mirror of
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
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/*
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* $Id: isotptun.c 824 2008-09-02 07:01:51Z hartko $
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*/
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/*
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* isotptun.c - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept
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*
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* This program creates a Linux tunnel netdevice 'ctunX' and transfers the
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* ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.
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*
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* Use e.g. "ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up"
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* to create a point-to-point IP connection on CAN.
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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 <fcntl.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 <errno.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 <linux/if_tun.h>
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#define NO_CAN_ID 0xFFFFFFFFU
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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\n", prg);
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fprintf(stderr, "This program creates a Linux tunnel netdevice 'ctunX' and transfers the\n");
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fprintf(stderr, "ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.\n\n");
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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, " -p <byte> (padding byte rx path)\n");
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fprintf(stderr, " -q <byte> (padding byte tx path)\n");
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fprintf(stderr, " -P <mode> (check padding. (l)ength (c)ontent (a)ll)\n");
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fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
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fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
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fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
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fprintf(stderr, " -w <num> (max. wait frame transmissions.)\n");
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fprintf(stderr, " -h (half duplex mode.)\n");
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fprintf(stderr, " -v (verbose mode. Print symbols for tunneled msgs.)\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, "Use e.g. 'ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up'\n");
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fprintf(stderr, "to create a point-to-point IP connection on CAN.\n");
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fprintf(stderr, "\n");
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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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static struct can_isotp_fc_options fcopts;
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int opt, ret;
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extern int optind, opterr, optopt;
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static int quit;
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static int verbose;
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unsigned char buffer[4096];
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int nbytes;
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addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
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while ((opt = getopt(argc, argv, "s:d:x:p:q:P:t:b:m:whv")) != -1) {
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switch (opt) {
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case 's':
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addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
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break;
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case 'd':
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addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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addr.can_addr.tp.rx_id |= 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 'p':
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opts.flags |= CAN_ISOTP_RX_PADDING;
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opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'q':
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opts.flags |= CAN_ISOTP_TX_PADDING;
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opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'P':
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if (optarg[0] == 'l')
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opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
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else if (optarg[0] == 'c')
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opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
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else if (optarg[0] == 'a')
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opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
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else {
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printf("unknown padding check option '%c'.\n", optarg[0]);
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print_usage(basename(argv[0]));
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exit(0);
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}
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break;
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case 't':
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opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
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break;
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case 'b':
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fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'm':
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fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'w':
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fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'h':
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opts.flags |= CAN_ISOTP_HALF_DUPLEX;
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break;
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case 'v':
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verbose = 1;
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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) ||
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(addr.can_addr.tp.tx_id == NO_CAN_ID) ||
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(addr.can_addr.tp.rx_id == 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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setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
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setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
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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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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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if ((t = open("/dev/net/tun", O_RDWR)) < 0) {
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perror("open tunfd");
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close(s);
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close(t);
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exit(1);
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}
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memset(&ifr, 0, sizeof(ifr));
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ifr.ifr_flags = IFF_TUN | IFF_NO_PI;
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strncpy(ifr.ifr_name, "ctun%d", IFNAMSIZ);
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if (ioctl(t, TUNSETIFF, (void *) &ifr) < 0) {
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perror("ioctl tunfd");
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close(s);
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close(t);
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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 ((ret = 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 isotp socket");
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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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ret = write(t, buffer, nbytes);
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if (verbose) {
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if (ret < 0 && errno == EAGAIN)
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printf(";");
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else
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printf(",");
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fflush(stdout);
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}
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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 tunfd");
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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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ret = write(s, buffer, nbytes);
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if (verbose) {
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if (ret < 0 && errno == EAGAIN)
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printf(":");
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else
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printf(".");
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fflush(stdout);
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}
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}
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}
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close(s);
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close(t);
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return 0;
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}
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