(argc, argv, "s:d:x:h:ct:f:")) != -1) {
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switch (opt) {
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case 's':
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src = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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src |= CAN_EFF_FLAG;
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break;
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case 'd':
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dst = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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dst |= CAN_EFF_FLAG;
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break;
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case 'x':
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opts.flags |= CAN_ISOTP_EXTEND_ADDR;
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opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'f':
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format = (atoi(optarg) & (FORMAT_ASCII | FORMAT_HEX));
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break;
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case 'h':
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head = atoi(optarg);
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break;
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case 'c':
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color = 1;
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break;
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case 't':
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timestamp = optarg[0];
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if ((timestamp != 'a') && (timestamp != 'A') &&
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(timestamp != 'd') && (timestamp != 'z')) {
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printf("%s: unknown timestamp mode '%c' - ignored\n",
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basename(argv[0]), optarg[0]);
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timestamp = 0;
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}
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break;
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default:
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fprintf(stderr, "Unknown option %c\n", opt);
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print_usage(basename(argv[0]));
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exit(0);
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break;
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}
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}
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if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
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print_usage(basename(argv[0]));
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exit(0);
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}
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if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
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perror("socket");
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exit(1);
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}
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if ((t = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
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perror("socket");
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exit(1);
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}
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opts.flags |= CAN_ISOTP_LISTEN_MODE;
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setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
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setsockopt(t, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
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addr.can_family = AF_CAN;
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strcpy(ifr.ifr_name, argv[optind]);
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ioctl(s, SIOCGIFINDEX, &ifr);
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addr.can_ifindex = ifr.ifr_ifindex;
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addr.can_addr.tp.tx_id = dst;
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addr.can_addr.tp.rx_id = src;
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if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind");
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close(s);
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exit(1);
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}
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addr.can_addr.tp.tx_id = src;
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addr.can_addr.tp.rx_id = dst;
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if (bind(t, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind");
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close(s);
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exit(1);
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}
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while (!quit) {
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FD_ZERO(&rdfs);
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FD_SET(s, &rdfs);
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FD_SET(t, &rdfs);
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FD_SET(0, &rdfs);
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if ((nbytes = select(t+1, &rdfs, NULL, NULL, NULL)) < 0) {
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perror("select");
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continue;
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}
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if (FD_ISSET(0, &rdfs)) {
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getchar();
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quit = 1;
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printf("quit due to keyboard input.\n");
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}
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if (FD_ISSET(s, &rdfs)) {
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nbytes = read(s, buffer, 4096);
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if (nbytes < 0) {
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perror("read socket s");
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return -1;
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}
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if (nbytes > 4095)
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return -1;
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printbuf(buffer, nbytes, color?1:0, timestamp, format,
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&tv, &last_tv, src, s, ifr.ifr_name, head);
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}
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if (FD_ISSET(t, &rdfs)) {
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nbytes = read(t, buffer, 4096);
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if (nbytes < 0) {
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perror("read socket t");
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return -1;
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}
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if (nbytes > 4095)
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return -1;
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printbuf(buffer, nbytes, color?2:0, timestamp, format,
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&tv, &last_tv, dst, t, ifr.ifr_name, head);
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}
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}
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close(s);
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return 0;
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}
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