From b740fb7fab97a6dfba330e54390adfc5393c1833 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 01/29] asc2log.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0001-asc2log.c-Reformat-help-usage-output-to-be-compatibl.patch
---
 asc2log.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/asc2log.c b/asc2log.c
index 59f2f98..cecaa9f 100644
--- a/asc2log.c
+++ b/asc2log.c
@@ -61,9 +61,11 @@ extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - convert ASC logfile to compact CAN frame logfile.\n", prg);
 	fprintf(stderr, "Usage: %s\n", prg);
-	fprintf(stderr, "Options: -I <infile>  (default stdin)\n");
-	fprintf(stderr, "         -O <outfile> (default stdout)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "\t-I <infile>\t(default stdin)\n");
+	fprintf(stderr, "\t-O <outfile>\t(default stdout)\n");
 }
 
 void prframe(FILE *file, struct timeval *tv, int dev, struct can_frame *cf) {

From 69865c824719e050db27189fcbf73128af222cd6 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 02/29] canbusload.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0002-canbusload.c-Reformat-help-usage-output-to-be-compat.patch
---
 canbusload.c | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/canbusload.c b/canbusload.c
index f5f130b..b002b66 100644
--- a/canbusload.c
+++ b/canbusload.c
@@ -1,6 +1,6 @@
 /* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * canbusload.c
+ * canbusload.c - monitor CAN bus load
  *
  * Copyright (c) 2002-2008 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -91,14 +91,16 @@ static char *prg;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - monitor CAN bus load.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -t (show current time on the first line)\n");
-	fprintf(stderr, "         -c (colorize lines)\n");
-	fprintf(stderr, "         -b (show bargraph in %d%% resolution)\n", PERCENTRES);
-	fprintf(stderr, "         -r (redraw the terminal - similar to top)\n");
-	fprintf(stderr, "         -i (ignore bitstuffing in bandwidth calculation)\n");
-	fprintf(stderr, "         -e (exact calculation of stuffed bits)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -t  (show current time on the first line)\n");
+	fprintf(stderr, "         -c  (colorize lines)\n");
+	fprintf(stderr, "         -b  (show bargraph in %d%% resolution)\n", PERCENTRES);
+	fprintf(stderr, "         -r  (redraw the terminal - similar to top)\n");
+	fprintf(stderr, "         -i  (ignore bitstuffing in bandwidth calculation)\n");
+	fprintf(stderr, "         -e  (exact calculation of stuffed bits)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with mandatory bitrate can be specified on the \n", MAXSOCK);
 	fprintf(stderr, "commandline in the form: <ifname>@<bitrate>\n\n");
@@ -107,7 +109,7 @@ void print_usage(char *prg)
 	fprintf(stderr, "Due to the bitstuffing estimation the calculated busload may exceed 100%%.\n");
 	fprintf(stderr, "For each given interface the data is presented in one line which contains:\n\n");
 	fprintf(stderr, "(interface) (received CAN frames) (used bits total) (used bits for payload)\n");
-	fprintf(stderr, "\nExample:\n");
+	fprintf(stderr, "\nExamples:\n");
 	fprintf(stderr, "\nuser$> canbusload can0@100000 can1@500000 can2@500000 can3@500000 -r -t -b -c\n\n");
 	fprintf(stderr, "%s 2014-02-01 21:13:16 (worst case bitstuffing)\n", prg);
 	fprintf(stderr, " can0@100000   805   74491  36656  74%% |XXXXXXXXXXXXXX......|\n");

From f4a9e5b57deff103787bb050d8f34ad7bc594205 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 03/29] can-calc-bit-timing.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0003-can-calc-bit-timing.c-Reformat-help-usage-output-to-.patch
---
 can-calc-bit-timing.c | 31 ++++++++++++++++++++-----------
 1 file changed, 20 insertions(+), 11 deletions(-)

diff --git a/can-calc-bit-timing.c b/can-calc-bit-timing.c
index abbc4ca..49347f8 100644
--- a/can-calc-bit-timing.c
+++ b/can-calc-bit-timing.c
@@ -131,17 +131,16 @@ static inline void *netdev_priv(const struct net_device *dev)
 
 static void print_usage(char *cmd)
 {
+	printf("%s - calculate CAN bit timing parameters.\n", cmd);
 	printf("Usage: %s [options] [<CAN-contoller-name>]\n"
-	       "\tOptions:\n"
-	       "\t-q           : don't print header line\n"
-	       "\t-l           : list all support CAN controller names\n"
-	       "\t-b <bitrate> : bit-rate in bits/sec\n"
-	       "\t-s <samp_pt> : sample-point in one-tenth of a percent\n"
+	       "Options:\n"
+	       "\t-q             don't print header line\n"
+	       "\t-l             list all support CAN controller names\n"
+	       "\t-b <bitrate>   bit-rate in bits/sec\n"
+	       "\t-s <samp_pt>   sample-point in one-tenth of a percent\n"
 	       "\t               or 0 for CIA recommended sample points\n"
-	       "\t-c <clock>   : real CAN system clock in Hz\n",
+	       "\t-c <clock>     real CAN system clock in Hz\n",
 	       cmd);
-
-	exit(EXIT_FAILURE);
 }
 
 static void printf_btr_sja1000(struct can_bittiming *bt, bool hdr)
@@ -638,7 +637,7 @@ int main(int argc, char *argv[])
 
 	const struct calc_bittiming_const *btc;
 
-	while ((opt = getopt(argc, argv, "b:c:lqs:")) != -1) {
+	while ((opt = getopt(argc, argv, "b:c:lqs:?")) != -1) {
 		switch (opt) {
 		case 'b':
 			bitrate_nominal = atoi(optarg);
@@ -660,14 +659,22 @@ int main(int argc, char *argv[])
 			spt_nominal = strtoul(optarg, NULL, 10);
 			break;
 
+		case '?':
+			print_usage(argv[0]);
+			exit(EXIT_SUCCESS);
+			break;
+
 		default:
 			print_usage(argv[0]);
+			exit(EXIT_FAILURE);
 			break;
 		}
 	}
 
-	if (argc > optind + 1)
+	if (argc > optind + 1) {
 		print_usage(argv[0]);
+		exit(EXIT_FAILURE);
+	}
 
 	if (argc == optind + 1)
 		name = argv[optind];
@@ -677,8 +684,10 @@ int main(int argc, char *argv[])
 		exit(EXIT_SUCCESS);
 	}
 
-	if (spt_nominal && (spt_nominal >= 1000 || spt_nominal < 100))
+	if (spt_nominal && (spt_nominal >= 1000 || spt_nominal < 100)) {
 		print_usage(argv[0]);
+		exit(EXIT_FAILURE);
+	}
 
 	for (i = 0; i < ARRAY_SIZE(can_calc_consts); i++) {
 		if (name && strcmp(can_calc_consts[i].bittiming_const.name, name))

From 6db632531dc37522c35a6325802f2a9219655910 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 04/29] candump.c: Reformat help/usage output to be compatible
 with help2man.

Gbp-Pq: Name 0004-candump.c-Reformat-help-usage-output-to-be-compatibl.patch
---
 candump.c | 27 +++++++++++++++------------
 1 file changed, 15 insertions(+), 12 deletions(-)

diff --git a/candump.c b/candump.c
index 16382d1..4fcffef 100644
--- a/candump.c
+++ b/candump.c
@@ -116,9 +116,11 @@ static volatile int running = 1;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - dump CAN bus traffic.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 	fprintf(stderr, "         -H          (read hardware timestamps instead of system timestamps)\n");
 	fprintf(stderr, "         -c          (increment color mode level)\n");
 	fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
@@ -137,22 +139,23 @@ void print_usage(char *prg)
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 	fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
-	fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
-	fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
-	fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
-	fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
-	fprintf(stderr, " [j|J]               (join the given CAN filters - logical AND semantic)\n");
+	fprintf(stderr, "\nFilters:\n");
+	fprintf(stderr, " Comma separated filters can be specified for each given CAN interface:\n");
+	fprintf(stderr, "<can_id>:<can_mask>\n\t(matches when <received_can_id> & mask == can_id & mask)\n");
+	fprintf(stderr, "<can_id>~<can_mask>\n\t(matches when <received_can_id> & mask != can_id & mask)\n");
+	fprintf(stderr, "#<error_mask>\n\t(set error frame filter, see include/linux/can/error.h)\n");
+	fprintf(stderr, "[j|J]\n\t(join the given CAN filters - logical AND semantic)\n");
 	fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "When the can_id is 8 digits long the CAN_EFF_FLAG is set for 29 bit EFF format.\n");
 	fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 	fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
-	fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
-	fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
-	fprintf(stderr, "%s vcan2,12345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
-	fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
-	fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
+	fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n\n", prg);
+	fprintf(stderr, "%s -l any,0~0,#FFFFFFFF\n\t(log only error frames but no(!) data frames)\n", prg);
+	fprintf(stderr, "%s -l any,0:0,#FFFFFFFF\n\t(log error frames and also all data frames)\n", prg);
+	fprintf(stderr, "%s vcan2,12345678:DFFFFFFF\n\t(match only for extended CAN ID 12345678)\n", prg);
+	fprintf(stderr, "%s vcan2,123:7FF\n\t(matches CAN ID 123 - including EFF and RTR frames)\n", prg);
+	fprintf(stderr, "%s vcan2,123:C00007FF\n\t(matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 	fprintf(stderr, "\n");
 }
 

From c56259ab33a16f30f5721cc7d19b21f0784f437a Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 05/29] canfdtest.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0005-canfdtest.c-Reformat-help-usage-output-to-be-compati.patch
---
 canfdtest.c | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

diff --git a/canfdtest.c b/canfdtest.c
index cf59a3a..a4b98f5 100644
--- a/canfdtest.c
+++ b/canfdtest.c
@@ -52,9 +52,11 @@ static int exit_sig;
 static void print_usage(char *prg)
 {
 	fprintf(stderr,
+		"%s - Full-duplex test program (DUT and host part).\n"
 		"Usage: %s [options] <can-interface>\n"
 		"\n"
-		"Options: -v       (low verbosity)\n"
+		"Options:\n"
+		"         -v       (low verbosity)\n"
 		"         -vv      (high verbosity)\n"
 		"         -g       (generate messages)\n"
 		"         -l COUNT (test loop count)\n"
@@ -64,10 +66,12 @@ static void print_usage(char *prg)
                 "<can-interface> are sent back incrementing the CAN id and\n"
 		"all data bytes. The program can be aborted with ^C.\n"
 		"\n"
-		"Example:\n"
-		"\ton DUT : %s -v can0\n"
-		"\ton Host: %s -g -v can2\n",
-		prg, prg, prg);
+		"Examples:\n"
+		"\ton DUT:\n"
+		"%s -v can0\n"
+		"\ton Host:\n"
+		"%s -g -v can2\n",
+		prg, prg, prg, prg);
 
 	exit(1);
 }
@@ -320,7 +324,7 @@ int main(int argc, char *argv[])
 	signal(SIGHUP, signal_handler);
 	signal(SIGINT, signal_handler);
 
-	while ((opt = getopt(argc, argv, "gl:v")) != -1) {
+	while ((opt = getopt(argc, argv, "gl:v?")) != -1) {
 		switch (opt) {
 		case 'v':
 			verbose++;
@@ -334,6 +338,7 @@ int main(int argc, char *argv[])
 			echo_gen = 1;
 			break;
 
+		case '?':
 		default:
 			print_usage(basename(argv[0]));
 			break;

From f503097a3861bd7be94b8b9a0a536ec1827813be Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 06/29] cangen.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0006-cangen.c-Reformat-help-usage-output-to-be-compatible.patch
---
 cangen.c | 34 ++++++++++++++++++----------------
 1 file changed, 18 insertions(+), 16 deletions(-)

diff --git a/cangen.c b/cangen.c
index 9a1914b..9675b8a 100644
--- a/cangen.c
+++ b/cangen.c
@@ -78,9 +78,11 @@ static unsigned long long enobufs_count;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - CAN frames generator for testing purposes.\n", prg);
 	fprintf(stderr, "\n%s: generate CAN frames\n\n", prg);
 	fprintf(stderr, "Usage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -g <ms>       (gap in milli seconds "
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -g <ms>       (gap in milli seconds "
 		"- default: %d ms)\n", DEFAULT_GAP);
 	fprintf(stderr, "         -e            (generate extended frame mode "
 		"(EFF) CAN frames)\n");
@@ -106,25 +108,25 @@ void print_usage(char *prg)
 	fprintf(stderr, "         -v            (increment verbose level for "
 		"printing sent CAN frames)\n\n");
 	fprintf(stderr, "Generation modes:\n");
-	fprintf(stderr, "'r'        => random values (default)\n");
-	fprintf(stderr, "'i'        => increment values\n");
-	fprintf(stderr, "<hexvalue> => fix value using <hexvalue>\n\n");
+	fprintf(stderr, " 'r'         => random values (default)\n");
+	fprintf(stderr, " 'i'         => increment values\n");
+	fprintf(stderr, " <hexvalue>  => fix value using <hexvalue>\n\n");
 	fprintf(stderr, "When incrementing the CAN data the data length code "
 		"minimum is set to 1.\n");
 	fprintf(stderr, "CAN IDs and data content are given and expected in hexadecimal values.\n\n");
 	fprintf(stderr, "Examples:\n");
-	fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v   ", prg);
-	fprintf(stderr, "(fixed CAN ID and length, inc. data)\n");
-	fprintf(stderr, "%s vcan0 -e -L i -v -v -v              ", prg);
-	fprintf(stderr, "(generate EFF frames, incr. length)\n");
-	fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8      ", prg);
-	fprintf(stderr, "(fixed CAN data payload and length)\n");
-	fprintf(stderr, "%s vcan0 -g 0 -i -x                    ", prg);
-	fprintf(stderr, "(full load test ignoring -ENOBUFS)\n");
-	fprintf(stderr, "%s vcan0 -g 0 -p 10 -x                 ", prg);
-	fprintf(stderr, "(full load test with polling, 10ms timeout)\n");
-	fprintf(stderr, "%s vcan0                               ", prg);
-	fprintf(stderr, "(my favourite default :)\n\n");
+	fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v\n", prg);
+	fprintf(stderr, "\t(fixed CAN ID and length, inc. data)\n");
+	fprintf(stderr, "%s vcan0 -e -L i -v -v -v\n", prg);
+	fprintf(stderr, "\t(generate EFF frames, incr. length)\n");
+	fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8\n", prg);
+	fprintf(stderr, "\t(fixed CAN data payload and length)\n");
+	fprintf(stderr, "%s vcan0 -g 0 -i -x\n", prg);
+	fprintf(stderr, "\t(full load test ignoring -ENOBUFS)\n");
+	fprintf(stderr, "%s vcan0 -g 0 -p 10 -x\n", prg);
+	fprintf(stderr, "\t(full load test with polling, 10ms timeout)\n");
+	fprintf(stderr, "%s vcan0\n", prg);
+	fprintf(stderr, "\t(my favourite default :)\n\n");
 }
 
 void sigterm(int signo)

From 1127609357701ab7c5e14ed9128a861595a24fb9 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 07/29] cangw.c: Reformat help/usage output to be compatible
 with help2man.

Gbp-Pq: Name 0007-cangw.c-Reformat-help-usage-output-to-be-compatible-.patch
---
 cangw.c | 79 ++++++++++++++++++++++++++++++---------------------------
 1 file changed, 42 insertions(+), 37 deletions(-)

diff --git a/cangw.c b/cangw.c
index 52314f6..a6b1697 100644
--- a/cangw.c
+++ b/cangw.c
@@ -222,55 +222,60 @@ void print_cs_crc8(struct cgw_csum_crc8 *cs_crc8)
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - manage PF_CAN netlink gateway.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options]\n\n", prg);
-	fprintf(stderr, "Commands:  -A (add a new rule)\n");
-	fprintf(stderr, "           -D (delete a rule)\n");
-	fprintf(stderr, "           -F (flush / delete all rules)\n");
-	fprintf(stderr, "           -L (list all rules)\n");
-	fprintf(stderr, "Mandatory: -s <src_dev>  (source netdevice)\n");
+	fprintf(stderr, "Commands:\n");
+	fprintf(stderr, "           -A  (add a new rule)\n");
+	fprintf(stderr, "           -D  (delete a rule)\n");
+	fprintf(stderr, "           -F  (flush / delete all rules)\n");
+	fprintf(stderr, "           -L  (list all rules)\n");
+	fprintf(stderr, "Mandatory:\n");
+	fprintf(stderr, "           -s <src_dev>  (source netdevice)\n");
 	fprintf(stderr, "           -d <dst_dev>  (destination netdevice)\n");
-	fprintf(stderr, "Options:   -X (this is a CAN FD rule)\n");
-	fprintf(stderr, "           -t (preserve src_dev rx timestamp)\n");
-	fprintf(stderr, "           -e (echo sent frames - recommended on vcanx)\n");
-	fprintf(stderr, "           -i (allow to route to incoming interface)\n");
-	fprintf(stderr, "           -u <uid> (user defined modification identifier)\n");
-	fprintf(stderr, "           -l <hops> (limit the number of frame hops / routings)\n");
-	fprintf(stderr, "           -f <filter> (set CAN filter)\n");
-	fprintf(stderr, "           -m <mod> (set Classic CAN frame modifications)\n");
-	fprintf(stderr, "           -M <MOD> (set CAN FD frame modifications)\n");
-	fprintf(stderr, "           -x <from_idx>:<to_idx>:<result_idx>:<init_xor_val> (XOR checksum)\n");
-	fprintf(stderr, "           -c <from>:<to>:<result>:<init_val>:<xor_val>:<crctab[256]> (CRC8 cs)\n");
-	fprintf(stderr, "           -p <profile>:[<profile_data>] (CRC8 checksum profile & parameters)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "           -X  (this is a CAN FD rule)\n");
+	fprintf(stderr, "           -t  (preserve src_dev rx timestamp)\n");
+	fprintf(stderr, "           -e  (echo sent frames - recommended on vcanx)\n");
+	fprintf(stderr, "           -i  (allow to route to incoming interface)\n");
+	fprintf(stderr, "           -u <uid>  (user defined modification identifier)\n");
+	fprintf(stderr, "           -l <hops>  (limit the number of frame hops / routings)\n");
+	fprintf(stderr, "           -f <filter>  (set CAN filter)\n");
+	fprintf(stderr, "           -m <mod>  (set Classic CAN frame modifications)\n");
+	fprintf(stderr, "           -M <MOD>  (set CAN FD frame modifications)\n");
+	fprintf(stderr, "           -x <from_idx>:<to_idx>:<result_idx>:<init_xor_val>  (XOR checksum)\n");
+	fprintf(stderr, "           -c <from>:<to>:<result>:<init_val>:<xor_val>:<crctab[256]>  (CRC8 cs)\n");
+	fprintf(stderr, "           -p <profile>:[<profile_data>]  (CRC8 checksum profile & parameters)\n");
 	fprintf(stderr, "\nValues are given and expected in hexadecimal values. Leading 0s can be omitted.\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "<filter> is a <value><mask> CAN identifier filter\n");
-	fprintf(stderr, "   <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
-	fprintf(stderr, "   <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
+	fprintf(stderr, "<filter> is a <value><mask> CAN identifier filter:\n");
+	fprintf(stderr, "   <can_id>:<can_mask>\t(matches when <received_can_id> & mask == can_id & mask)\n");
+	fprintf(stderr, "   <can_id>~<can_mask>\t(matches when <received_can_id> & mask != can_id & mask)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "<mod> is a CAN frame modification instruction consisting of\n");
 	fprintf(stderr, "<instruction>:<can_frame-elements>:<can_id>.<can_dlc>.<can_data>\n");
-	fprintf(stderr, " - <instruction> is one of 'AND' 'OR' 'XOR' 'SET'\n");
-	fprintf(stderr, " - <can_frame-elements> is _one_ or _more_ of 'I'dentifier 'L'ength 'D'ata\n");
-	fprintf(stderr, " - <can_id> is an u32 value containing the CAN Identifier\n");
-	fprintf(stderr, " - <can_dlc> is an u8 value containing the data length code (0 .. 8)\n");
-	fprintf(stderr, " - <can_data> is always eight(!) u8 values containing the CAN frames data\n");
+	fprintf(stderr, "   <instruction>  is one of 'AND' 'OR' 'XOR' 'SET'\n");
+	fprintf(stderr, "   <can_frame-elements>  is _one_ or _more_ of 'I'dentifier 'L'ength 'D'ata\n");
+	fprintf(stderr, "   <can_id>  is an u32 value containing the CAN Identifier\n");
+	fprintf(stderr, "   <can_dlc>  is an u8 value containing the data length code (0 .. 8)\n");
+	fprintf(stderr, "   <can_data>  is always eight(!) u8 values containing the CAN frames data\n");
+	fprintf(stderr, "\n");
 	fprintf(stderr, "<MOD> is a CAN FD frame modification instruction consisting of\n");
 	fprintf(stderr, "<instruction>:<canfd_frame-elements>:<can_id>.<flags>.<len>.<can_data>\n");
-	fprintf(stderr, " - <instruction> is one of 'AND' 'OR' 'XOR' 'SET'\n");
-	fprintf(stderr, " - <canfd_frame-elements> is _one_ or _more_ of 'I'd 'F'lags 'L'ength 'D'ata\n");
-	fprintf(stderr, " - <can_id> is an u32 value containing the CAN FD Identifier\n");
-	fprintf(stderr, " - <flags> is an u8 value containing CAN FD flags (CANFD_BRS, CANFD_ESI)\n");
-	fprintf(stderr, " - <len> is an u8 value containing the data length (0 .. 64)\n");
-	fprintf(stderr, " - <can_data> is always 64(!) u8 values containing the CAN FD frames data\n");
+	fprintf(stderr, "  <instruction>  is one of 'AND' 'OR' 'XOR' 'SET'\n");
+	fprintf(stderr, "  <canfd_frame-elements>  is _one_ or _more_ of 'I'd 'F'lags 'L'ength 'D'ata\n");
+	fprintf(stderr, "  <can_id>  is an u32 value containing the CAN FD Identifier\n");
+	fprintf(stderr, "  <flags>  is an u8 value containing CAN FD flags (CANFD_BRS, CANFD_ESI)\n");
+	fprintf(stderr, "  <len>  is an u8 value containing the data length (0 .. 64)\n");
+	fprintf(stderr, "  <can_data>  is always 64(!) u8 values containing the CAN FD frames data\n");
 	fprintf(stderr, "The max. four modifications are performed in the order AND -> OR -> XOR -> SET\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "Example:\n");
-	fprintf(stderr, "%s -A -s can0 -d vcan3 -e -f 123:C00007FF -m SET:IL:333.4.1122334455667788\n", prg);
-	fprintf(stderr, "\n");
 	fprintf(stderr, "Supported CRC 8 profiles:\n");
-	fprintf(stderr, "Profile '%d' (1U8)       - add one additional u8 value\n", CGW_CRC8PRF_1U8);
-	fprintf(stderr, "Profile '%d' (16U8)      - add u8 value from table[16] indexed by (data[1] & 0xF)\n", CGW_CRC8PRF_16U8);
-	fprintf(stderr, "Profile '%d' (SFFID_XOR) - add u8 value (can_id & 0xFF) ^ (can_id >> 8 & 0xFF)\n", CGW_CRC8PRF_SFFID_XOR);
+	fprintf(stderr, " Profile '%d' (1U8)        - add one additional u8 value\n", CGW_CRC8PRF_1U8);
+	fprintf(stderr, " Profile '%d' (16U8)       - add u8 value from table[16] indexed by (data[1] & 0xF)\n", CGW_CRC8PRF_16U8);
+	fprintf(stderr, " Profile '%d' (SFFID_XOR)  - add u8 value (can_id & 0xFF) ^ (can_id >> 8 & 0xFF)\n", CGW_CRC8PRF_SFFID_XOR);
+	fprintf(stderr, "\n");
+	fprintf(stderr, "Examples:\n");
+	fprintf(stderr, "%s -A -s can0 -d vcan3 -e -f 123:C00007FF -m SET:IL:333.4.1122334455667788\n", prg);
 	fprintf(stderr, "\n");
 }
 

From 65399166c1d6a74354b47e12d08901aef2c219bd Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 08/29] canlogserver.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0008-canlogserver.c-Reformat-help-usage-output-to-be-comp.patch
---
 canlogserver.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/canlogserver.c b/canlogserver.c
index 4429ccd..8319684 100644
--- a/canlogserver.c
+++ b/canlogserver.c
@@ -89,7 +89,8 @@ void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -m <mask>   (ID filter mask.  Default 0x00000000) *\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -m <mask>   (ID filter mask.  Default 0x00000000) *\n");
 	fprintf(stderr, "         -v <value>  (ID filter value. Default 0x00000000) *\n");
 	fprintf(stderr, "         -i <0|1>    (invert the specified ID filter) *\n");
 	fprintf(stderr, "         -e <emask>  (mask for error frames)\n");

From 3e2c1d3cbd1fc6b7affb90bea8ec73a37a589dea Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 09/29] canplayer.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0009-canplayer.c-Reformat-help-usage-output-to-be-compati.patch
---
 canplayer.c | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/canplayer.c b/canplayer.c
index 7932f7a..8f84f13 100644
--- a/canplayer.c
+++ b/canplayer.c
@@ -77,8 +77,10 @@ extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - replay a compact CAN frame logfile to CAN devices.\n", prg);
 	fprintf(stderr, "\nUsage: %s <options> [interface assignment]*\n\n", prg);
-	fprintf(stderr, "Options:              -I <infile>  (default stdin)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "                      -I <infile>  (default stdin)\n");
 	fprintf(stderr, "                      -l <num>     "
 		"(process input file <num> times)\n"
 		"                                   "
@@ -93,13 +95,13 @@ void print_usage(char *prg)
 		"loopback of sent CAN frames)\n");
 	fprintf(stderr, "                      -v           (verbose: print "
 		"sent CAN frames)\n\n");
-	fprintf(stderr, "Interface assignment:  0..n assignments like "
-		"<write-if>=<log-if>\n");
-	fprintf(stderr, "e.g. vcan2=can0 ( send frames received from can0 on "
-		"vcan2 )\n");
-	fprintf(stderr, "extra hook: stdout=can0 ( print logfile line marked with can0 on "
-		"stdout )\n");
-	fprintf(stderr, "No assignments => send frames to the interface(s) they "
+	fprintf(stderr, "Interface assignment:\n");
+	fprintf(stderr, " 0..n assignments like <write-if>=<log-if>\n\n");
+	fprintf(stderr, " e.g. vcan2=can0  (send frames received from can0 on "
+		"vcan2)\n");
+	fprintf(stderr, " extra hook: stdout=can0  (print logfile line marked with can0 on "
+		"stdout)\n");
+	fprintf(stderr, " No assignments  => send frames to the interface(s) they "
 		"had been received from.\n\n");
 	fprintf(stderr, "Lines in the logfile not beginning with '(' (start of "
 		"timestamp) are ignored.\n\n");

From 4568d4a180c09de87f5a77ae6aa6958505a0df2e Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 10/29] cansniffer.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0011-cansniffer.c-Reformat-help-usage-output-to-be-compat.patch
---
 cansniffer.c | 60 ++++++++++++++++++++++++++--------------------------
 1 file changed, 30 insertions(+), 30 deletions(-)

diff --git a/cansniffer.c b/cansniffer.c
index 1a41b8a..b388235 100644
--- a/cansniffer.c
+++ b/cansniffer.c
@@ -134,26 +134,25 @@ 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"
-		"B<ENTER>       - toggle binary with gap / HEX-ASCII output (exceeds 80 chars!)\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"
+		" q<ENTER>        - quit\n"
+		" b<ENTER>        - toggle binary / HEX-ASCII output\n"
+		" B<ENTER>        - toggle binary with gap / HEX-ASCII output (exceeds 80 chars!)\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"
+		" +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"
@@ -161,18 +160,19 @@ void print_usage(char *prg)
 	};
 
 	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, "         -B         (start with binary mode with gap - exceeds 80 chars!)\n");
-	fprintf(stderr, "         -c         (color changes)\n");
-	fprintf(stderr, "         -f         (filter on CAN-ID only)\n");
-	fprintf(stderr, "         -t <time>  (timeout for ID display [x10ms] default: %d, 0 = OFF)\n", TIMEOUT);
-	fprintf(stderr, "         -h <time>  (hold marker on changes [x10ms] default: %d)\n", HOLD);
-	fprintf(stderr, "         -l <time>  (loop time (display) [x10ms] default: %d)\n", LOOP);
-	fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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, "         -B          (start with binary mode with gap - exceeds 80 chars!)\n");
+	fprintf(stderr, "         -c          (color changes)\n");
+	fprintf(stderr, "         -f          (filter on CAN-ID only)\n");
+	fprintf(stderr, "         -t <time>   (timeout for ID display [x10ms] default: %d, 0 = OFF)\n", TIMEOUT);
+	fprintf(stderr, "         -h <time>   (hold marker on changes [x10ms] default: %d)\n", HOLD);
+	fprintf(stderr, "         -l <time>   (loop time (display) [x10ms] default: %d)\n", LOOP);
+	fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces.\n", ANYDEV);
 	fprintf(stderr, "\n");
 	fprintf(stderr, "%s", manual);
 }

From 24af0488122c8cc6accd53b20ed29eb1fa3c5fda Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 11/29] isotpdump.c: Reformat help/usage output to be
 compatible with help2man.

Gbp-Pq: Name 0012-isotpdump.c-Reformat-help-usage-output-to-be-compati.patch
---
 isotpdump.c | 28 +++++++++++++++-------------
 1 file changed, 15 insertions(+), 13 deletions(-)

diff --git a/isotpdump.c b/isotpdump.c
index f2db482..6b90e08 100644
--- a/isotpdump.c
+++ b/isotpdump.c
@@ -68,20 +68,22 @@ const int canfd_on = 1;
 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, "         -X <addr>   (extended addressing mode (rx addr). Use 'any' for all)\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, "         -u          (print uds messages)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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, "         -X <addr>    (extended addressing mode (rx addr). Use 'any' for all)\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, "         -u           (print uds messages)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
-	fprintf(stderr, "\nUDS output contains a flag which provides information about the type of the message.\n");
-	fprintf(stderr, "Flags: [SRQ] = Service Request\n");
-	fprintf(stderr, "       [PSR] = Positive Service Response\n");
-	fprintf(stderr, "       [NRC] = Negative Response Code\n");
-	fprintf(stderr, "       [???] = Unknown (not specified)\n");	
+	fprintf(stderr, "\nUDS output contains a flag which provides information about the type of the message.\n\n");
+	fprintf(stderr, "Flags:\n");
+	fprintf(stderr, "       [SRQ]  = Service Request\n");
+	fprintf(stderr, "       [PSR]  = Positive Service Response\n");
+	fprintf(stderr, "       [NRC]  = Negative Response Code\n");
+	fprintf(stderr, "       [???]  = Unknown (not specified)\n");
 	fprintf(stderr, "\n");
 }
 

From 4db63e4b55a06157cc0a0cb74e7cc84656012e62 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 12/29] isotpperf.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0013-isotpperf.c-Reformat-help-usage-output-to-be-compati.patch
---
 isotpperf.c | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/isotpperf.c b/isotpperf.c
index 5ad302a..f65bb85 100644
--- a/isotpperf.c
+++ b/isotpperf.c
@@ -65,11 +65,13 @@
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - ISO15765-2 protocol performance visualisation.\n", 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, "         -X <addr>   (extended addressing mode (rx addr))\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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, "         -X <addr>    (extended addressing mode (rx addr))\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
 }

From 1cf4d86874f074a9b900d87de6fdbbe2c8aae8a0 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 13/29] isotprecv.c: Reformat help/usage output to be
 compatible with help2man.

Gbp-Pq: Name 0014-isotprecv.c-Reformat-help-usage-output-to-be-compati.patch
---
 isotprecv.c | 23 ++++++++++++-----------
 1 file changed, 12 insertions(+), 11 deletions(-)

diff --git a/isotprecv.c b/isotprecv.c
index c0fb386..c4b8e04 100644
--- a/isotprecv.c
+++ b/isotprecv.c
@@ -62,17 +62,18 @@
 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>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (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, "         -f <time ns> (force rx stmin value in nanosecs)\n");
-	fprintf(stderr, "         -w <num>     (max. wait frame transmissions.)\n");
-	fprintf(stderr, "         -l           (loop: do not exit after pdu reception.)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (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, "         -f <time ns>  (force rx stmin value in nanosecs)\n");
+	fprintf(stderr, "         -w <num>      (max. wait frame transmissions.)\n");
+	fprintf(stderr, "         -l            (loop: do not exit after pdu reception.)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\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");

From 3d6a53550e58af41554bc0d723e68b641a8cbca1 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 14/29] isotpsend.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0015-isotpsend.c-Reformat-help-usage-output-to-be-compati.patch
---
 isotpsend.c | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/isotpsend.c b/isotpsend.c
index 01026b7..c32add3 100644
--- a/isotpsend.c
+++ b/isotpsend.c
@@ -62,15 +62,16 @@
 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, "Options:\n");
+	fprintf(stderr, "         -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>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
-	fprintf(stderr, "         -t <time ns> (frame transmit time (N_As) in nanosecs)\n");
-	fprintf(stderr, "         -f <time ns> (ignore FC and force local tx stmin value in nanosecs)\n");
-	fprintf(stderr, "         -D <len>     (send a fixed PDU with len bytes - no STDIN data)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -t <time ns>  (frame transmit time (N_As) in nanosecs)\n");
+	fprintf(stderr, "         -f <time ns>  (ignore FC and force local tx stmin value in nanosecs)\n");
+	fprintf(stderr, "         -D <len>      (send a fixed PDU with len bytes - no STDIN data)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\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");

From 9240ccfcb7a3502f1000a4f4d4732f6bc4b14bfb Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 15/29] isotpserver.c: Reformat help/usage output to be
 compatible with help2man.

Gbp-Pq: Name 0016-isotpserver.c-Reformat-help-usage-output-to-be-compa.patch
---
 isotpserver.c | 31 ++++++++++++++++---------------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/isotpserver.c b/isotpserver.c
index 448cacd..91719f0 100644
--- a/isotpserver.c
+++ b/isotpserver.c
@@ -100,28 +100,29 @@ void childdied(int i)
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s -l <port> -s <can_id> -d <can_id> [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: (* = mandatory)\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "Options:\n");
 	fprintf(stderr, "ip addressing:\n");
-	fprintf(stderr, " *       -l <port>    (local port for the server)\n");
+	fprintf(stderr, "         -l <port>    * (local port for the server)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "isotp addressing:\n");
-	fprintf(stderr, " *       -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>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -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>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "padding:\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "rx path: (config, which is sent to the sender / data source)\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, "rx path:\n (config, which is sent to the sender / data source)\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, "\n");
-	fprintf(stderr, "tx path: (config, which changes local tx settings)\n");
-	fprintf(stderr, "         -t <time ns> (transmit time in nanosecs)\n");
+	fprintf(stderr, "tx path:\n (config, which changes local tx settings)\n");
+	fprintf(stderr, "         -t <time ns>  (transmit time in nanosecs)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "(* = mandatory option)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "All values except for '-l' and '-t' are expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");

From c61c9bc030eaa776d1cf452d1850df026c810ff0 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 16/29] isotpsniffer.c: Reformat help/usage output to be
 compatible with help2man.

Gbp-Pq: Name 0017-isotpsniffer.c-Reformat-help-usage-output-to-be-comp.patch
---
 isotpsniffer.c | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/isotpsniffer.c b/isotpsniffer.c
index 6f053c8..bbae2f4 100644
--- a/isotpsniffer.c
+++ b/isotpsniffer.c
@@ -69,14 +69,15 @@
 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, "         -X <addr>   (extended addressing mode - rx addr)\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, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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, "         -X <addr>    (extended addressing mode - rx addr)\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, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	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");

From 89c66aba5ff9712cdeeb94880e260b3a985625a8 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 17/29] isotptun.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0018-isotptun.c-Reformat-help-usage-output-to-be-compatib.patch
---
 isotptun.c | 30 ++++++++++++++++--------------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/isotptun.c b/isotptun.c
index 2318f21..cb40ecc 100644
--- a/isotptun.c
+++ b/isotptun.c
@@ -102,23 +102,25 @@ void perror_syslog(const char *s)
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept.\n", 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, "         -n <name>    (name of created IP netdevice. Default: '%s')\n", DEFAULT_NAME);
-	fprintf(stderr, "         -x <addr>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (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, "         -D           (daemonize to background when tun device created)\n");
-	fprintf(stderr, "         -h           (half duplex mode.)\n");
-	fprintf(stderr, "         -v           (verbose mode. Print symbols for tunneled msgs.)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -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, "         -n <name>     (name of created IP netdevice. Default: '%s')\n", DEFAULT_NAME);
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (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, "         -D            (daemonize to background when tun device created)\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");

From 506252e9bcd0cba6e987facffcb1ba0c788e2b67 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 18/29] jacd.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0019-jacd.c-Reformat-help-usage-output-to-be-compatible-w.patch
---
 j1939acd.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/j1939acd.c b/j1939acd.c
index 31bb265..fbef03e 100644
--- a/j1939acd.c
+++ b/j1939acd.c
@@ -30,9 +30,9 @@
 #include "libj1939.h"
 
 static const char help_msg[] =
-	"j1939acd: An SAE J1939 address claiming daemon" "\n"
+	"jacd: An SAE J1939 address claiming daemon" "\n"
 	"Usage: j1939acd [options] NAME [INTF]" "\n"
-	"\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -r, --range=RANGE	Ranges of source addresses" "\n"
 	"			e.g. 80,50-100,200-210 (defaults to 0-253)" "\n"
@@ -44,6 +44,8 @@ static const char help_msg[] =
 	"\n"
 	"Example:" "\n"
 	"j1939acd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788" "\n"
+	"Examples:" "\n"
+	"j1939acd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788" "\n"
 	;
 
 #ifdef _GNU_SOURCE

From c1fdfb09fca0aab4b7e2a46098af3b11f13ba331 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Tue, 4 Feb 2020 22:28:49 +0300
Subject: [PATCH 19/29] jcat.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander GQ Gerasiov <gq@cs.msu.su>

Gbp-Pq: Name 0019-jcat.c-Reformat-help-usage-output-to-be-compatible-w.patch
---
 j1939cat.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/j1939cat.c b/j1939cat.c
index 5ad9375..ee75c64 100644
--- a/j1939cat.c
+++ b/j1939cat.c
@@ -84,7 +84,7 @@ static const char help_msg[] =
 	"\n"
 	;
 
-static const char optstring[] = "?i:vs:rp:P:R:";
+static const char optstring[] = "?hi:vs:rp:P:R:";
 
 
 static void j1939cat_init_sockaddr_can(struct sockaddr_can *sac)
@@ -617,6 +617,7 @@ static int j1939cat_parse_args(struct j1939cat_priv *priv, int argc, char *argv[
 		if (priv->repeat < 1)
 			err(EXIT_FAILURE, "send/repeat count can't be less then 1\n");
 		break;
+	case 'h': /*fallthrough*/
 	default:
 		fputs(help_msg, stderr);
 		return EXIT_FAILURE;

From 211c5cea4925364d09adda3eef237c8703454ecf Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 20/29] can-calc-bit-timing.c: Reformat help/usage output to be
 compatible with help2man.

Gbp-Pq: Name 0020-can-calc-bit-timing.c-Reformat-help-usage-output-to-.patch
---
 can-calc-bit-timing.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/can-calc-bit-timing.c b/can-calc-bit-timing.c
index 49347f8..46803f2 100644
--- a/can-calc-bit-timing.c
+++ b/can-calc-bit-timing.c
@@ -660,12 +660,12 @@ int main(int argc, char *argv[])
 			break;
 
 		case '?':
-			print_usage(argv[0]);
+			print_usage(basename(argv[0]));
 			exit(EXIT_SUCCESS);
 			break;
 
 		default:
-			print_usage(argv[0]);
+			print_usage(basename(argv[0]));
 			exit(EXIT_FAILURE);
 			break;
 		}

From 0155472ee06c5661241d8451dea2fd566741df7f Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 21/29] jspy.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0020-jspy.c-Reformat-help-usage-output-to-be-compatible-w.patch
---
 j1939spy.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/j1939spy.c b/j1939spy.c
index 93bd40c..928af67 100644
--- a/j1939spy.c
+++ b/j1939spy.c
@@ -32,7 +32,7 @@
 static const char help_msg[] =
 	"j1939spy: An SAE J1939 spy utility" "\n"
 	"Usage: j1939spy [OPTION...] [[IFACE:][NAME|SA][,PGN]]" "\n"
-	"\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -P, --promisc		Run in promiscuous mode" "\n"
 	"			(= receive traffic not for this ECU)" "\n"

From 276688f2ad01c9cc900a164cdc29ab98dc4d66fd Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 22/29] jsr.c: Reformat help/usage output to be compatible with
 help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0021-jsr.c-Reformat-help-usage-output-to-be-compatible-wi.patch
---
 j1939sr.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/j1939sr.c b/j1939sr.c
index c657778..8c63f34 100644
--- a/j1939sr.c
+++ b/j1939sr.c
@@ -33,7 +33,7 @@
 static const char help_msg[] =
 	"j1939sr: An SAE J1939 send/recv utility" "\n"
 	"Usage: j1939sr [OPTION...] SOURCE [DEST]" "\n"
-	"\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -p, --priority=VAL	J1939 priority (0..7, default 6)" "\n"
 	"  -S, --serialize	Strictly serialize outgoing packets" "\n"

From 8e6c11128d8f7db1b9bd15cd726d348a3804365e Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 23/29] log2asc.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0022-log2asc.c-Reformat-help-usage-output-to-be-compatibl.patch
---
 log2asc.c | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/log2asc.c b/log2asc.c
index ffa0baf..de32659 100644
--- a/log2asc.c
+++ b/log2asc.c
@@ -60,11 +60,13 @@ extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
-	fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
-	fprintf(stderr, "Options: -I <infile>  (default stdin)\n");
-	fprintf(stderr, "         -O <outfile> (default stdout)\n");
-	fprintf(stderr, "         -4 (reduce decimal place to 4 digits)\n");
-	fprintf(stderr, "         -n (set newline to cr/lf - default lf)\n");
+	fprintf(stderr, "%s - convert compact CAN frame logfile to ASC logfile.\n", prg);
+	fprintf(stderr, "Usage: %s <options> [can-interfaces]\n", prg);
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -I <infile>   (default stdin)\n");
+	fprintf(stderr, "         -O <outfile>  (default stdout)\n");
+	fprintf(stderr, "         -4  (reduce decimal place to 4 digits)\n");
+	fprintf(stderr, "         -n  (set newline to cr/lf - default lf)\n");
 }
 
 int main(int argc, char **argv)

From 09f6dc6d1771dbce90d759e8979c5279a20543ca Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 24/29] slcan_attach.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0023-slcan_attach.c-Reformat-help-usage-output-to-be-comp.patch
---
 slcan_attach.c | 29 +++++++++++++++--------------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/slcan_attach.c b/slcan_attach.c
index 7027666..6fa9269 100644
--- a/slcan_attach.c
+++ b/slcan_attach.c
@@ -57,22 +57,23 @@
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - userspace tool for serial line CAN interface driver SLCAN.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] tty\n\n", prg);
-	fprintf(stderr, "Options: -o         (send open command 'O\\r')\n");
-	fprintf(stderr, "         -l         (send listen only command 'L\\r', overrides -o)\n");
-	fprintf(stderr, "         -c         (send close command 'C\\r')\n");
-	fprintf(stderr, "         -f         (read status flags with 'F\\r' to reset error states)\n");
-	fprintf(stderr, "         -s <speed> (set CAN speed 0..8)\n");
-	fprintf(stderr, "         -b <btr>   (set bit time register value)\n");
-	fprintf(stderr, "         -d         (only detach line discipline)\n");
-	fprintf(stderr, "         -w         (attach - wait for keypess - detach)\n");
-	fprintf(stderr, "         -n <name>  (assign created netdevice name)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -o          (send open command 'O\\r')\n");
+	fprintf(stderr, "         -l          (send listen only command 'L\\r', overrides -o)\n");
+	fprintf(stderr, "         -c          (send close command 'C\\r')\n");
+	fprintf(stderr, "         -f          (read status flags with 'F\\r' to reset error states)\n");
+	fprintf(stderr, "         -s <speed>  (set CAN speed 0..8)\n");
+	fprintf(stderr, "         -b <btr>    (set bit time register value)\n");
+	fprintf(stderr, "         -d          (only detach line discipline)\n");
+	fprintf(stderr, "         -w          (attach - wait for keypess - detach)\n");
+	fprintf(stderr, "         -n <name>   (assign created netdevice name)\n");
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "slcan_attach -w -o -f -s6 -c /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach -d /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach -w -n can15 /dev/ttyS1\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "slcan_attach -w -o -f -s6 -c /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach -d /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach -w -n can15 /dev/ttyS1\n\n");
 	exit(1);
 }
 

From 9e491bc5530c1798c05b8baeb3fab13e703dac05 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 19:03:05 +0300
Subject: [PATCH 25/29] slcand.c: Reformat help/usage output to be compatible
 with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0024-slcand.c-Reformat-help-usage-output-to-be-compatible.patch
---
 slcand.c | 29 +++++++++++++++--------------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/slcand.c b/slcand.c
index 220048a..72e7ed4 100644
--- a/slcand.c
+++ b/slcand.c
@@ -72,22 +72,23 @@ static syslog_t syslogger = syslog;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - userspace daemon for serial line CAN interface driver SLCAN.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <tty> [canif-name]\n\n", prg);
-	fprintf(stderr, "Options: -o         (send open command 'O\\r')\n");
-	fprintf(stderr, "         -c         (send close command 'C\\r')\n");
-	fprintf(stderr, "         -f         (read status flags with 'F\\r' to reset error states)\n");
-	fprintf(stderr, "         -l         (send listen only command 'L\\r', overrides -o)\n");
-	fprintf(stderr, "         -s <speed> (set CAN speed 0..8)\n");
-	fprintf(stderr, "         -S <speed> (set UART speed in baud)\n");
-	fprintf(stderr, "         -t <type>  (set UART flow control type 'hw' or 'sw')\n");
-	fprintf(stderr, "         -b <btr>   (set bit time register value)\n");
-	fprintf(stderr, "         -F         (stay in foreground; no daemonize)\n");
-	fprintf(stderr, "         -h         (show this help page)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -o          (send open command 'O\\r')\n");
+	fprintf(stderr, "         -c          (send close command 'C\\r')\n");
+	fprintf(stderr, "         -f          (read status flags with 'F\\r' to reset error states)\n");
+	fprintf(stderr, "         -l          (send listen only command 'L\\r', overrides -o)\n");
+	fprintf(stderr, "         -s <speed>  (set CAN speed 0..8)\n");
+	fprintf(stderr, "         -S <speed>  (set UART speed in baud)\n");
+	fprintf(stderr, "         -t <type>   (set UART flow control type 'hw' or 'sw')\n");
+	fprintf(stderr, "         -b <btr>    (set bit time register value)\n");
+	fprintf(stderr, "         -F          (stay in foreground; no daemonize)\n");
+	fprintf(stderr, "         -h          (show this help page)\n");
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0\n");
-	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0 can0\n");
-	fprintf(stderr, "slcand -o -c -f -s6 /dev/ttyUSB0\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0\n\n");
+	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0 can0\n\n");
+	fprintf(stderr, "slcand -o -c -f -s6 /dev/ttyUSB0\n\n");
 	exit(EXIT_FAILURE);
 }
 

From d39cb046d18d9c919bc249d5d38bec3b40ce2931 Mon Sep 17 00:00:00 2001
From: Alexander Gerasiov <gq@debian.org>
Date: Sun, 11 Feb 2018 22:09:36 +0300
Subject: [PATCH 26/29] testj1939.c: Reformat help/usage output to be
 compatible with help2man.

Signed-off-by: Alexander Gerasiov <gq@debian.org>

Gbp-Pq: Name 0025-testj1939.c-Reformat-help-usage-output-to-be-compati.patch
---
 testj1939.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/testj1939.c b/testj1939.c
index c8fff13..a5c8ed1 100644
--- a/testj1939.c
+++ b/testj1939.c
@@ -29,7 +29,7 @@
 
 static const char help_msg[] =
 	"testj1939: demonstrate j1939 use\n"
-	"Usage: testj1939 FROM TO\n"
+	"Usage: testj1939 [OPTIONS] FROM TO\n"
 	" FROM / TO	- or [IFACE][:[SA][,[PGN][,NAME]]]\n"
 	"Options:\n"
 	" -v		Print relevant API calls\n"
@@ -46,7 +46,7 @@ static const char help_msg[] =
 	" -n		Emit 64bit NAMEs in output\n"
 	" -w[TIME]	Return after TIME (default 1) seconds\n"
 	"\n"
-	"Example:\n"
+	"Examples:\n"
 	"testj1939 can1 20\n"
 	"\n"
 	;

From d89b38de8a79ec9a0216ecd85081da307fabcf39 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 27/29] jcat.c: Reformat help/usage output to be compatible
 with help2man.

Gbp-Pq: Name 0028-jcat.c-Reformat-help-usage-output-to-be-compatible-w.patch
---
 j1939cat.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/j1939cat.c b/j1939cat.c
index ee75c64..8493830 100644
--- a/j1939cat.c
+++ b/j1939cat.c
@@ -67,8 +67,8 @@ struct j1939cat_priv {
 };
 
 static const char help_msg[] =
-	"j1939cat: netcat tool for j1939\n"
-	"Usage: j1939cat FROM TO\n"
+	"j1939cat: netcat-like tool for j1939\n"
+	"Usage: j1939cat [options] FROM TO\n"
 	" FROM / TO	- or [IFACE][:[SA][,[PGN][,NAME]]]\n"
 	"Options:\n"
 	" -i <infile>	(default stdin)\n"

From f638cdc79bfd1fcb4b62ad93d84ea65eeb0a3836 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 13:46:56 +0300
Subject: [PATCH 28/29] slcanpty.c: Reformat help/usage output to be compatible
 with help2man.

Gbp-Pq: Name 0029-slcanpty.c-Reformat-help-usage-output-to-be-compatib.patch
---
 slcanpty.c | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/slcanpty.c b/slcanpty.c
index fd11cc8..c062e70 100644
--- a/slcanpty.c
+++ b/slcanpty.c
@@ -430,14 +430,15 @@ int main(int argc, char **argv)
 	if (argc != 3) {
 		fprintf(stderr, "\n");
 		fprintf(stderr, "%s creates a pty for applications using"
-			" the slcan ASCII protocol and\n", argv[0]);
+			" the slcan ASCII protocol and\n", basename(argv[0]));
 		fprintf(stderr, "converts the ASCII data to a CAN network"
 			" interface (and vice versa)\n\n");
-		fprintf(stderr, "Usage: %s <pty> <can interface>\n", argv[0]);
-		fprintf(stderr, "e.g. '%s /dev/ptyc0 can0' creates"
-			" /dev/ttyc0 for the slcan application\n", argv[0]);
+		fprintf(stderr, "Usage: %s <pty> <can interface>\n", basename(argv[0]));
+		fprintf(stderr, "Examples:\n");
+		fprintf(stderr, "%s /dev/ptyc0 can0  - creates /dev/ttyc0 for the slcan application\n\n",
+			basename(argv[0]));
 		fprintf(stderr, "e.g. for pseudo-terminal '%s %s can0' creates"
-			" /dev/pts/N\n", argv[0], DEVICE_NAME_PTMX);
+			" /dev/pts/N\n", basename(argv[0]), DEVICE_NAME_PTMX);
 		fprintf(stderr, "\n");
 		return 1;
 	}

From b43d1b4d274b4f2dd9355f9880ef9a028fca4b82 Mon Sep 17 00:00:00 2001
From: Alexander GQ Gerasiov <gq@cs.msu.su>
Date: Sat, 11 Apr 2020 14:19:51 +0300
Subject: [PATCH 29/29] cansend.c: Reformat help/usage output to be compatible
 with help2man.

Gbp-Pq: Name 0010-cansend.c-Reformat-help-usage-output-to-be-compatibl.patch
---
 cansend.c | 41 ++++++++++++++++++++++++++---------------
 1 file changed, 26 insertions(+), 15 deletions(-)

diff --git a/cansend.c b/cansend.c
index 8db9fd2..283c6bd 100644
--- a/cansend.c
+++ b/cansend.c
@@ -56,6 +56,29 @@
 
 #include "lib.h"
 
+void print_usage(char *prg)
+{
+	fprintf(stderr, "Usage: %s - simple command line tool to send CAN-frames via CAN_RAW sockets.\n", prg);
+	fprintf(stderr, "Usage: %s <device> <can_frame>.\n", prg);
+	fprintf(stderr, "<can_frame>:\n");
+	fprintf(stderr, " <can_id>#{data}          for 'classic' CAN 2.0 data frames\n");
+	fprintf(stderr, " <can_id>#R{len}          for 'classic' CAN 2.0 data frames\n");
+	fprintf(stderr, " <can_id>##<flags>{data}  for CAN FD frames\n\n");
+	fprintf(stderr, "<can_id>:\n"
+	        " 3 (SFF) or 8 (EFF) hex chars\n");
+	fprintf(stderr, "{data}:\n"
+	        " 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')\n");
+	fprintf(stderr, "{len}:\n"
+		 " an optional 0..8 value as RTR frames can contain a valid dlc field\n");
+	fprintf(stderr, "<flags>:\n"
+	        " a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n\n");
+	fprintf(stderr, "Examples:\n");
+	fprintf(stderr, "  5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n"
+		 "  1F334455#1122334455667788 / 123#R / 00000123#R3\n\n");
+}
+
+
+
 int main(int argc, char **argv)
 {
 	int s; /* can raw socket */ 
@@ -68,27 +91,15 @@ int main(int argc, char **argv)
 
 	/* check command line options */
 	if (argc != 3) {
-		fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
+		print_usage(argv[0]);
 		return 1;
 	}
 
 	/* parse CAN frame */
 	required_mtu = parse_canframe(argv[2], &frame);
 	if (!required_mtu){
-		fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
-		fprintf(stderr, "    <can_id>#{data}            for 'classic' CAN 2.0 data frames\n");
-		fprintf(stderr, "    <can_id>#R{len}            for 'classic' CAN 2.0 RTR frames\n");
-		fprintf(stderr, "    <can_id>##<flags>{data}    for CAN FD frames\n\n");
-		fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
-		fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
-		fprintf(stderr, " separated by '.')\n");
-		fprintf(stderr, "{len} is an optional 0..8 value as RTR frames can contain a");
-		fprintf(stderr, " valid dlc field\n");
-		fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
-		fprintf(stderr, " canfd_frame.flags\n\n");
-		fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
-		fprintf(stderr, "123##1 / 213##311223344\n     1F334455#1122334455667788 / ");
-		fprintf(stderr, "123#R / 00000123#R3\n\n");
+		fprintf(stderr, "\nWrong CAN-frame format!\n\n");
+		print_usage(argv[0]);
 		return 1;
 	}