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Added ISO 15765-2 CAN transport protocol for protocol family CAN. 

Including some tools and coarse documentation README.isotp
pull/7/head
Oliver Hartkopp 2008-11-05 11:34:23 +00:00
parent 9b717158c6
commit f1d4ebbbba
6 changed files with 1339 additions and 1 deletions
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3
Makefile
View File

@ -48,7 +48,8 @@ CFLAGS = -O2 -Wall -Wno-parentheses -I../kernel/2.6/include \
-DAF_CAN=PF_CAN -DAF_CAN=PF_CAN
PROGRAMS = candump cansniffer cansend canplayer canlogserver cangen\ PROGRAMS = candump cansniffer cansend canplayer canlogserver cangen\
canbusload log2long log2asc asc2log vcan slcan_attach canbusload log2long log2asc asc2log vcan slcan_attach\
isotpdump isotprecv isotpsend isotpsniffer isotptun
all: $(PROGRAMS) all: $(PROGRAMS)

338
isotpdump.c 100644
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@ -0,0 +1,338 @@
/*
* $Id: isotpdump.c 824 2008-09-02 07:01:51Z hartko $
*/
/*
* isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
*
* Copyright (c) 2008 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 and the following disclaimer.
* 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, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* 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 <socketcan-users@lists.berlios.de>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <libgen.h>
#include <time.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include "terminal.h"
#define NO_CAN_ID 0xFFFFFFFFU
const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
void print_usage(char *prg)
{
fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -x <addr> (extended addressing mode. Use 'any' for all addresses)\n");
fprintf(stderr, " -c (color mode)\n");
fprintf(stderr, " -a (print data also in ASCII-chars)\n");
fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
fprintf(stderr, "\n");
}
int main(int argc, char **argv)
{
int s;
struct sockaddr_can addr;
struct can_filter rfilter[2];
struct can_frame frame;
int nbytes, i;
canid_t src = NO_CAN_ID;
canid_t dst = NO_CAN_ID;
int ext = 0;
int extaddr = 0;
int extany = 0;
int asc = 0;
int color = 0;
int timestamp = 0;
int datidx = 0;
struct ifreq ifr;
int ifindex;
struct timeval tv, last_tv;
unsigned int n_pci;
int opt;
last_tv.tv_sec = 0;
last_tv.tv_usec = 0;
while ((opt = getopt(argc, argv, "s:d:ax:ct:")) != -1) {
switch (opt) {
case 's':
src = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
src |= CAN_EFF_FLAG;
break;
case 'd':
dst = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
dst |= CAN_EFF_FLAG;
break;
case 'c':
color = 1;
break;
case 'a':
asc = 1;
break;
case 'x':
ext = 1;
if (!strncmp(optarg, "any", 3))
extany = 1;
else
extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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;
default:
fprintf(stderr, "Unknown option %c\n", opt);
print_usage(basename(argv[0]));
exit(0);
break;
}
}
if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
print_usage(basename(argv[0]));
exit(0);
}
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
rfilter[0].can_id = src;
if (src & CAN_EFF_FLAG)
rfilter[0].can_mask = CAN_EFF_MASK | CAN_EFF_FLAG;
else
rfilter[0].can_mask = CAN_SFF_MASK;
rfilter[1].can_id = dst;
if (dst & CAN_EFF_FLAG)
rfilter[1].can_mask = CAN_EFF_MASK | CAN_EFF_FLAG;
else
rfilter[1].can_mask = CAN_SFF_MASK;
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
strcpy(ifr.ifr_name, argv[optind]);
ioctl(s, SIOCGIFINDEX, &ifr);
ifindex = ifr.ifr_ifindex;
addr.can_family = AF_CAN;
addr.can_ifindex = ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
while (1) {
if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
perror("read");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
} else {
if (ext && !extany && extaddr != frame.data[0])
continue;
if (color)
printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
if (timestamp) {
ioctl(s, SIOCGSTAMP, &tv);
switch (timestamp) {
case 'a': /* absolute with timestamp */
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
break;
case 'A': /* absolute with date */
{
struct tm tm;
char timestring[25];
tm = *localtime(&tv.tv_sec);
strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
printf("(%s.%06ld) ", timestring, tv.tv_usec);
}
break;
case 'd': /* delta */
case 'z': /* starting with zero */
{
struct timeval diff;
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;
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 (frame.can_id & CAN_EFF_FLAG)
printf(" %s %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
else
printf(" %s %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
if (ext)
printf("{%02X}", frame.data[0]);
printf(" [%d] ", frame.can_dlc);
datidx = 0;
n_pci = frame.data[ext];
switch (n_pci & 0xF0) {
case 0x00:
printf("[SF] ln: %-4d data:", n_pci & 0x0F);
datidx = ext+1;
break;
case 0x10:
printf("[FF] ln: %-4d data:",
((n_pci & 0x0F)<<8) + frame.data[ext+1] );
datidx = ext+2;
break;
case 0x20:
printf("[CF] sn: %X data:", n_pci & 0x0F);
datidx = ext+1;
break;
case 0x30:
n_pci &= 0x0F;
printf("[FC] FC: %d ", n_pci);
if (n_pci > 3)
n_pci = 3;
printf("= %s # ", fc_info[n_pci]);
printf("BS: %d %s# ", frame.data[ext+1],
(frame.data[ext+1])? "":"= off ");
i = frame.data[ext+2];
printf("STmin: 0x%02X = ", i);
if (i < 0x80)
printf("%d ms", i);
else if (i > 0xF0 && i < 0xFA)
printf("%d us", (i & 0x0F) * 100);
else
printf("reserved");
break;
default:
printf("[??]");
}
if (datidx && frame.can_dlc > datidx) {
printf(" ");
for (i = datidx; i < frame.can_dlc; i++) {
printf("%02X ", frame.data[i]);
}
if (asc) {
printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
"- '");
for (i = datidx; i < frame.can_dlc; i++) {
printf("%c",((frame.data[i] > 0x1F) &&
(frame.data[i] < 0x7F))?
frame.data[i] : '.');
}
printf("'");
}
}
if (color)
printf("%s", ATTRESET);
printf("\n");
fflush(stdout);
}
}
close(s);
return 0;
}

196
isotprecv.c 100644
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@ -0,0 +1,196 @@
/*
* $Id: isotprecv.c 824 2008-09-02 07:01:51Z hartko $
*/
/*
* isotprecv.c
*
* Copyright (c) 2008 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 and the following disclaimer.
* 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, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* 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 <socketcan-users@lists.berlios.de>
*
*/
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <libgen.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/isotp.h>
#define NO_CAN_ID 0xFFFFFFFFU
void print_usage(char *prg)
{
fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
fprintf(stderr, " -p <byte> (set and enable padding byte)\n");
fprintf(stderr, " -P <mode> (check padding in SF/CF. (l)ength (c)ontent (a)ll)\n");
fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
fprintf(stderr, " -w <num> (max. wait frame transmissions.)\n");
fprintf(stderr, " -l (loop: do not exit after pdu receiption.)\n");
fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
fprintf(stderr, "The pdu data is written on STDOUT in space separated ASCII hex values.\n");
fprintf(stderr, "\n");
}
int main(int argc, char **argv)
{
int s;
struct sockaddr_can addr;
struct ifreq ifr;
static struct can_isotp_options opts;
static struct can_isotp_fc_options fcopts;
int opt, i;
extern int optind, opterr, optopt;
int loop = 0;
unsigned char msg[4096];
int nbytes;
addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
while ((opt = getopt(argc, argv, "s:d:x:p:P:b:m:w:l")) != -1) {
switch (opt) {
case 's':
addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
break;
case 'd':
addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
break;
case 'x':
opts.flags |= CAN_ISOTP_EXTEND_ADDR;
opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'p':
opts.flags |= CAN_ISOTP_RX_PADDING;
opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'P':
if (optarg[0] == 'l')
opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
else if (optarg[0] == 'c')
opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
else if (optarg[0] == 'a')
opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
else {
printf("unknown padding check option '%c'.\n", optarg[0]);
print_usage(basename(argv[0]));
exit(0);
}
break;
case 'b':
fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'm':
fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'w':
fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'l':
loop = 1;
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
print_usage(basename(argv[0]));
exit(0);
break;
}
}
if ((argc - optind != 1) ||
(addr.can_addr.tp.tx_id == NO_CAN_ID) ||
(addr.can_addr.tp.rx_id == NO_CAN_ID)) {
print_usage(basename(argv[0]));
exit(0);
}
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
perror("socket");
exit(1);
}
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[optind]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
close(s);
exit(1);
}
do {
nbytes = read(s, msg, 4096);
if (nbytes > 0 && nbytes < 4096)
for (i=0; i < nbytes; i++)
printf("%02X ", msg[i]);
printf("\n");
} while (loop);
close(s);
return 0;
}

178
isotpsend.c 100644
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@ -0,0 +1,178 @@
/*
* $Id: isotpsend.c 824 2008-09-02 07:01:51Z hartko $
*/
/*
* isotpsend.c
*
* Copyright (c) 2008 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 and the following disclaimer.
* 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, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* 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 <socketcan-users@lists.berlios.de>
*
*/
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <libgen.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/isotp.h>
#define NO_CAN_ID 0xFFFFFFFFU
void print_usage(char *prg)
{
fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -x <addr> (extended addressing mode. Use 'any' for all addresses)\n");
fprintf(stderr, " -p <byte> (set and enable padding byte)\n");
fprintf(stderr, " -P <mode> (check padding in FC. (l)ength (c)ontent (a)ll)\n");
fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
fprintf(stderr, "\n");
}
int main(int argc, char **argv)
{
int s;
struct sockaddr_can addr;
struct ifreq ifr;
static struct can_isotp_options opts;
int opt;
extern int optind, opterr, optopt;
unsigned char buf[4096];
int buflen = 0;
addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
while ((opt = getopt(argc, argv, "s:d:x:p:P:t:")) != -1) {
switch (opt) {
case 's':
addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
break;
case 'd':
addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
break;
case 'x':
opts.flags |= CAN_ISOTP_EXTEND_ADDR;
opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'p':
opts.flags |= CAN_ISOTP_TX_PADDING;
opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'P':
if (optarg[0] == 'l')
opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
else if (optarg[0] == 'c')
opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
else if (optarg[0] == 'a')
opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
else {
printf("unknown padding check option '%c'.\n", optarg[0]);
print_usage(basename(argv[0]));
exit(0);
}
break;
case 't':
opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
print_usage(basename(argv[0]));
exit(0);
break;
}
}
if ((argc - optind != 1) ||
(addr.can_addr.tp.tx_id == NO_CAN_ID) ||
(addr.can_addr.tp.rx_id == NO_CAN_ID)) {
print_usage(basename(argv[0]));
exit(0);
}
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
perror("socket");
exit(1);
}
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[optind]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
close(s);
exit(1);
}
while (buflen < 4096 && scanf("%hhx", &buf[buflen]) == 1)
buflen++;
write(s, buf, buflen);
/*
* due to a Kernel internal wait queue the PDU is sent completely
* before close() returns.
*/
close(s);
return 0;
}

334
isotpsniffer.c 100644
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@ -0,0 +1,334 @@
/*
* $Id: isotpsniffer.c 824 2008-09-02 07:01:51Z hartko $
*/
/*
* isotpsniffer.c - dump ISO15765-2 datagrams using PF_CAN isotp protocol
*
* Copyright (c) 2008 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 and the following disclaimer.
* 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, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* 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 <socketcan-users@lists.berlios.de>
*
*/
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <libgen.h>
#include <time.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/isotp.h>
#include "terminal.h"
#define NO_CAN_ID 0xFFFFFFFFU
#define FORMAT_HEX 1
#define FORMAT_ASCII 2
#define FORMAT_DEFAULT (FORMAT_ASCII | FORMAT_HEX)
void print_usage(char *prg)
{
fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
fprintf(stderr, " -c (color mode)\n");
fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
fprintf(stderr, " -f <format> (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
fprintf(stderr, " -h <len> (head: print only first <len> bytes)\n");
fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
fprintf(stderr, "\n");
}
void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
int format, struct timeval *tv, struct timeval *last_tv,
canid_t src, int socket, char *candevice, int head)
{
int i;
if (color == 1)
printf("%s", FGRED);
if (color == 2)
printf("%s", FGBLUE);
if (timestamp) {
ioctl(socket, SIOCGSTAMP, tv);
switch (timestamp) {
case 'a': /* absolute with timestamp */
printf("(%ld.%06ld) ", tv->tv_sec, tv->tv_usec);
break;
case 'A': /* absolute with date */
{
struct tm tm;
char timestring[25];
tm = *localtime(&tv->tv_sec);
strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
printf("(%s.%06ld) ", timestring, tv->tv_usec);
}
break;
case 'd': /* delta */
case 'z': /* starting with zero */
{
struct timeval diff;
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;
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;
}
}
/* the source socket gets pdu data from the detination id */
printf(" %s %03X [%d] ", candevice, src & CAN_EFF_MASK, nbytes);
if (format & FORMAT_HEX) {
for (i=0; i<nbytes; i++) {
printf("%02X ", buffer[i]);
if (head && i+1 >= head) {
printf("... ");
break;
}
}
if (format & FORMAT_ASCII)
printf(" - ");
}
if (format & FORMAT_ASCII) {
printf("'");
for (i=0; i<nbytes; i++) {
if ((buffer[i] > 0x1F) && (buffer[i] < 0x7F))
printf("%c", buffer[i]);
else
printf(".");
if (head && i+1 >= head)
break;
}
printf("'");
if (head && i+1 >= head)
printf(" ... ");
}
if (color)
printf("%s", ATTRESET);
printf("\n");
fflush(stdout);
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s, t;
struct sockaddr_can addr;
struct ifreq ifr;
static struct can_isotp_options opts;
int opt, quit = 0;
int color = 0;
int head = 0;
int timestamp = 0;
int format = FORMAT_DEFAULT;
canid_t src = NO_CAN_ID;
canid_t dst = NO_CAN_ID;
extern int optind, opterr, optopt;
static struct timeval tv, last_tv;
unsigned char buffer[4096];
int nbytes;
while ((opt = getopt(argc, argv, "s:d:x:h:ct:f:")) != -1) {
switch (opt) {
case 's':
src = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
src |= CAN_EFF_FLAG;
break;
case 'd':
dst = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
dst |= CAN_EFF_FLAG;
break;
case 'x':
opts.flags |= CAN_ISOTP_EXTEND_ADDR;
opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'f':
format = (atoi(optarg) & (FORMAT_ASCII | FORMAT_HEX));
break;
case 'h':
head = atoi(optarg);
break;
case 'c':
color = 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;
default:
fprintf(stderr, "Unknown option %c\n", opt);
print_usage(basename(argv[0]));
exit(0);
break;
}
}
if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
print_usage(basename(argv[0]));
exit(0);
}
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
perror("socket");
exit(1);
}
if ((t = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
perror("socket");
exit(1);
}
opts.flags |= CAN_ISOTP_LISTEN_MODE;
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
setsockopt(t, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[optind]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
addr.can_addr.tp.tx_id = dst;
addr.can_addr.tp.rx_id = src;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
close(s);
exit(1);
}
addr.can_addr.tp.tx_id = src;
addr.can_addr.tp.rx_id = dst;
if (bind(t, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
close(s);
exit(1);
}
while (!quit) {
FD_ZERO(&rdfs);
FD_SET(s, &rdfs);
FD_SET(t, &rdfs);
FD_SET(0, &rdfs);
if ((nbytes = select(t+1, &rdfs, NULL, NULL, NULL)) < 0) {
perror("select");
continue;
}
if (FD_ISSET(0, &rdfs)) {
getchar();
quit = 1;
printf("quit due to keyboard input.\n");
}
if (FD_ISSET(s, &rdfs)) {
nbytes = read(s, buffer, 4096);
if (nbytes < 0) {
perror("read socket s");
return -1;
}
if (nbytes > 4095)
return -1;
printbuf(buffer, nbytes, color?1:0, timestamp, format,
&tv, &last_tv, src, s, ifr.ifr_name, head);
}
if (FD_ISSET(t, &rdfs)) {
nbytes = read(t, buffer, 4096);
if (nbytes < 0) {
perror("read socket t");
return -1;
}
if (nbytes > 4095)
return -1;
printbuf(buffer, nbytes, color?2:0, timestamp, format,
&tv, &last_tv, dst, t, ifr.ifr_name, head);
}
}
close(s);
return 0;
}

291
isotptun.c 100644
View File

@ -0,0 +1,291 @@
/*
* $Id: isotptun.c 824 2008-09-02 07:01:51Z hartko $
*/
/*
* isotptun.c - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept
*
* This program creates a Linux tunnel netdevice 'ctunX' and transfers the
* ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.
*
* Use e.g. "ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up"
* to create a point-to-point IP connection on CAN.
*
* Copyright (c) 2008 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 and the following disclaimer.
* 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, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* 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 <socketcan-users@lists.berlios.de>
*
*/
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <libgen.h>
#include <errno.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/isotp.h>
#include <linux/if_tun.h>
#define NO_CAN_ID 0xFFFFFFFFU
void print_usage(char *prg)
{
fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n\n", prg);
fprintf(stderr, "This program creates a Linux tunnel netdevice 'ctunX' and transfers the\n");
fprintf(stderr, "ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.\n\n");
fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
fprintf(stderr, " -p <byte> (padding byte rx path)\n");
fprintf(stderr, " -q <byte> (padding byte tx path)\n");
fprintf(stderr, " -P <mode> (check padding. (l)ength (c)ontent (a)ll)\n");
fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
fprintf(stderr, " -w <num> (max. wait frame transmissions.)\n");
fprintf(stderr, " -h (half duplex mode.)\n");
fprintf(stderr, " -v (verbose mode. Print symbols for tunneled msgs.)\n");
fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
fprintf(stderr, "Use e.g. 'ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up'\n");
fprintf(stderr, "to create a point-to-point IP connection on CAN.\n");
fprintf(stderr, "\n");
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s, t;
struct sockaddr_can addr;
struct ifreq ifr;
static struct can_isotp_options opts;
static struct can_isotp_fc_options fcopts;
int opt, ret;
extern int optind, opterr, optopt;
static int quit;
static int verbose;
unsigned char buffer[4096];
int nbytes;
addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
while ((opt = getopt(argc, argv, "s:d:x:p:q:P:t:b:m:whv")) != -1) {
switch (opt) {
case 's':
addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
break;
case 'd':
addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
if (strlen(optarg) > 7)
addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
break;
case 'x':
opts.flags |= CAN_ISOTP_EXTEND_ADDR;
opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'p':
opts.flags |= CAN_ISOTP_RX_PADDING;
opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'q':
opts.flags |= CAN_ISOTP_TX_PADDING;
opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'P':
if (optarg[0] == 'l')
opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
else if (optarg[0] == 'c')
opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
else if (optarg[0] == 'a')
opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
else {
printf("unknown padding check option '%c'.\n", optarg[0]);
print_usage(basename(argv[0]));
exit(0);
}
break;
case 't':
opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
break;
case 'b':
fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'm':
fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'w':
fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
break;
case 'h':
opts.flags |= CAN_ISOTP_HALF_DUPLEX;
break;
case 'v':
verbose = 1;
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
print_usage(basename(argv[0]));
exit(0);
break;
}
}
if ((argc - optind != 1) ||
(addr.can_addr.tp.tx_id == NO_CAN_ID) ||
(addr.can_addr.tp.rx_id == NO_CAN_ID)) {
print_usage(basename(argv[0]));
exit(0);
}
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
perror("socket");
exit(1);
}
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[optind]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
close(s);
exit(1);
}
if ((t = open("/dev/net/tun", O_RDWR)) < 0) {
perror("open tunfd");
close(s);
close(t);
exit(1);
}
memset(&ifr, 0, sizeof(ifr));
ifr.ifr_flags = IFF_TUN | IFF_NO_PI;
strncpy(ifr.ifr_name, "ctun%d", IFNAMSIZ);
if (ioctl(t, TUNSETIFF, (void *) &ifr) < 0) {
perror("ioctl tunfd");
close(s);
close(t);
exit(1);
}
while (!quit) {
FD_ZERO(&rdfs);
FD_SET(s, &rdfs);
FD_SET(t, &rdfs);
FD_SET(0, &rdfs);
if ((ret = select(t+1, &rdfs, NULL, NULL, NULL)) < 0) {
perror("select");
continue;
}
if (FD_ISSET(0, &rdfs)) {
getchar();
quit = 1;
printf("quit due to keyboard input.\n");
}
if (FD_ISSET(s, &rdfs)) {
nbytes = read(s, buffer, 4096);
if (nbytes < 0) {
perror("read isotp socket");
return -1;
}
if (nbytes > 4095)
return -1;
ret = write(t, buffer, nbytes);
if (verbose) {
if (ret < 0 && errno == EAGAIN)
printf(";");
else
printf(",");
fflush(stdout);
}
}
if (FD_ISSET(t, &rdfs)) {
nbytes = read(t, buffer, 4096);
if (nbytes < 0) {
perror("read tunfd");
return -1;
}
if (nbytes > 4095)
return -1;
ret = write(s, buffer, nbytes);
if (verbose) {
if (ret < 0 && errno == EAGAIN)
printf(":");
else
printf(".");
fflush(stdout);
}
}
}
close(s);
close(t);
return 0;
}