Merge 0cfff2e5da into ed7822c9a2

The extra message infos BRS and ESI have been printed when enabled with
the '-x' option. Since CAN XL has similar flags (SEC and RRS) those flags
have been wrongly printed as CAN FD flags.

This patch introduces separate flags for the CAN XL frames and prints them
when a CAN XL frame is processed.

Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>

candump.c

@@ -113,7 +113,8 @@ static const int canfx_on = 1;
 
 #define MAXANI 4
 static const char anichar[MAXANI] = { '|', '/', '-', '\\' };
-static const char extra_m_info[4][4] = { "- -", "B -", "- E", "B E" };
+static const char extra_fd_info[4][4] = { "- -", "B -", "- E", "B E" };
+static const char extra_xl_info[4][4] = { "- -", "S -", "- R", "S R" };
 
 extern int optind, opterr, optopt;
 
@@ -128,6 +129,7 @@ static void print_usage(void)
 	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, "         -N          (log nanosecond timestamps instead of microseconds)\n");
 	fprintf(stderr, "         -c          (increment color mode level)\n");
 	fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 	fprintf(stderr, "         -a          (enable additional ASCII output)\n");
@@ -142,7 +144,7 @@ static void print_usage(void)
 	fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
 	fprintf(stderr, "         -e          (dump CAN error frames in human-readable format)\n");
 	fprintf(stderr, "         -8          (display raw DLC values in {} for Classical CAN)\n");
-	fprintf(stderr, "         -x          (print extra message infos, rx/tx brs esi)\n");
+	fprintf(stderr, "         -x          (print extra message infos, rx/tx [brs esi|sec rrs])\n");
 	fprintf(stderr, "         -T <msecs>  (terminate after <msecs> if no frames were received)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
@@ -220,16 +222,22 @@ static int idx2dindex(int ifidx, int socket)
 	return i;
 }
 
-static int sprint_timestamp(char *ts_buffer, const char timestamp,
-			    const struct timeval *tv, struct timeval *const last_tv)
+static int sprint_timestamp(char *ts_buffer, const char timestamp, const char use_ns,
+			    const struct timespec *ts, struct timespec *const last_ts)
 {
 	int numchars = 0;
 
 	switch (timestamp) {
 	case 'a': /* absolute with timestamp */
-		numchars = sprintf(ts_buffer, "(%010llu.%06llu) ",
-				   (unsigned long long)tv->tv_sec,
-				   (unsigned long long)tv->tv_usec);
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%010llu.%09llu) ",
+					   (unsigned long long)ts->tv_sec,
+					   (unsigned long long)ts->tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%010llu.%06llu) ",
+					   (unsigned long long)ts->tv_sec,
+					   (unsigned long long)ts->tv_nsec / 1000);
+		}
 		break;
 
 	case 'A': /* absolute with date */
@@ -237,32 +245,43 @@ static int sprint_timestamp(char *ts_buffer, const char timestamp,
 		struct tm tm;
 		char timestring[25];
 
-		tm = *localtime(&tv->tv_sec);
+		tm = *localtime(&ts->tv_sec);
 		strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
-		numchars = sprintf(ts_buffer, "(%s.%06llu) ", timestring,
-				   (unsigned long long)tv->tv_usec);
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%s.%09llu) ", timestring,
+					   (unsigned long long)ts->tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%s.%06llu) ", timestring,
+					   (unsigned long long)ts->tv_nsec / 1000);
+		}
 	}
 	break;
 
 	case 'd': /* delta */
 	case 'z': /* starting with zero */
 	{
-		struct timeval diff;
+		struct timespec 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 (last_ts->tv_sec == 0) /* first init */
+			*last_ts = *ts;
+		diff.tv_sec = ts->tv_sec - last_ts->tv_sec;
+		diff.tv_nsec = ts->tv_nsec - last_ts->tv_nsec;
+		if (diff.tv_nsec < 0)
+			diff.tv_sec--, diff.tv_nsec += 1000000000;
 		if (diff.tv_sec < 0)
-			diff.tv_sec = diff.tv_usec = 0;
-		numchars = sprintf(ts_buffer, "(%03llu.%06llu) ",
-				   (unsigned long long)diff.tv_sec,
-				   (unsigned long long)diff.tv_usec);
+			diff.tv_sec = diff.tv_nsec = 0;
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%03llu.%09llu) ",
+					   (unsigned long long)diff.tv_sec,
+					   (unsigned long long)diff.tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%03llu.%06llu) ",
+					   (unsigned long long)diff.tv_sec,
+					   (unsigned long long)diff.tv_nsec / 1000);
+		}
 
 		if (timestamp == 'd')
-			*last_tv = *tv; /* update for delta calculation */
+			*last_ts = *ts; /* update for delta calculation */
 	}
 	break;
 
@@ -288,6 +307,7 @@ int main(int argc, char **argv)
 	unsigned char timestamp = 0;
 	unsigned char logtimestamp = 'a';
 	unsigned char hwtimestamp = 0;
+	unsigned char use_ns = 0;
 	unsigned char down_causes_exit = 1;
 	unsigned char dropmonitor = 0;
 	unsigned char extra_msg_info = 0;
@@ -322,7 +342,7 @@ int main(int argc, char **argv)
 	static cu_t cu; /* union for CAN CC/FD/XL frames */
 	int nbytes, i;
 	struct ifreq ifr;
-	struct timeval tv, last_tv;
+	struct timespec ts, last_ts;
 	int timeout_ms = -1; /* default to no timeout */
 	FILE *logfile = NULL;
 	char fname[83]; /* suggested by -Wformat-overflow= */
@@ -334,12 +354,12 @@ int main(int argc, char **argv)
 	signal(SIGHUP, sigterm);
 	signal(SIGINT, sigterm);
 
-	last_tv.tv_sec = 0;
-	last_tv.tv_usec = 0;
+	last_ts.tv_sec = 0;
+	last_ts.tv_nsec = 0;
 
 	progname = basename(argv[0]);
 
-	while ((opt = getopt(argc, argv, "t:HciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
+	while ((opt = getopt(argc, argv, "t:HNciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
 		switch (opt) {
 		case 't':
 			timestamp = optarg[0];
@@ -359,6 +379,10 @@ int main(int argc, char **argv)
 			hwtimestamp = 1;
 			break;
 
+		case 'N':
+			use_ns = 1;
+			break;
+
 		case 'c':
 			color++;
 			break;
@@ -784,7 +808,11 @@ int main(int argc, char **argv)
 			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 			     cmsg = CMSG_NXTHDR(&msg,cmsg)) {
 				if (cmsg->cmsg_type == SO_TIMESTAMP) {
+					struct timeval tv;
 					memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv));
+					ts.tv_sec = tv.tv_sec;
+					ts.tv_nsec = tv.tv_usec;
+					ts.tv_nsec *= 1000;
 				} else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
 					struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
 
@@ -795,8 +823,7 @@ int main(int argc, char **argv)
 					 * See chapter 2.1.2 Receive timestamps in
 					 * linux/Documentation/networking/timestamping.txt
 					 */
-					tv.tv_sec = stamp[2].tv_sec;
-					tv.tv_usec = stamp[2].tv_nsec / 1000;
+					ts = stamp[2];
 				} else if (cmsg->cmsg_type == SO_RXQ_OVFL) {
 					memcpy(&obj->dropcnt, CMSG_DATA(cmsg), sizeof(__u32));
 				}
@@ -831,11 +858,9 @@ int main(int argc, char **argv)
 			/* build common log format output */
 			if ((log) || ((logfrmt) && (silent == SILENT_OFF))) {
 
-				alen = sprint_timestamp(afrbuf, logtimestamp,
-							  &tv, &last_tv);
+				alen = sprint_timestamp(afrbuf, logtimestamp, use_ns, &ts, &last_ts);
 
-				alen += sprintf(afrbuf + alen, "%*s ",
-						  max_devname_len, devname[idx]);
+				alen += sprintf(afrbuf + alen, "%*s ", max_devname_len, devname[idx]);
 
 				alen += snprintf_canframe(afrbuf + alen, sizeof(afrbuf) - alen, &cu, 0);
 			}
@@ -861,18 +886,23 @@ int main(int argc, char **argv)
 
 			/* print (colored) long CAN frame style to stdout */
 			alen = sprintf(afrbuf, " %s", (color > 2) ? col_on[idx % MAXCOL] : "");
-			alen += sprint_timestamp(afrbuf + alen, timestamp, &tv, &last_tv);
+			alen += sprint_timestamp(afrbuf + alen, timestamp, use_ns, &ts, &last_ts);
 			alen += sprintf(afrbuf + alen, " %s%*s",
 					  (color && (color < 3)) ? col_on[idx % MAXCOL] : "",
 					  max_devname_len, devname[idx]);
 
 			if (extra_msg_info) {
 				if (msg.msg_flags & MSG_DONTROUTE)
-					alen += sprintf(afrbuf + alen, "  TX %s",
-							  extra_m_info[cu.fd.flags & 3]);
+					alen += sprintf(afrbuf + alen, "  TX");
 				else
-					alen += sprintf(afrbuf + alen, "  RX %s",
-							  extra_m_info[cu.fd.flags & 3]);
+					alen += sprintf(afrbuf + alen, "  RX");
+
+				if (cu.xl.flags & CANXL_XLF)
+					alen += sprintf(afrbuf + alen, " %s",
+							extra_xl_info[cu.xl.flags & 3]);
+				else
+					alen += sprintf(afrbuf + alen, " %s",
+							extra_fd_info[cu.fd.flags & 3]);
 			}
 
 			alen += sprintf(afrbuf + alen, "%s  ", (color == 1) ? col_off : "");

canplayer.c

@@ -68,7 +68,7 @@
 #endif
 
 #define DEVSZ 22 /* IFNAMSZ + 6 */
-#define TIMESZ sizeof("(1345212884.318850)   ")
+#define TIMESZ sizeof("(1345212884.318850123)   ")
 #define BUFSZ (TIMESZ + DEVSZ + AFRSZ)
 
 /* adapt sscanf() functions below on error */
@@ -452,14 +452,20 @@ int main(int argc, char **argv)
 			return 1;
 		}
 		log_tv.tv_sec = sec;
-		log_tv.tv_usec = usec;
 
 		/*
-		 * ensure the fractions of seconds are 6 decimal places long to catch
+		 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
 		 * 3rd party or handcrafted logfiles that treat the timestamp as float
 		 */
-		if (strchr(buf, ')') - strchr(buf, '.') != 7) {
-			fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
+		switch (strchr(buf, ')') - strchr(buf, '.')) {
+		case 7: //6
+			log_tv.tv_usec = usec;
+			break;
+		case 10: //9
+			log_tv.tv_usec = usec / 1000;
+			break;
+		default:
+			fprintf(stderr, "timestamp format in logfile requires 6 or 9 decimal places\n");
 			return 1;
 		}
 
@@ -541,19 +547,25 @@ int main(int argc, char **argv)
 					break;
 				}
 
-				if (sscanf(buf, "(%llu.%llu) %s %s", &sec, &usec, device, afrbuf) != 4) {
+				if (sscanf(buf, "(%llu.%llu) %21s %6299s", &sec, &usec, device, afrbuf) != 4) {
 					fprintf(stderr, "incorrect line format in logfile\n");
 					return 1;
 				}
 				log_tv.tv_sec = sec;
-				log_tv.tv_usec = usec;
 
 				/*
-				 * ensure the fractions of seconds are 6 decimal places long to catch
+				 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
 				 * 3rd party or handcrafted logfiles that treat the timestamp as float
 				 */
-				if (strchr(buf, ')') - strchr(buf, '.') != 7) {
-					fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
+				switch (strchr(buf, ')') - strchr(buf, '.')) {
+				case 7: //6
+					log_tv.tv_usec = usec;
+					break;
+				case 10: //9
+					log_tv.tv_usec = usec / 1000;
+					break;
+				default:
+					fprintf(stderr, "timestamp format in logfile requires 6 or 9 decimal places\n");
 					return 1;
 				}
 

cansend.c

@@ -80,7 +80,10 @@ static void print_usage(char *prg)
 		"_{dlc}:\n"
 		" an optional 9..F data length code value when payload length is 8\n"
 		"<flags>:\n"
-		" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n"
+		" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags:\n"
+		" %x CANFD_BRS\n"
+		" %x CANFD_ESI\n"
+		" %x CANFD_FDF\n"
 		"\n"
 		"<vcid>:\n"
 		" 2 hex chars - virtual CAN network identifier (00 .. FF)\n"
@@ -100,7 +103,8 @@ static void print_usage(char *prg)
 		"  1F334455#1122334455667788_B / 123#R / 00000123#R3 / 333#R8_E /\n"
 		"  45123#81:00:12345678#11223344.556677 / 00242#81:07:40000123#112233\n"
 		"\n",
-		prg, prg);
+		prg, prg,
+		CANFD_BRS, CANFD_ESI, CANFD_FDF);
 }
 
 int main(int argc, char **argv)

isotpsniffer.c

@@ -59,6 +59,7 @@
 #include <linux/can.h>
 #include <linux/can/isotp.h>
 #include <linux/sockios.h>
+#include <errno.h>
 
 #define NO_CAN_ID 0xFFFFFFFFU
 
@@ -66,6 +67,8 @@
 #define FORMAT_ASCII 2
 #define FORMAT_DEFAULT (FORMAT_ASCII | FORMAT_HEX)
 
+#define PDU_BUF_SIZE 4096
+
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
@@ -79,6 +82,7 @@ void print_usage(char *prg)
 	fprintf(stderr, "         -f <format>  (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
 	fprintf(stderr, "         -L           (set link layer options for CAN FD)\n");
 	fprintf(stderr, "         -h <len>     (head: print only first <len> bytes)\n");
+	fprintf(stderr, "         -i           (ignore syscall errors to receive malformed PDUs)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
 }
@@ -189,15 +193,16 @@ int main(int argc, char **argv)
 	int head = 0;
 	int timestamp = 0;
 	int format = FORMAT_DEFAULT;
+	int ignore_errors = 0;
 	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];
+	unsigned char buffer[PDU_BUF_SIZE];
 	int nbytes;
 
-	while ((opt = getopt(argc, argv, "s:d:x:X:h:ct:f:L?")) != -1) {
+	while ((opt = getopt(argc, argv, "s:d:x:X:h:ct:f:L?i")) != -1) {
 		switch (opt) {
 		case 's':
 			src = strtoul(optarg, NULL, 16);
@@ -249,6 +254,10 @@ int main(int argc, char **argv)
 			}
 			break;
 
+		case 'i':
+			ignore_errors = 1;
+			break;
+
 		case '?':
 			print_usage(basename(argv[0]));
 			goto out;
@@ -367,33 +376,39 @@ int main(int argc, char **argv)
 		}
 
 		if (FD_ISSET(s, &rdfs)) {
-			nbytes = read(s, buffer, 4096);
+			nbytes = read(s, buffer, PDU_BUF_SIZE);
 			if (nbytes < 0) {
 				perror("read socket s");
 				r = 1;
-				goto out;
+				if(!ignore_errors)
+					goto out;
 			}
-			if (nbytes > 4095) {
+			if (nbytes > (PDU_BUF_SIZE - 1)) {
 				r = 1;
+				fprintf(stderr, "PDU length %d longer than PDU buffer: %s\n", nbytes, strerror(errno));
 				goto out;
 			}
-			printbuf(buffer, nbytes, color?2:0, timestamp, format,
-				 &tv, &last_tv, dst, s, if_name, head);
+			if(nbytes > 0)
+				printbuf(buffer, nbytes, color?2:0, timestamp, format,
+					 &tv, &last_tv, dst, s, if_name, head);
 		}
 
 		if (FD_ISSET(t, &rdfs)) {
-			nbytes = read(t, buffer, 4096);
+			nbytes = read(t, buffer, PDU_BUF_SIZE);
 			if (nbytes < 0) {
 				perror("read socket t");
 				r = 1;
-				goto out;
+				if(!ignore_errors)
+					goto out;
 			}
-			if (nbytes > 4095) {
+			if (nbytes > (PDU_BUF_SIZE - 1)) {
 				r = 1;
+				fprintf(stderr, "PDU length %d longer than PDU buffer: %s\n", nbytes, strerror(errno));
 				goto out;
 			}
-			printbuf(buffer, nbytes, color?1:0, timestamp, format,
-				 &tv, &last_tv, src, t, if_name, head);
+			if(nbytes > 0)
+				printbuf(buffer, nbytes, color?1:0, timestamp, format,
+					 &tv, &last_tv, src, t, if_name, head);
 		}
 	}
 

lib.h

@@ -49,6 +49,8 @@
 #include <stddef.h>
 #include <stdio.h>
 
+#include <linux/can.h>
+
 #ifdef DEBUG
 #define pr_debug(fmt, args...) printf(fmt, ##args)
 #else

log2asc.c

@@ -296,7 +296,7 @@ static void canxl_asc(cu_t *cu, int devno, int mtu,
 
 #define DEVSZ 22
 #define EXTRASZ 20
-#define TIMESZ sizeof("(1345212884.318850)   ")
+#define TIMESZ sizeof("(1345212884.318850123)   ")
 #define BUFSZ (DEVSZ + AFRSZ + EXTRASZ + TIMESZ)
 
 /* adapt sscanf() functions below on error */
@@ -407,7 +407,22 @@ int main(int argc, char **argv)
 			}
 		}
 		tv.tv_sec = sec;
-		tv.tv_usec = usec;
+
+		/*
+		 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
+		 * 3rd party or handcrafted logfiles that treat the timestamp as float
+		 */
+		switch (strchr(buf, ')') - strchr(buf, '.')) {
+		case 7: //6
+			tv.tv_usec = usec;
+			break;
+		case 10: //9
+			tv.tv_usec = usec / 1000;
+			break;
+		default:
+			fprintf(stderr, "timestamp format in logfile requires 6 or 9 decimal places\n");
+			return 1;
+		}
 
 		if (print_banner) { /* print banner */
 			print_banner = 0;

log2long.c

@@ -51,7 +51,7 @@
 #include "lib.h"
 
 #define DEVSZ 22
-#define TIMESZ 22 /* sizeof("(1345212884.318850)   ") */
+#define TIMESZ 25 /* sizeof("(1345212884.318850123)   ") */
 #define BUFSZ (DEVSZ + AFRSZ + TIMESZ)
 
 /* adapt sscanf() functions below on error */
@@ -61,7 +61,7 @@
 #if (DEVSZ != 22)
 #error "DEVSZ value does not fit sscanf restrictions!"
 #endif
-#if (TIMESZ != 22)
+#if (TIMESZ != 25)
 #error "TIMESZ value does not fit sscanf restrictions!"
 #endif
 
@@ -78,7 +78,7 @@ int main(void)
 			return 1;
 		}
 
-		if (sscanf(buf, "%21s %21s %6299s", timestamp, device, afrbuf) != 3)
+		if (sscanf(buf, "%24s %21s %6299s", timestamp, device, afrbuf) != 3)
 			return 1;
 
 		mtu = parse_canframe(afrbuf, &cu);