lib: parse_canframe: guard delimiter reads with length checks

As Alex J pointed out in comment
https://github.com/linux-can/can-utils/issues/632#issuecomment-5746692502
the delimiters to detect CAN CC/FD/XL frames were read from the input
data without checking the length of that input data. This could lead
to an out-of-bounds read and to unintended detection of incorrect content.

Add a length check before reading those delimiters and also add/change
some comments to clarify the reasons for some assignments.

Reported-by: Alex J <jipaionut@gmail.com>
Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>

.github/workflows/compile.yml

@@ -75,7 +75,6 @@ jobs:
                 gcc \
                 gcc-aarch64-linux-gnu \
                 gcc-arm-linux-gnueabihf \
-                gcc-mips-linux-gnu \
                 libgps-dev \
                 make
 
@@ -139,13 +138,6 @@ jobs:
         podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
         podman exec -i stable cmake --build build-${toolchain}
 
-    - name: Configure & Build with mips-linux-gnu-gcc
-      env:
-        toolchain: mips-linux-gnu-gcc
-      run: |
-        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
-        podman exec -i stable cmake --build build-${toolchain}
-
     - name: Configure & Build with gcc (Makefile)
       env:
         cc: gcc

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.5...3.10)
 
 project(can-utils LANGUAGES C)
 

asc2log.c

@@ -84,7 +84,7 @@ static void print_usage(char *prg)
 }
 
 static void prframe(FILE *file, struct timeval *tv, int dev,
-		    cu_t *cf, char dir)
+		    union cfu *cf, char dir)
 {
 	static char abuf[BUFLEN];
 
@@ -177,7 +177,7 @@ static void eval_can(char* buf, struct timeval *date_tvp, char timestamps,
 			cf.len = CAN_ERR_DLC;
 
 			calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-			prframe(outfile, &tv, interface, (cu_t *)&cf, NO_DIR);
+			prframe(outfile, &tv, interface, (union cfu *)&cf, NO_DIR);
 			fflush(outfile);
 			return;
 		}
@@ -249,7 +249,7 @@ static void eval_can(char* buf, struct timeval *date_tvp, char timestamps,
 				cf.data[i] = data[i] & 0xFFU;
 
 		calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-		prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+		prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 		fflush(outfile);
 	}
 }
@@ -374,7 +374,7 @@ static void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps,
 	}
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 
 	/* No support for really strange CANFD ErrorFrames format m( */
@@ -487,7 +487,7 @@ static void eval_canxl_cc(char* buf, struct timeval *date_tvp, char timestamps,
 		cf.len8_dlc = dlc;
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 }
 
@@ -584,7 +584,7 @@ static void eval_canxl_fd(char* buf, struct timeval *date_tvp, char timestamps,
 		return;
 
 	if (!(flags & ASC_F_FDF))
-	    return;
+		return;
 
 	cf.flags = CANFD_FDF;
 
@@ -594,7 +594,7 @@ static void eval_canxl_fd(char* buf, struct timeval *date_tvp, char timestamps,
 		cf.flags |= CANFD_ESI;
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 }
 
@@ -723,7 +723,7 @@ static void eval_canxl_xl(char* buf, struct timeval *date_tvp, char timestamps,
 		cf.flags |= CANXL_RRS;
 
 	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
-	prframe(outfile, &tv, interface, (cu_t *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (union cfu *)&cf, dir[0]);
 	fflush(outfile);
 
 	/* No support for CAN XL ErrorFrames */

bcmserver.c

@@ -153,7 +153,7 @@ int main(void)
 
 	char buf[MAXLEN];
 	char format[FORMATSZ];
-	char rxmsg[50];
+	char rxmsg[64];
 
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpragmas"
@@ -234,7 +234,7 @@ int main(void)
 	}
 
 	while (1) {
-
+again:
 		FD_ZERO(&readfds);
 		FD_SET(sc, &readfds);
 		FD_SET(sa, &readfds);
@@ -242,6 +242,8 @@ int main(void)
 		select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
 
 		if (FD_ISSET(sc, &readfds)) {
+			size_t size = sizeof(rxmsg);
+			int len = 0, res;
 
 			recvfrom(sc, &msg, sizeof(msg), 0,
 				 (struct sockaddr*)&caddr, &caddrlen);
@@ -249,17 +251,35 @@ int main(void)
 			ifr.ifr_ifindex = caddr.can_ifindex;
 			ioctl(sc, SIOCGIFNAME, &ifr);
 
-			sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
-				msg.msg_head.can_id, msg.frame.can_dlc);
+			res = snprintf(rxmsg, size, "< %s %03X %d ", ifr.ifr_name,
+				       msg.msg_head.can_id, msg.frame.can_dlc);
+			if (res < 0 || (size_t)res >= size) {
+				printf("Error: rxmsg buffer (size %zu) too small for data.\n", size);
+				continue;
+			}
 
-			for ( i = 0; i < msg.frame.can_dlc; i++)
-				sprintf(rxmsg + strlen(rxmsg), "%02X ",
-					msg.frame.data[i]);
+			len += res;
+
+			for (i = 0; i < msg.frame.can_dlc; i++) {
+				res = snprintf(rxmsg + len, size - len, "%02X ", msg.frame.data[i]);
+				if (res < 0 || (size_t)res >= (size - len)) {
+					printf("Error: rxmsg buffer (size %zu) too small for data.\n", size);
+					goto again;
+				}
+
+				len += res;
+			}
 
 			/* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
-			strcat(rxmsg, ">\0");
+			res = snprintf(rxmsg + len, size - len, ">");
+			if (res < 0 || (size_t)res >= (size - len)) {
+				printf("Error: rxmsg buffer (size %zu) too small for data.\n", size);
+				continue;
+			}
 
-			send(sa, rxmsg, strlen(rxmsg) + 1, 0);
+			len += res;
+
+			send(sa, rxmsg, len + 1, 0);
 		}
 
 

candump.c

@@ -72,6 +72,9 @@
 #ifndef SO_TIMESTAMPING
 #define SO_TIMESTAMPING 37
 #endif
+#ifndef SCM_TIMESTAMPING
+#define SCM_TIMESTAMPING SO_TIMESTAMPING
+#endif
 
 #define TIMESTAMPSZ 50 /* string 'absolute with date' requires max 49 bytes */
 
@@ -113,7 +116,8 @@ 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 +132,7 @@ 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 +147,7 @@ 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 +225,22 @@ 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 +248,43 @@ 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 +310,7 @@ 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;
@@ -319,10 +342,10 @@ int main(int argc, char **argv)
 	struct cmsghdr *cmsg;
 	struct can_filter *rfilter;
 	can_err_mask_t err_mask;
-	static cu_t cu; /* union for CAN CC/FD/XL frames */
+	static union cfu 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 +357,12 @@ 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 +382,10 @@ int main(int argc, char **argv)
 			hwtimestamp = 1;
 			break;
 
+		case 'N':
+			use_ns = 1;
+			break;
+
 		case 'c':
 			color++;
 			break;
@@ -688,12 +715,12 @@ int main(int argc, char **argv)
 			localtime_r(&currtime, &now);
 
 			snprintf(fname, sizeof(fname), "candump-%04d-%02d-%02d_%02d%02d%02d.log",
-				now.tm_year + 1900,
-				now.tm_mon + 1,
-				now.tm_mday,
-				now.tm_hour,
-				now.tm_min,
-				now.tm_sec);
+				 now.tm_year + 1900,
+				 now.tm_mon + 1,
+				 now.tm_mday,
+				 now.tm_hour,
+				 now.tm_min,
+				 now.tm_sec);
 
 			logname = fname;
 		}
@@ -783,9 +810,13 @@ int main(int argc, char **argv)
 			for (cmsg = CMSG_FIRSTHDR(&msg);
 			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 			     cmsg = CMSG_NXTHDR(&msg,cmsg)) {
-				if (cmsg->cmsg_type == SO_TIMESTAMP) {
+				if (cmsg->cmsg_type == SCM_TIMESTAMP) {
+					struct timeval tv;
 					memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv));
-				} else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
+					ts.tv_sec = tv.tv_sec;
+					ts.tv_nsec = tv.tv_usec;
+					ts.tv_nsec *= 1000;
+				} else if (cmsg->cmsg_type == SCM_TIMESTAMPING) {
 					struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
 
 					/*
@@ -795,8 +826,7 @@ 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 +861,9 @@ 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 +889,23 @@ 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]);
+					(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 : "");

canerrsim.c

@@ -25,6 +25,7 @@
 #include <linux/can/error.h>
 #include <linux/can/raw.h>
 #include <net/if.h>
+#include <stdarg.h>
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdio.h>
@@ -122,27 +123,25 @@ void show_help_and_exit()
 	exit(EXIT_SUCCESS);
 }
 
-void err_exit(const char *msg)
+void __attribute__((format (printf, 1, 2))) err_exit(const char *format, ...)
 {
-	printf("%s", msg);
-	exit(EXIT_FAILURE);
-}
+	va_list ap;
 
-void show_custom_format_and_exit(const char *param, const char *format)
-{
-	char str_buf[80];
-	sprintf(str_buf, format, param);
-	err_exit(str_buf);
+	va_start(ap, format);
+	vfprintf(stdout, format, ap);
+	va_end(ap);
+
+	exit(EXIT_FAILURE);
 }
 
 void show_invalid_option(const char *option)
 {
-	show_custom_format_and_exit(option, "Error: Invalid option %s\n");
+	err_exit("Error: Invalid option %s\n", option);
 }
 
 void show_err_and_exit(const char *err_type)
 {
-	show_custom_format_and_exit(err_type, "Error: You can only have one %s parameter!\n");
+	err_exit("Error: You can only have one %s parameter!\n", err_type);
 }
 
 void show_loc_err_and_exit()
@@ -176,7 +175,6 @@ int main(int argc, char *argv[])
 	struct ifreq ifr;
 	struct can_frame frame;
 	bool show_bits = false, location_processed = false, transceiver_processed = false, arbitration_processed = false;
-	char tmp_str[256];
 
 	printf("CAN Sockets Error Messages Simulator\n");
 	if (argc < 3)
@@ -537,24 +535,25 @@ int main(int argc, char *argv[])
 
 	// create socket
 	if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
-		err_exit("Error while opening socket");
+		err_exit("Error while opening socket\n");
 
 	// set interface name
+	if (strlen(argv[1]) >= IFNAMSIZ)
+		err_exit("Name of CAN device '%s' is too long!\n\n", argv[1]);
+
 	strcpy(ifr.ifr_name, argv[1]); // can0, vcan0...
-	if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0) {
-		sprintf(tmp_str, "Error setting CAN interface name %s", argv[1]);
-		err_exit(tmp_str);
-	}
+	if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0)
+		err_exit("Error setting CAN interface name %s\n", argv[1]);
 
 	// bind socket to the CAN interface
 	addr.can_family = AF_CAN;
 	addr.can_ifindex = ifr.ifr_ifindex;
 	if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0)
-		err_exit("Error in socket bind");
+		err_exit("Error in socket bind\n");
 
 	// Send CAN error frame
 	if (write(sock, &frame, sizeof(frame)) < 0)
-		err_exit("Error writing to socket");
+		err_exit("Error writing to socket\n");
 	else
 		printf("CAN error frame sent\n");
 

cangen.c

@@ -180,7 +180,7 @@ static void print_usage(char *prg)
 	fprintf(stderr, "         -X            (generate CAN XL CAN frames)\n");
 	fprintf(stderr, "         -R            (generate RTR frames)\n");
 	fprintf(stderr, "         -8            (allow DLC values greater then 8 for Classic CAN frames)\n");
-	fprintf(stderr, "         -m            (mix -e -f -b -E -R -X frames)\n");
+	fprintf(stderr, "         -m            (mix CC [-e -R] FD [-f -b -E] XL [-X] on capable devices)\n");
 	fprintf(stderr, "         -I <mode>     (CAN ID generation mode - see below)\n");
 	fprintf(stderr, "         -L <mode>     (CAN data length code (dlc) generation mode - see below)\n");
 	fprintf(stderr, "         -D <mode>     (CAN data (payload) generation mode - see below)\n");
@@ -299,7 +299,7 @@ static int setsockopt_txtime(int fd)
 	return 0;
 }
 
-static int do_send_one(int fd, cu_t *cu, size_t len, int timeout)
+static int do_send_one(int fd, union cfu *cu, size_t len, int timeout)
 {
 	uint8_t control[CMSG_SPACE(sizeof(uint64_t))] = { 0 };
 	struct iovec iov = {
@@ -339,10 +339,9 @@ resend:
 	nbytes = sendmsg(fd, &msg, 0);
 	if (nbytes < 0) {
 		ret = -errno;
-		if (ret != -ENOBUFS) {
-			perror("write");
+		if (ret != -ENOBUFS)
 			return ret;
-		}
+
 		if (!ignore_enobufs && !timeout) {
 			perror("write");
 			return ret;
@@ -455,6 +454,9 @@ int main(int argc, char **argv)
 	unsigned char extended = 0;
 	unsigned char canfd = 0;
 	unsigned char canxl = 0;
+	unsigned char mixcc = 1; /* mix default */
+	unsigned char mixfd = 1; /* mix default */
+	unsigned char mixxl = 1; /* mix default */
 	unsigned char brs = 0;
 	unsigned char esi = 0;
 	unsigned char mix = 0;
@@ -492,7 +494,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static cu_t cu;
+	static union cfu cu;
 	int i;
 	struct ifreq ifr = { 0 };
 	const int enable_canfx = 1;
@@ -574,7 +576,6 @@ int main(int argc, char **argv)
 
 		case 'm':
 			mix = 1;
-			canfd = 1; /* to switch the socket into CAN FD mode */
 			view |= CANLIB_VIEW_INDENT_SFF;
 			break;
 
@@ -777,14 +778,58 @@ int main(int argc, char **argv)
 			   &loopback, sizeof(loopback));
 	}
 
-	if (canfd || canxl) {
+	/* get CAN netdevice MTU for frame type capabilities */
+	if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+		perror("SIOCGIFMTU");
+		return 1;
+	}
 
-		/* check if the frame fits into the CAN netdevice */
-		if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
-			perror("SIOCGIFMTU");
+	/* check CAN XL support */
+	if (ifr.ifr_mtu < (int)CANXL_MIN_MTU) {
+		mixxl = 0;
+		if (canxl) {
+			printf("CAN interface not CAN XL capable - sorry.\n");
 			return 1;
 		}
+	}
 
+	/* check CAN FD support */
+	if (ifr.ifr_mtu < (int)CANFD_MTU) {
+		mixfd = 0;
+		if (canfd) {
+			printf("CAN interface not CAN FD capable - sorry.\n");
+			return 1;
+		}
+	}
+
+	/* enable CAN FD on the socket */
+	if (mixfd) {
+		/* interface is ok - try to switch the socket into CAN FD mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+			       &enable_canfx, sizeof(enable_canfx))){
+			printf("error when enabling CAN FD support\n");
+			return 1;
+		}
+	}
+
+	/* enable CAN XL on the socket */
+	if (mixxl) {
+		/* interface is ok - try to switch the socket into CAN XL mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
+			       &enable_canfx, sizeof(enable_canfx))){
+			printf("error when enabling CAN XL support\n");
+			return 1;
+		}
+		/* try to enable the CAN XL VCID pass through mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
+			       &vcid_opts, sizeof(vcid_opts))) {
+			printf("error when enabling CAN XL VCID pass through\n");
+			return 1;
+		}
+	}
+
+	/* sanitize given values */
+	if (canfd || canxl) {
 		if (canfd) {
 			/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
 			cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
@@ -793,41 +838,6 @@ int main(int argc, char **argv)
 			if (cu.fd.len > CANFD_MAX_DLEN)
 				cu.fd.len = CANFD_MAX_DLEN;
 		}
-
-		if (canxl && (ifr.ifr_mtu < (int)CANXL_MIN_MTU)) {
-			printf("CAN interface not CAN XL capable - sorry.\n");
-			return 1;
-		}
-
-		if (canfd && (ifr.ifr_mtu < (int)CANFD_MTU)) {
-			printf("CAN interface not CAN FD capable - sorry.\n");
-			return 1;
-		}
-
-		if (ifr.ifr_mtu == (int)CANFD_MTU) {
-			/* interface is ok - try to switch the socket into CAN FD mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
-				       &enable_canfx, sizeof(enable_canfx))){
-				printf("error when enabling CAN FD support\n");
-				return 1;
-			}
-		}
-
-		if (ifr.ifr_mtu >= (int)CANXL_MIN_MTU) {
-			/* interface is ok - try to switch the socket into CAN XL mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
-				       &enable_canfx, sizeof(enable_canfx))){
-				printf("error when enabling CAN XL support\n");
-				return 1;
-			}
-			/* try to enable the CAN XL VCID pass through mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
-				       &vcid_opts, sizeof(vcid_opts))) {
-				printf("error when enabling CAN XL VCID pass through\n");
-				return 1;
-			}
-		}
-
 	} else {
 		/* sanitize Classical CAN 2.0 frame length */
 		if (len8_dlc) {
@@ -1040,8 +1050,31 @@ int main(int argc, char **argv)
 		}
 
 		ret = do_send_one(s, &cu, mtu, polltimeout);
-		if (ret)
+		if ((ret == -EINVAL) && mix) {
+			/* mix mode: disable unsupported CAN frame type */
+			switch (mtu) {
+			case CAN_MTU:
+				mixcc = 0;
+				break;
+			case CANFD_MTU:
+				mixfd = 0;
+				break;
+			case CANXL_MTU:
+				mixxl = 0;
+				break;
+			default:
+				printf ("mix mode: unknown MTU");
+				return 1;
+			}
+			if (!mixcc && !mixfd && !mixxl) {
+				printf ("mix mode: no valid CAN frame types\n");
+				return 1;
+			}
+		} else if (ret) {
+			/* other error than -ENOBUFS and -EINVAL */
+			perror("write");
 			return 1;
+		}
 
 		if (burst_sent_count >= burst_count)
 			burst_sent_count = 0;
@@ -1082,18 +1115,41 @@ int main(int argc, char **argv)
 		}
 
 		if (mix) {
+			canfd = 0;
+			canxl = 0;
 			i = random();
 			extended = i & 1;
-			canfd = i & 2;
-			if (canfd) {
-				brs = i & 4;
-				esi = i & 8;
+			if (mixfd) {
+				canfd = i & 2;
+				if (canfd) {
+					brs = i & 4;
+					esi = i & 8;
+				}
+			}
+			if (mixxl) {
+				if (mixfd)
+					canxl = ((i & 96) == 96); /* 1/4 */
+				else
+					canxl = ((i & 32) == 32); /* 1/2 */
+			}
+			if (mixcc) {
+				rtr_frame = ((i & 24) == 24); /* reduce RTR to 1/4 */
+			} else {
+				/* no CC frames allowed - CAN XL-only mode? */
+				if (!canxl && !canfd) {
+					/* force XL or FD frames */
+					if (mixxl)
+						canxl = 1;
+					else if (mixfd) {
+						canfd = 1;
+						brs = i & 4;
+						esi = i & 8;
+					} else {
+						printf ("mix mode: no valid CAN frame types\n");
+						return 1;
+					}
+				}
 			}
-			/* generate CAN XL traffic if the interface is capable */
-			if (ifr.ifr_mtu >= (int)CANXL_MIN_MTU)
-				canxl = ((i & 96) == 96);
-
-			rtr_frame = ((i & 24) == 24); /* reduce RTR frames to 1/4 */
 		}
 	}
 

canlogserver.c

@@ -177,7 +177,8 @@ int main(int argc, char **argv)
 	sigset_t sigset;
 	fd_set rdfs;
 	int s[MAXDEV];
-	int socki, accsocket;
+	int socki;
+	int accsocket = -1;
 	canid_t mask[MAXDEV] = {0};
 	canid_t value[MAXDEV] = {0};
 	int inv_filter[MAXDEV] = {0};
@@ -191,7 +192,7 @@ int main(int argc, char **argv)
 		.rx_vcid_mask = 0,
 	};
 	struct can_filter rfilter;
-	static cu_t cu; /* union for CAN CC/FD/XL frames */
+	static union cfu cu; /* union for CAN CC/FD/XL frames */
 	const int canfx_on = 1;
 	int nbytes, i, j;
 	struct ifreq ifr;
@@ -286,7 +287,7 @@ int main(int argc, char **argv)
 	inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
 	inaddr.sin_port = htons(port);
 
-	while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
+	while(running && bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
 		struct timespec f = {
 			.tv_nsec = 100 * 1000 * 1000,
 		};
@@ -295,18 +296,28 @@ int main(int argc, char **argv)
 		nanosleep(&f, NULL);
 	}
 
+	/*
+	 * Check if loop exited due to signal (during nanosleep) rather than
+	 * successful bind.
+	 */
+	if (!running) {
+		close(socki);
+		return 128 + signal_num;
+	}
+
 	if (listen(socki, 3) != 0) {
 		perror("listen");
 		exit(1);
 	}
 
-	while(1) {
+	while(running) {
 		accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
 		if (accsocket > 0) {
 			//printf("accepted\n");
 			if (!fork())
 				break;
 			close(accsocket);
+			accsocket = -1;
 		}
 		else if (errno != EINTR) {
 			perror("accept");
@@ -314,11 +325,22 @@ int main(int argc, char **argv)
 		}
 	}
 
+	/*
+	 * Check if loop exited due to signal (accept returned EINTR) rather
+	 * than successful fork
+	 */
+	if (!running) {
+		if (accsocket > 0)
+			close(accsocket);
+		close(socki);
+		return 128 + signal_num;
+	}
+
 	for (i=0; i<currmax; i++) {
 
 		pr_debug("open %d '%s' m%08X v%08X i%d e%d.\n",
-		      i, argv[optind+i], mask[i], value[i],
-		      inv_filter[i], err_mask[i]);
+			 i, argv[optind+i], mask[i], value[i],
+			 inv_filter[i], err_mask[i]);
 
 		if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
 			perror("socket");

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 */
@@ -261,7 +261,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static cu_t cu;
+	static union cfu cu;
 	static struct timeval today_tv, log_tv, last_log_tv, diff_tv;
 	struct timespec sleep_ts;
 	int s; /* CAN_RAW socket */
@@ -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)
@@ -113,7 +117,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static cu_t cu;
+	static union cfu cu;
 	struct ifreq ifr;
 
 	/* check command line options */

cansniffer.c

@@ -161,15 +161,15 @@ void switchvdl(char *delim)
 
 int comp(const void *elem1, const void *elem2)
 {
-    unsigned long f = ((struct snif*)elem1)->current.can_id;
-    unsigned long s = ((struct snif*)elem2)->current.can_id;
+	unsigned long f = ((struct snif*)elem1)->current.can_id;
+	unsigned long s = ((struct snif*)elem2)->current.can_id;
 
-    if (f > s)
-	    return  1;
-    if (f < s)
-	    return -1;
+	if (f > s)
+		return  1;
+	if (f < s)
+		return -1;
 
-    return 0;
+	return 0;
 }
 
 void print_usage(char *prg)
@@ -741,10 +741,10 @@ int handle_timeo(long currcms)
 							do_clr(i, UPDATE);
 						}
 						else  if ((sniftab[i].hold) && (sniftab[i].hold < currcms)) {
-								memset(&sniftab[i].marker.data, 0, max_dlen);
-								print_snifline(i);
-								sniftab[i].hold = 0; /* disable update by hold */
-							}
+							memset(&sniftab[i].marker.data, 0, max_dlen);
+							print_snifline(i);
+							sniftab[i].hold = 0; /* disable update by hold */
+						}
 						else
 							printf("%s", CSR_DOWN); /* skip my line */
 

isotpdump.c

@@ -426,112 +426,112 @@ int main(int argc, char **argv)
 			}
 		}
 
-			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 (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]);
+		if (ext)
+			printf("{%02X}", frame.data[0]);
 
-			if (nbytes == CAN_MTU)
-				printf("  [%d]  ", frame.len);
-			else
-				printf(" [%02d]  ", frame.len);
+		if (nbytes == CAN_MTU)
+			printf("  [%d]  ", frame.len);
+		else
+			printf(" [%02d]  ", frame.len);
 
-			datidx = 0;
-			n_pci = frame.data[ext];
+		datidx = 0;
+		n_pci = frame.data[ext];
 
-			switch (n_pci & 0xF0) {
-			case 0x00:
-			        is_ff = 1;
-				if (n_pci & 0xF) {
-					printf("[SF] ln: %-4d data:", n_pci & 0xF);
-					datidx = ext+1;
-				} else {
-					printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
-					datidx = ext+2;
-				}
-				break;
-
-			case 0x10:
-			        is_ff = 1;
-				fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
-				if (fflen)
-					datidx = ext+2;
-				else {
-					fflen = (frame.data[ext+2]<<24) +
-						(frame.data[ext+3]<<16) +
-						(frame.data[ext+4]<<8) +
-						frame.data[ext+5];
-					datidx = ext+6;
-				}
-				printf("[FF] ln: %-4lu data:", fflen);
-				break;
-
-			case 0x20:
-				printf("[CF] sn: %X    data:", n_pci & 0x0F);
+		switch (n_pci & 0xF0) {
+		case 0x00:
+			is_ff = 1;
+			if (n_pci & 0xF) {
+				printf("[SF] ln: %-4d data:", n_pci & 0xF);
 				datidx = ext+1;
-				break;
+			} else {
+				printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
+				datidx = ext+2;
+			}
+			break;
 
-			case 0x30:
-				n_pci &= 0x0F;
-				printf("[FC] FC: %d ", n_pci);
+		case 0x10:
+			is_ff = 1;
+			fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
+			if (fflen)
+				datidx = ext+2;
+			else {
+				fflen = (frame.data[ext+2]<<24) +
+					(frame.data[ext+3]<<16) +
+					(frame.data[ext+4]<<8) +
+					frame.data[ext+5];
+				datidx = ext+6;
+			}
+			printf("[FF] ln: %-4lu data:", fflen);
+			break;
 
-				if (n_pci > 3)
-					n_pci = 3;
+		case 0x20:
+			printf("[CF] sn: %X    data:", n_pci & 0x0F);
+			datidx = ext+1;
+			break;
 
-				printf("= %s # ", fc_info[n_pci]);
+		case 0x30:
+			n_pci &= 0x0F;
+			printf("[FC] FC: %d ", n_pci);
 
-				printf("BS: %d %s# ", frame.data[ext+1],
-				       (frame.data[ext+1])? "":"= off ");
+			if (n_pci > 3)
+				n_pci = 3;
 
-				i = frame.data[ext+2];
-				printf("STmin: 0x%02X = ", i);
+			printf("= %s # ", fc_info[n_pci]);
 
-				if (i < 0x80)
-					printf("%d ms", i);
-				else if (i > 0xF0 && i < 0xFA)
-					printf("%d us", (i & 0x0F) * 100);
-				else
-					printf("reserved");
-				break;
+			printf("BS: %d %s# ", frame.data[ext+1],
+			       (frame.data[ext+1])? "":"= off ");
 
-			default:
-				printf("[??]");
+			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.len > datidx) {
+			printf(" ");
+			for (i = datidx; i < frame.len; i++) {
+				printf("%02X ", frame.data[i]);
 			}
 
-			if (datidx && frame.len > datidx) {
-				printf(" ");
+			if (asc) {
+				printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
+				       "-  '");
 				for (i = datidx; i < frame.len; i++) {
-					printf("%02X ", frame.data[i]);
-				}
-
-				if (asc) {
-					printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
-					       "-  '");
-					for (i = datidx; i < frame.len; i++) {
-						printf("%c",((frame.data[i] > 0x1F) &&
-							     (frame.data[i] < 0x7F))?
-						       frame.data[i] : '.');
-					}
-					printf("'");
-				}
-				if (uds_output && is_ff) {
-					int offset = 3;
-					if (asc)
-						offset = 1;
-					printf("%*s", ((7-ext) - (frame.len-datidx))*offset + 3,
-					       " - ");
-					print_uds_message(frame.data[datidx], frame.data[datidx+2]);
-					is_ff = 0;
+					printf("%c",((frame.data[i] > 0x1F) &&
+						     (frame.data[i] < 0x7F))?
+					       frame.data[i] : '.');
 				}
+				printf("'");
 			}
+			if (uds_output && is_ff) {
+				int offset = 3;
+				if (asc)
+					offset = 1;
+				printf("%*s", ((7-ext) - (frame.len-datidx))*offset + 3,
+				       " - ");
+				print_uds_message(frame.data[datidx], frame.data[datidx+2]);
+				is_ff = 0;
+			}
+		}
 
-			if (color)
-				printf("%s", ATTRESET);
-			printf("\n");
-			fflush(stdout);
+		if (color)
+			printf("%s", ATTRESET);
+		printf("\n");
+		fflush(stdout);
 	}
 
 	close(s);

isotpperf.c

@@ -243,177 +243,177 @@ int main(int argc, char **argv)
 				continue;
 		}
 
+		/* check extended address if provided */
+		if (ext && extaddr != frame.data[0])
+			continue;
+
+		/* only get flow control information from dst CAN ID */
+		if (frame.can_id == dst) {
 			/* check extended address if provided */
-			if (ext && extaddr != frame.data[0])
+			if (rx_ext && frame.data[0] != rx_extaddr)
 				continue;
 
-			/* only get flow control information from dst CAN ID */
-			if (frame.can_id == dst) {
-				/* check extended address if provided */
-				if (rx_ext && frame.data[0] != rx_extaddr)
-					continue;
+			n_pci = frame.data[rx_ext];
+			/* check flow control PCI only */
+			if ((n_pci & 0xF0) != 0x30)
+				continue;
 
-				n_pci = frame.data[rx_ext];
-				/* check flow control PCI only */
-				if ((n_pci & 0xF0) != 0x30)
-					continue;
+			bs = frame.data[rx_ext + 1];
+			stmin = frame.data[rx_ext + 2];
+		}
 
-				bs = frame.data[rx_ext + 1];
-				stmin = frame.data[rx_ext + 2];
+		/* data content starts and index datidx */
+		datidx = 0;
+
+		n_pci = frame.data[ext];
+		switch (n_pci & 0xF0) {
+
+		case 0x00:
+			/* SF */
+			if (n_pci & 0xF) {
+				fflen = rcvlen = n_pci & 0xF;
+				datidx = ext+1;
+			} else {
+				fflen = rcvlen = frame.data[ext + 1];
+				datidx = ext+2;
 			}
 
-			/* data content starts and index datidx */
-			datidx = 0;
-
-			n_pci = frame.data[ext];
-			switch (n_pci & 0xF0) {
-
-			case 0x00:
-				/* SF */
-				if (n_pci & 0xF) {
-					fflen = rcvlen = n_pci & 0xF;
-					datidx = ext+1;
-				} else {
-					fflen = rcvlen = frame.data[ext + 1];
-					datidx = ext+2;
-				}
-
-				/* ignore incorrect SF PDUs */
-				if (frame.len < rcvlen + datidx)
-					fflen = rcvlen = 0;
-
-				/* get number of digits for printing */
-				fflen_digits = getdigits(fflen);
-
-				/* get CAN FD bitrate & LL_DL setting information */
-				brs = frame.flags & CANFD_BRS;
-				ll_dl = frame.len;
-				if (ll_dl < 8)
-					ll_dl = 8;
-
-				ioctl(s, SIOCGSTAMP, &start_tv);
-
-				/* determine CAN frame mode for this PDU */
-				if (nbytes == CAN_MTU)
-					canfd_on = 0;
-				else
-					canfd_on = 1;
-
-				break;
-
-			case 0x10:
-				/* FF */
-				fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
-				if (fflen)
-					datidx = ext+2;
-				else {
-					fflen = (frame.data[ext+2]<<24) +
-						(frame.data[ext+3]<<16) +
-						(frame.data[ext+4]<<8) +
-						frame.data[ext+5];
-					datidx = ext+6;
-				}
-
-				/* to increase the time resolution we multiply fflen with 1000 later */
-				if (fflen >= (UINT32_MAX / 1000)) {
-					printf("fflen %lu is more than ~4.2 MB - ignoring PDU\n", fflen);
-					fflush(stdout);
-					fflen = rcvlen = 0;
-					continue;
-				}
-				rcvlen = frame.len - datidx;
-				last_sn = 0;
-
-				/* get number of digits for printing */
-				fflen_digits = getdigits(fflen);
-
-				/* get CAN FD bitrate & LL_DL setting information */
-				brs = frame.flags & CANFD_BRS;
-				ll_dl = frame.len;
-
-				ioctl(s, SIOCGSTAMP, &start_tv);
-
-				/* determine CAN frame mode for this PDU */
-				if (nbytes == CAN_MTU)
-					canfd_on = 0;
-				else
-					canfd_on = 1;
-
-				break;
-
-			case 0x20:
-				/* CF */
-				if (rcvlen) {
-					sn = n_pci & 0x0F;
-					if (sn == ((last_sn + 1) & 0xF)) {
-						last_sn = sn;
-						datidx = ext+1;
-						rcvlen += frame.len - datidx;
-					}
-				}
-				break;
-
-			default:
-				break;
-			}
-
-			/* PDU reception in process */
-			if (rcvlen) {
-				if (rcvlen > fflen)
-					rcvlen = fflen;
-
-				percent = (rcvlen * 100 / fflen);
-				printf("\r %3lu%% ", percent);
-
-				printf("|");
-
-				if (percent > 100)
-					percent = 100;
-
-				for (i=0; i < NUMBAR; i++){
-					if (i < (int)(percent/PERCENTRES))
-						printf("X");
-					else
-						printf(".");
-				}
-				printf("| %*lu/%lu ", fflen_digits, rcvlen, fflen);
-			}
-
-			/* PDU complete */
-			if (rcvlen && rcvlen >= fflen) {
-
-				printf("\r%s %02d%c (BS:%2hhu # ", canfd_on?"CAN-FD":"CAN2.0", ll_dl, brs?'*':' ', bs);
-				if (stmin < 0x80)
-					printf("STmin:%3hhu msec)", stmin);
-				else if (stmin > 0xF0 && stmin < 0xFA)
-					printf("STmin:%3u usec)", (stmin & 0xF) * 100);
-				else
-					printf("STmin: invalid   )");
-
-				printf(" : %lu byte in ", fflen);
-
-				/* calculate time */
-				ioctl(s, SIOCGSTAMP, &end_tv);
-				diff_tv.tv_sec  = end_tv.tv_sec  - start_tv.tv_sec;
-				diff_tv.tv_usec = end_tv.tv_usec - start_tv.tv_usec;
-				if (diff_tv.tv_usec < 0)
-					diff_tv.tv_sec--, diff_tv.tv_usec += 1000000;
-				if (diff_tv.tv_sec < 0)
-					diff_tv.tv_sec = diff_tv.tv_usec = 0;
-
-				/* check devisor to be not zero */
-				if (diff_tv.tv_sec * 1000 + diff_tv.tv_usec / 1000){
-					printf("%llu.%06llus ", (unsigned long long)diff_tv.tv_sec, (unsigned long long)diff_tv.tv_usec);
-					printf("=> %lu byte/s", (fflen * 1000) /
-					       (unsigned long)(diff_tv.tv_sec * 1000 + diff_tv.tv_usec / 1000));
-				} else
-					printf("(no time available)     ");
-
-				printf("\n");
-				/* wait for next PDU */
+			/* ignore incorrect SF PDUs */
+			if (frame.len < rcvlen + datidx)
 				fflen = rcvlen = 0;
+
+			/* get number of digits for printing */
+			fflen_digits = getdigits(fflen);
+
+			/* get CAN FD bitrate & LL_DL setting information */
+			brs = frame.flags & CANFD_BRS;
+			ll_dl = frame.len;
+			if (ll_dl < 8)
+				ll_dl = 8;
+
+			ioctl(s, SIOCGSTAMP, &start_tv);
+
+			/* determine CAN frame mode for this PDU */
+			if (nbytes == CAN_MTU)
+				canfd_on = 0;
+			else
+				canfd_on = 1;
+
+			break;
+
+		case 0x10:
+			/* FF */
+			fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
+			if (fflen)
+				datidx = ext+2;
+			else {
+				fflen = (frame.data[ext+2]<<24) +
+					(frame.data[ext+3]<<16) +
+					(frame.data[ext+4]<<8) +
+					frame.data[ext+5];
+				datidx = ext+6;
 			}
-			fflush(stdout);
+
+			/* to increase the time resolution we multiply fflen with 1000 later */
+			if (fflen >= (UINT32_MAX / 1000)) {
+				printf("fflen %lu is more than ~4.2 MB - ignoring PDU\n", fflen);
+				fflush(stdout);
+				fflen = rcvlen = 0;
+				continue;
+			}
+			rcvlen = frame.len - datidx;
+			last_sn = 0;
+
+			/* get number of digits for printing */
+			fflen_digits = getdigits(fflen);
+
+			/* get CAN FD bitrate & LL_DL setting information */
+			brs = frame.flags & CANFD_BRS;
+			ll_dl = frame.len;
+
+			ioctl(s, SIOCGSTAMP, &start_tv);
+
+			/* determine CAN frame mode for this PDU */
+			if (nbytes == CAN_MTU)
+				canfd_on = 0;
+			else
+				canfd_on = 1;
+
+			break;
+
+		case 0x20:
+			/* CF */
+			if (rcvlen) {
+				sn = n_pci & 0x0F;
+				if (sn == ((last_sn + 1) & 0xF)) {
+					last_sn = sn;
+					datidx = ext+1;
+					rcvlen += frame.len - datidx;
+				}
+			}
+			break;
+
+		default:
+			break;
+		}
+
+		/* PDU reception in process */
+		if (rcvlen) {
+			if (rcvlen > fflen)
+				rcvlen = fflen;
+
+			percent = (rcvlen * 100 / fflen);
+			printf("\r %3lu%% ", percent);
+
+			printf("|");
+
+			if (percent > 100)
+				percent = 100;
+
+			for (i=0; i < NUMBAR; i++){
+				if (i < (int)(percent/PERCENTRES))
+					printf("X");
+				else
+					printf(".");
+			}
+			printf("| %*lu/%lu ", fflen_digits, rcvlen, fflen);
+		}
+
+		/* PDU complete */
+		if (rcvlen && rcvlen >= fflen) {
+
+			printf("\r%s %02d%c (BS:%2hhu # ", canfd_on?"CAN-FD":"CAN2.0", ll_dl, brs?'*':' ', bs);
+			if (stmin < 0x80)
+				printf("STmin:%3hhu msec)", stmin);
+			else if (stmin > 0xF0 && stmin < 0xFA)
+				printf("STmin:%3u usec)", (stmin & 0xF) * 100);
+			else
+				printf("STmin: invalid   )");
+
+			printf(" : %lu byte in ", fflen);
+
+			/* calculate time */
+			ioctl(s, SIOCGSTAMP, &end_tv);
+			diff_tv.tv_sec  = end_tv.tv_sec  - start_tv.tv_sec;
+			diff_tv.tv_usec = end_tv.tv_usec - start_tv.tv_usec;
+			if (diff_tv.tv_usec < 0)
+				diff_tv.tv_sec--, diff_tv.tv_usec += 1000000;
+			if (diff_tv.tv_sec < 0)
+				diff_tv.tv_sec = diff_tv.tv_usec = 0;
+
+			/* check devisor to be not zero */
+			if (diff_tv.tv_sec * 1000 + diff_tv.tv_usec / 1000){
+				printf("%llu.%06llus ", (unsigned long long)diff_tv.tv_sec, (unsigned long long)diff_tv.tv_usec);
+				printf("=> %lu byte/s", (fflen * 1000) /
+				       (unsigned long)(diff_tv.tv_sec * 1000 + diff_tv.tv_usec / 1000));
+			} else
+				printf("(no time available)     ");
+
+			printf("\n");
+			/* wait for next PDU */
+			fflen = rcvlen = 0;
+		}
+		fflush(stdout);
 	}
 
 	close(s);

isotprecv.c

@@ -82,183 +82,183 @@ void print_usage(char *prg)
 
 int main(int argc, char **argv)
 {
-    int s;
-    struct sockaddr_can addr;
-    static struct can_isotp_options opts;
-    static struct can_isotp_fc_options fcopts;
-    static struct can_isotp_ll_options llopts;
-    int opt, i;
-    extern int optind, opterr, optopt;
-    __u32 force_rx_stmin = 0;
-    int loop = 0;
+	int s;
+	struct sockaddr_can addr;
+	static struct can_isotp_options opts;
+	static struct can_isotp_fc_options fcopts;
+	static struct can_isotp_ll_options llopts;
+	int opt, i;
+	extern int optind, opterr, optopt;
+	__u32 force_rx_stmin = 0;
+	int loop = 0;
 
-    unsigned char msg[BUFSIZE];
-    int nbytes;
+	unsigned char msg[BUFSIZE];
+	int nbytes;
 
-    addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
+	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:f:lFL:?")) != -1) {
-	    switch (opt) {
-	    case 's':
-		    addr.can_addr.tp.tx_id = strtoul(optarg, NULL, 16);
-		    if (strlen(optarg) > 7)
-			    addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
-		    break;
+	while ((opt = getopt(argc, argv, "s:d:x:p:P:b:m:w:f:lFL:?")) != -1) {
+		switch (opt) {
+		case 's':
+			addr.can_addr.tp.tx_id = strtoul(optarg, 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, NULL, 16);
-		    if (strlen(optarg) > 7)
-			    addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
-		    break;
+		case 'd':
+			addr.can_addr.tp.rx_id = strtoul(optarg, NULL, 16);
+			if (strlen(optarg) > 7)
+				addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
+			break;
 
-	    case 'x':
-	    {
-		    int elements = sscanf(optarg, "%hhx:%hhx",
-					  &opts.ext_address,
-					  &opts.rx_ext_address);
+		case 'x':
+		{
+			int elements = sscanf(optarg, "%hhx:%hhx",
+					      &opts.ext_address,
+					      &opts.rx_ext_address);
 
-		    if (elements == 1)
-			    opts.flags |= CAN_ISOTP_EXTEND_ADDR;
-		    else if (elements == 2)
-			    opts.flags |= (CAN_ISOTP_EXTEND_ADDR | CAN_ISOTP_RX_EXT_ADDR);
-		    else {
-			    printf("incorrect extended addr values '%s'.\n", optarg);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    break;
-	    }
+			if (elements == 1)
+				opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+			else if (elements == 2)
+				opts.flags |= (CAN_ISOTP_EXTEND_ADDR | CAN_ISOTP_RX_EXT_ADDR);
+			else {
+				printf("incorrect extended addr values '%s'.\n", optarg);
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			break;
+		}
 
-	    case 'p':
-	    {
-		    int elements = sscanf(optarg, "%hhx:%hhx",
-					  &opts.txpad_content,
-					  &opts.rxpad_content);
+		case 'p':
+		{
+			int elements = sscanf(optarg, "%hhx:%hhx",
+					      &opts.txpad_content,
+					      &opts.rxpad_content);
 
-		    if (elements == 1)
-			    opts.flags |= CAN_ISOTP_TX_PADDING;
-		    else if (elements == 2)
-			    opts.flags |= (CAN_ISOTP_TX_PADDING | CAN_ISOTP_RX_PADDING);
-		    else if (sscanf(optarg, ":%hhx", &opts.rxpad_content) == 1)
-			    opts.flags |= CAN_ISOTP_RX_PADDING;
-		    else {
-			    printf("incorrect padding values '%s'.\n", optarg);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    break;
-	    }
+			if (elements == 1)
+				opts.flags |= CAN_ISOTP_TX_PADDING;
+			else if (elements == 2)
+				opts.flags |= (CAN_ISOTP_TX_PADDING | CAN_ISOTP_RX_PADDING);
+			else if (sscanf(optarg, ":%hhx", &opts.rxpad_content) == 1)
+				opts.flags |= CAN_ISOTP_RX_PADDING;
+			else {
+				printf("incorrect padding values '%s'.\n", optarg);
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			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_LEN | CAN_ISOTP_CHK_PAD_DATA);
-		    else {
-			    printf("unknown padding check option '%c'.\n", optarg[0]);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    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_LEN | 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, NULL, 16) & 0xFF;
-		    break;
+		case 'b':
+			fcopts.bs = strtoul(optarg, NULL, 16) & 0xFF;
+			break;
 
-	    case 'm':
-		    fcopts.stmin = strtoul(optarg, NULL, 16) & 0xFF;
-		    break;
+		case 'm':
+			fcopts.stmin = strtoul(optarg, NULL, 16) & 0xFF;
+			break;
 
-	    case 'w':
-		    fcopts.wftmax = strtoul(optarg, NULL, 16) & 0xFF;
-		    break;
+		case 'w':
+			fcopts.wftmax = strtoul(optarg, NULL, 16) & 0xFF;
+			break;
 
-	    case 'f':
-		    opts.flags |= CAN_ISOTP_FORCE_RXSTMIN;
-		    force_rx_stmin = strtoul(optarg, NULL, 10);
-		    break;
+		case 'f':
+			opts.flags |= CAN_ISOTP_FORCE_RXSTMIN;
+			force_rx_stmin = strtoul(optarg, NULL, 10);
+			break;
 
-	    case 'l':
-		    loop = 1;
-		    break;
+		case 'l':
+			loop = 1;
+			break;
 
-	    case 'F':
-		    opts.flags |= CAN_ISOTP_DYN_FC_PARMS;
-		    break;
+		case 'F':
+			opts.flags |= CAN_ISOTP_DYN_FC_PARMS;
+			break;
 
-	    case 'L':
-		    if (sscanf(optarg, "%hhu:%hhu:%hhu",
-			       &llopts.mtu,
-			       &llopts.tx_dl,
-			       &llopts.tx_flags) != 3) {
-			    printf("unknown link layer options '%s'.\n", optarg);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    break;
+		case 'L':
+			if (sscanf(optarg, "%hhu:%hhu:%hhu",
+				   &llopts.mtu,
+				   &llopts.tx_dl,
+				   &llopts.tx_flags) != 3) {
+				printf("unknown link layer options '%s'.\n", optarg);
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			break;
 
-	    case '?':
-		    print_usage(basename(argv[0]));
-		    exit(0);
-		    break;
+		case '?':
+			print_usage(basename(argv[0]));
+			exit(0);
+			break;
 
-	    default:
-		    fprintf(stderr, "Unknown option %c\n", opt);
-		    print_usage(basename(argv[0]));
-		    exit(1);
-		    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(1);
-    }
-  
-    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));
-
-    if (llopts.tx_dl) {
-	if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
-	    perror("link layer sockopt");
-	    exit(1);
+		default:
+			fprintf(stderr, "Unknown option %c\n", opt);
+			print_usage(basename(argv[0]));
+			exit(1);
+			break;
+		}
 	}
-    }
 
-    if (opts.flags & CAN_ISOTP_FORCE_RXSTMIN)
-	    setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RX_STMIN, &force_rx_stmin, sizeof(force_rx_stmin));
+	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(1);
+	}
   
-    addr.can_family = AF_CAN;
-    addr.can_ifindex = if_nametoindex(argv[optind]);
-    if (!addr.can_ifindex) {
-	perror("if_nametoindex");
-	exit(1);
-    }
+	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));
+
+	if (llopts.tx_dl) {
+		if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
+			perror("link layer sockopt");
+			exit(1);
+		}
+	}
+
+	if (opts.flags & CAN_ISOTP_FORCE_RXSTMIN)
+		setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RX_STMIN, &force_rx_stmin, sizeof(force_rx_stmin));
+
+	addr.can_family = AF_CAN;
+	addr.can_ifindex = if_nametoindex(argv[optind]);
+	if (!addr.can_ifindex) {
+		perror("if_nametoindex");
+		exit(1);
+	}
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind");
+		close(s);
+		exit(1);
+	}
+
+	do {
+		nbytes = read(s, msg, BUFSIZE);
+		if (nbytes > 0 && nbytes < BUFSIZE)
+			for (i=0; i < nbytes; i++)
+				printf("%02X ", msg[i]);
+		printf("\n");
+	} while (loop);
 
-    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
-	perror("bind");
 	close(s);
-	exit(1);
-    }
 
-    do {
-	    nbytes = read(s, msg, BUFSIZE);
-	    if (nbytes > 0 && nbytes < BUFSIZE)
-		    for (i=0; i < nbytes; i++)
-			    printf("%02X ", msg[i]);
-	    printf("\n");
-    } while (loop);
-
-    close(s);
-
-    return 0;
+	return 0;
 }

isotpsend.c

@@ -86,238 +86,238 @@ void print_usage(char *prg)
 
 int main(int argc, char **argv)
 {
-    int s;
-    struct sockaddr_can addr;
-    static struct can_isotp_options opts;
-    static struct can_isotp_ll_options llopts;
-    int opt;
-    extern int optind, opterr, optopt;
-    unsigned int loops = 1; /* one (== no) loop by default */
-    useconds_t usecs = 0; /* wait before sending the PDU */
-    __u32 force_tx_stmin = 0;
-    unsigned char buf[BUFSIZE];
-    int buflen = 0;
-    int datalen = 0;
-    int retval = 0;
+	int s;
+	struct sockaddr_can addr;
+	static struct can_isotp_options opts;
+	static struct can_isotp_ll_options llopts;
+	int opt;
+	extern int optind, opterr, optopt;
+	unsigned int loops = 1; /* one (== no) loop by default */
+	useconds_t usecs = 0; /* wait before sending the PDU */
+	__u32 force_tx_stmin = 0;
+	unsigned char buf[BUFSIZE];
+	int buflen = 0;
+	int datalen = 0;
+	int retval = 0;
 
-    addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
+	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:f:D:l:g:bSCL:?")) != -1) {
-	    switch (opt) {
-	    case 's':
-		    addr.can_addr.tp.tx_id = strtoul(optarg, NULL, 16);
-		    if (strlen(optarg) > 7)
-			    addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
-		    break;
+	while ((opt = getopt(argc, argv, "s:d:x:p:P:t:f:D:l:g:bSCL:?")) != -1) {
+		switch (opt) {
+		case 's':
+			addr.can_addr.tp.tx_id = strtoul(optarg, 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, NULL, 16);
-		    if (strlen(optarg) > 7)
-			    addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
-		    break;
+		case 'd':
+			addr.can_addr.tp.rx_id = strtoul(optarg, NULL, 16);
+			if (strlen(optarg) > 7)
+				addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
+			break;
 
-	    case 'x':
-	    {
-		    int elements = sscanf(optarg, "%hhx:%hhx",
-					  &opts.ext_address,
-					  &opts.rx_ext_address);
+		case 'x':
+		{
+			int elements = sscanf(optarg, "%hhx:%hhx",
+					      &opts.ext_address,
+					      &opts.rx_ext_address);
 
-		    if (elements == 1)
-			    opts.flags |= CAN_ISOTP_EXTEND_ADDR;
-		    else if (elements == 2)
-			    opts.flags |= (CAN_ISOTP_EXTEND_ADDR | CAN_ISOTP_RX_EXT_ADDR);
-		    else {
-			    printf("incorrect extended addr values '%s'.\n", optarg);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    break;
-	    }
+			if (elements == 1)
+				opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+			else if (elements == 2)
+				opts.flags |= (CAN_ISOTP_EXTEND_ADDR | CAN_ISOTP_RX_EXT_ADDR);
+			else {
+				printf("incorrect extended addr values '%s'.\n", optarg);
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			break;
+		}
 
-	    case 'p':
-	    {
-		    int elements = sscanf(optarg, "%hhx:%hhx",
-					  &opts.txpad_content,
-					  &opts.rxpad_content);
+		case 'p':
+		{
+			int elements = sscanf(optarg, "%hhx:%hhx",
+					      &opts.txpad_content,
+					      &opts.rxpad_content);
 
-		    if (elements == 1)
-			    opts.flags |= CAN_ISOTP_TX_PADDING;
-		    else if (elements == 2)
-			    opts.flags |= (CAN_ISOTP_TX_PADDING | CAN_ISOTP_RX_PADDING);
-		    else if (sscanf(optarg, ":%hhx", &opts.rxpad_content) == 1)
-			    opts.flags |= CAN_ISOTP_RX_PADDING;
-		    else {
-			    printf("incorrect padding values '%s'.\n", optarg);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    break;
-	    }
+			if (elements == 1)
+				opts.flags |= CAN_ISOTP_TX_PADDING;
+			else if (elements == 2)
+				opts.flags |= (CAN_ISOTP_TX_PADDING | CAN_ISOTP_RX_PADDING);
+			else if (sscanf(optarg, ":%hhx", &opts.rxpad_content) == 1)
+				opts.flags |= CAN_ISOTP_RX_PADDING;
+			else {
+				printf("incorrect padding values '%s'.\n", optarg);
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			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_LEN | CAN_ISOTP_CHK_PAD_DATA);
-		    else {
-			    printf("unknown padding check option '%c'.\n", optarg[0]);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    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_LEN | 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':
-		    if (!strncmp(optarg, ZERO_STRING, strlen(ZERO_STRING)))
-			    opts.frame_txtime = CAN_ISOTP_FRAME_TXTIME_ZERO;
-		    else
-			    opts.frame_txtime = strtoul(optarg, NULL, 10);
-		    break;
+		case 't':
+			if (!strncmp(optarg, ZERO_STRING, strlen(ZERO_STRING)))
+				opts.frame_txtime = CAN_ISOTP_FRAME_TXTIME_ZERO;
+			else
+				opts.frame_txtime = strtoul(optarg, NULL, 10);
+			break;
 
-	    case 'f':
-		    opts.flags |= CAN_ISOTP_FORCE_TXSTMIN;
-		    force_tx_stmin = strtoul(optarg, NULL, 10);
-		    break;
+		case 'f':
+			opts.flags |= CAN_ISOTP_FORCE_TXSTMIN;
+			force_tx_stmin = strtoul(optarg, NULL, 10);
+			break;
 
-	    case 'D':
-		    datalen = strtoul(optarg, NULL, 10);
-		    if (!datalen || datalen >= BUFSIZE) {
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    break;
+		case 'D':
+			datalen = strtoul(optarg, NULL, 10);
+			if (!datalen || datalen >= BUFSIZE) {
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			break;
 
-	    case 'l':
-		    if (optarg[0] == 'i') {
-			    loops = 0; /* infinite loop */
-		    } else {
-			    loops = strtoul(optarg, NULL, 10);
-			    if (!loops) {
-				    fprintf(stderr, "Invalid argument for option -l!\n");
-				    return 1;
-			    }
-		    }
-		    break;
+		case 'l':
+			if (optarg[0] == 'i') {
+				loops = 0; /* infinite loop */
+			} else {
+				loops = strtoul(optarg, NULL, 10);
+				if (!loops) {
+					fprintf(stderr, "Invalid argument for option -l!\n");
+					return 1;
+				}
+			}
+			break;
 
-	    case 'g':
-		    usecs = strtoul(optarg, NULL, 10);
-		    break;
+		case 'g':
+			usecs = strtoul(optarg, NULL, 10);
+			break;
 
-	    case 'b':
-		    opts.flags |= CAN_ISOTP_WAIT_TX_DONE;
-		    break;
+		case 'b':
+			opts.flags |= CAN_ISOTP_WAIT_TX_DONE;
+			break;
 
-	    case 'S':
-		    opts.flags |= CAN_ISOTP_SF_BROADCAST;
-		    break;
+		case 'S':
+			opts.flags |= CAN_ISOTP_SF_BROADCAST;
+			break;
 
-	    case 'C':
-		    opts.flags |= CAN_ISOTP_CF_BROADCAST;
-		    break;
+		case 'C':
+			opts.flags |= CAN_ISOTP_CF_BROADCAST;
+			break;
 
-	    case 'L':
-		    if (sscanf(optarg, "%hhu:%hhu:%hhu",
-			       &llopts.mtu,
-			       &llopts.tx_dl,
-			       &llopts.tx_flags) != 3) {
-			    printf("unknown link layer options '%s'.\n", optarg);
-			    print_usage(basename(argv[0]));
-			    exit(0);
-		    }
-		    break;
+		case 'L':
+			if (sscanf(optarg, "%hhu:%hhu:%hhu",
+				   &llopts.mtu,
+				   &llopts.tx_dl,
+				   &llopts.tx_flags) != 3) {
+				printf("unknown link layer options '%s'.\n", optarg);
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			break;
 
-	    case '?':
-		    print_usage(basename(argv[0]));
-		    exit(0);
-		    break;
+		case '?':
+			print_usage(basename(argv[0]));
+			exit(0);
+			break;
 
-	    default:
-		    fprintf(stderr, "Unknown option %c\n", opt);
-		    print_usage(basename(argv[0]));
-		    exit(1);
-		    break;
-	    }
-    }
+		default:
+			fprintf(stderr, "Unknown option %c\n", opt);
+			print_usage(basename(argv[0]));
+			exit(1);
+			break;
+		}
+	}
 
 #define BC_FLAGS (CAN_ISOTP_SF_BROADCAST | CAN_ISOTP_CF_BROADCAST)
 
-    if ((argc - optind != 1) ||
-	(addr.can_addr.tp.tx_id == NO_CAN_ID) ||
-	((opts.flags & BC_FLAGS) == BC_FLAGS) ||
-	((addr.can_addr.tp.rx_id == NO_CAN_ID) &&
-	 (!(opts.flags & BC_FLAGS)))) {
-	    print_usage(basename(argv[0]));
-	    exit(1);
-    }
-
-    if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
-	perror("socket");
-	exit(1);
-    }
-
-    if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts)) < 0) {
-	perror("sockopt");
-	exit(1);
-    }
-
-
-    if (llopts.tx_dl) {
-	if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
-	    perror("link layer sockopt");
-	    exit(1);
+	if ((argc - optind != 1) ||
+	    (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
+	    ((opts.flags & BC_FLAGS) == BC_FLAGS) ||
+	    ((addr.can_addr.tp.rx_id == NO_CAN_ID) &&
+	     (!(opts.flags & BC_FLAGS)))) {
+		print_usage(basename(argv[0]));
+		exit(1);
 	}
-    }
 
-    if (opts.flags & CAN_ISOTP_FORCE_TXSTMIN)
-	    setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_TX_STMIN, &force_tx_stmin, sizeof(force_tx_stmin));
+	if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+		perror("socket");
+		exit(1);
+	}
 
-    addr.can_family = AF_CAN;
-    addr.can_ifindex = if_nametoindex(argv[optind]);
-    if (!addr.can_ifindex) {
-	perror("if_nametoindex");
-	exit(1);
-    }
+	if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts)) < 0) {
+		perror("sockopt");
+		exit(1);
+	}
 
-    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
-	perror("bind");
-	close(s);
-	exit(1);
-    }
 
-    if (!datalen) {
-	    while (buflen < BUFSIZE && scanf("%hhx", &buf[buflen]) == 1)
-		    buflen++;
-    } else {
-	    for (buflen = 0; buflen < datalen; buflen++)
-		    buf[buflen] = ((buflen % 0xFF) + 1) & 0xFF;
-    }
+	if (llopts.tx_dl) {
+		if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) {
+			perror("link layer sockopt");
+			exit(1);
+		}
+	}
+
+	if (opts.flags & CAN_ISOTP_FORCE_TXSTMIN)
+		setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_TX_STMIN, &force_tx_stmin, sizeof(force_tx_stmin));
+
+	addr.can_family = AF_CAN;
+	addr.can_ifindex = if_nametoindex(argv[optind]);
+	if (!addr.can_ifindex) {
+		perror("if_nametoindex");
+		exit(1);
+	}
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind");
+		close(s);
+		exit(1);
+	}
+
+	if (!datalen) {
+		while (buflen < BUFSIZE && scanf("%hhx", &buf[buflen]) == 1)
+			buflen++;
+	} else {
+		for (buflen = 0; buflen < datalen; buflen++)
+			buf[buflen] = ((buflen % 0xFF) + 1) & 0xFF;
+	}
 
 loop:
-    if (usecs)
-	    usleep(usecs);
+	if (usecs)
+		usleep(usecs);
 
-    retval = write(s, buf, buflen);
-    if (retval < 0) {
-	    perror("write");
-	    return retval;
-    }
+	retval = write(s, buf, buflen);
+	if (retval < 0) {
+		perror("write");
+		return retval;
+	}
 
-    if (retval != buflen)
-	    fprintf(stderr, "wrote only %d from %d byte\n", retval, buflen);
+	if (retval != buflen)
+		fprintf(stderr, "wrote only %d from %d byte\n", retval, buflen);
 
-    if (loops) {
-	    if (--loops)
-		    goto loop;
-    } else {
-	    goto loop;
-    }
+	if (loops) {
+		if (--loops)
+			goto loop;
+	} else {
+		goto loop;
+	}
 
-    /* 
-     * due to a Kernel internal wait queue the PDU is sent completely
-     * before close() returns.
-     */
-    close(s);
+	/*
+	 * due to a Kernel internal wait queue the PDU is sent completely
+	 * before close() returns.
+	 */
+	close(s);
 
-    return 0;
+	return 0;
 }

j1939_timedate/j1939_timedate_srv.c

@@ -41,16 +41,22 @@ static void gmtime_to_j1939_pgn_65254_td(struct j1939_time_date_packet *tdp)
 	utc_tm = gmtime_r(&now, &utc_tm_buf);
 	local_tm = localtime_r(&now, &local_tm_buf);
 
-	/* Calculate the offsets */
-	hour_offset = local_tm->tm_hour - utc_tm->tm_hour;
-	minute_offset = local_tm->tm_min - utc_tm->tm_min;
+	if (local_tm) {
+		/* Calculate the offsets */
+		hour_offset = local_tm->tm_hour - utc_tm->tm_hour;
+		minute_offset = local_tm->tm_min - utc_tm->tm_min;
 
-	/* Handle date rollover */
-	if (local_tm->tm_mday != utc_tm->tm_mday) {
-		if (local_tm->tm_hour < 12)
-			hour_offset += 24;  /* past midnight */
-		else
-			hour_offset -= 24;  /* before midnight */
+		/* Handle date rollover */
+		if (local_tm->tm_mday != utc_tm->tm_mday) {
+			if (local_tm->tm_hour < 12)
+				hour_offset += 24;  /* past midnight */
+			else
+				hour_offset -= 24;  /* before midnight */
+		}
+	} else {
+		/* The local time offsets cannot be determined at the moment */
+		hour_offset = 0xF9;
+		minute_offset = 0xFF;
 	}		
 
 	/*

j1939_vehicle_position/j1939_vehicle_position_cmn.h

@@ -51,7 +51,7 @@ struct j1939_vp_err_msg {
 #define J1939_VP1_PRIO_DEFAULT				6
 #define J1939_VP1_MAX_TRANSFER_LENGH \
 	sizeof(struct j1939_vp1_packet)
-#define J1939_VP1_REPETITION_RATE_MS			5000
+#define J1939_VP1_REPETITION_RATE_MS			1000
 #define J1939_VP1_JITTER_MS				500
 
 /**
@@ -63,8 +63,8 @@ struct j1939_vp_err_msg {
  *           - Data Length: 4 bytes
  *           - Resolution: 10^-7 deg/bit
  *           - Offset: -210 degrees
- *           - Range: -210 to +211.1008122 degrees
- *           - Operating Range: -210 degrees (SOUTH) to +211.108122 degrees
+ *           - Range: -210 to +211.10081215 degrees
+ *           - Operating Range: -210 degrees (SOUTH) to +211.1081215 degrees
  *             (NORTH)
  *
  * @longitude: Raw longitude position of the vehicle
@@ -72,8 +72,8 @@ struct j1939_vp_err_msg {
  *           - Data Length: 4 bytes
  *           - Resolution: 10^-7 deg/bit
  *           - Offset: -210 degrees
- *           - Range: -210 to +211.1008122 degrees
- *           - Operating Range: -210 degrees (WEST) to +211.108122 degrees
+ *           - Range: -210 to +211.10081215 degrees
+ *           - Operating Range: -210 degrees (WEST) to +211.1081215 degrees
  *             (EAST)
  *
  * This structure defines each component of the Vehicle Position as described in
@@ -142,42 +142,48 @@ j1939_vp1_set_longitude(struct j1939_vp1_packet *packet, int32_t longitude)
 /**
  * struct j1939_vp2_packet - Represents the PGN 64502 Vehicle
  *                                         Position 2 packet
- * FIXME: current packet layout is guessed based on limited information:
- * https://www.isobus.net/isobus/pGNAndSPN/10801?type=PGN
  *
  * @total_satellites: Total number of satellites in view
  *           - SPN: 8128
  *           - Data Length: 1 byte
+ *           - Range: 0 to 250
  *
  * @hdop: Horizontal dilution of precision
  *           - SPN: 8129
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * @vdop: Vertical dilution of precision
  *           - SPN: 8130
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * @pdop: Position dilution of precision
  *           - SPN: 8131
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * @tdop: Time dilution of precision
  *           - SPN: 8132
  *           - Data Length: 1 byte
  *           - Resolution: 0.1
+ *           - Range: 0.0 to 25.0
  *
  * This structure defines each component of the Vehicle Position 2 as described
  * in PGN 64502.
  */
 struct j1939_vp2_packet {
 	uint8_t total_satellites; /* SPN 8128 */
-	uint8_t hdop;			  /* SPN 8129 */
-	uint8_t vdop;			  /* SPN 8130 */
-	uint8_t pdop;			  /* SPN 8131 */
-	uint8_t tdop;			  /* SPN 8132 */
+	uint8_t hdop;             /* SPN 8129 */
+	uint8_t vdop;             /* SPN 8130 */
+	uint8_t pdop;             /* SPN 8131 */
+	uint8_t tdop;             /* SPN 8132 */
+	uint8_t unused5;          /* Always 0xFF */
+	uint8_t unused6;          /* Always 0xFF */
+	uint8_t unused7;          /* Always 0xFF */
 } __attribute__((__packed__));
 
 /**

j1939_vehicle_position/j1939_vehicle_position_srv.c

@@ -270,6 +270,12 @@ static int j1939_vp2_get_data(struct j1939_vp_srv_priv *priv,
 	j1939_vp2_set_pdop(vp2p, pdop);
 	j1939_vp2_set_tdop(vp2p, tdop);
 
+	/* This PG's last 3 bytes are not assigned and hence must be set
+	 * to 0xFF as per J1939-71, section 5.2 */
+	vp2p->unused5 = 0xFF;
+	vp2p->unused6 = 0xFF;
+	vp2p->unused7 = 0xFF;
+
 	return 0;
 }
 

j1939acd.c

@@ -112,10 +112,10 @@ static struct {
 	int sig_alrm;
 	int sig_usr1;
 	int state;
-		#define STATE_INITIAL 0
-		#define STATE_REQ_SENT 1
-		#define STATE_REQ_PENDING 2 /* wait 1250 msec for first claim */
-		#define STATE_OPERATIONAL 3
+#define STATE_INITIAL 0
+#define STATE_REQ_SENT 1
+#define STATE_REQ_PENDING 2 /* wait 1250 msec for first claim */
+#define STATE_OPERATIONAL 3
 } s = {
 	.intf = default_intf,
 	.ranges = default_range,
@@ -126,8 +126,8 @@ static struct {
 struct {
 	uint64_t name;
 	int flags;
-		#define F_USE	0x01
-		#define F_SEEN	0x02
+#define F_USE 0x01
+#define F_SEEN 0x02
 } addr[J1939_IDLE_ADDR /* =254 */];
 
 /* lookup by name */
@@ -209,7 +209,7 @@ static int open_socket(const char *device, uint64_t name)
 	if (s.verbose)
 		fprintf(stderr, "- setsockopt(, SOL_CAN_J1939, SO_J1939_FILTER, <filter>, %zd);\n", sizeof(filt));
 	ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_FILTER,
-			&filt, sizeof(filt));
+			 &filt, sizeof(filt));
 	if (ret < 0)
 		err(1, "setsockopt filter");
 
@@ -217,7 +217,7 @@ static int open_socket(const char *device, uint64_t name)
 	if (s.verbose)
 		fprintf(stderr, "- setsockopt(, SOL_SOCKET, SO_BROADCAST, %d, %zd);\n", value, sizeof(value));
 	ret = setsockopt(sock, SOL_SOCKET, SO_BROADCAST,
-			&value, sizeof(value));
+			 &value, sizeof(value));
 	if (ret < 0)
 		err(1, "setsockopt set broadcast");
 

j1939cat.c

@@ -31,11 +31,11 @@
  * strict type-checking.. See the
  * "unnecessary" pointer comparison.
  */
-#define min(x, y) ({				\
-	typeof(x) _min1 = (x);			\
-	typeof(y) _min2 = (y);			\
-	(void) (&_min1 == &_min2);		\
-	_min1 < _min2 ? _min1 : _min2; })
+#define min(x, y) ({						\
+			typeof(x) _min1 = (x);			\
+			typeof(y) _min2 = (y);			\
+			(void) (&_min1 == &_min2);		\
+			_min1 < _min2 ? _min1 : _min2; })
 
 
 struct j1939cat_stats {
@@ -98,7 +98,7 @@ static const char help_msg[] =
 static const char optstring[] = "?hi:vs:rp:P:R:B";
 
 static ssize_t j1939cat_send_one(struct j1939cat_priv *priv, int out_fd,
-			     const void *buf, size_t buf_size)
+				 const void *buf, size_t buf_size)
 {
 	ssize_t num_sent;
 	int flags = 0;
@@ -132,7 +132,7 @@ static ssize_t j1939cat_send_one(struct j1939cat_priv *priv, int out_fd,
 }
 
 static void j1939cat_print_timestamp(struct j1939cat_priv *priv, const char *name,
-			      struct timespec *cur)
+				     struct timespec *cur)
 {
 	struct j1939cat_stats *stats = &priv->stats;
 
@@ -140,8 +140,8 @@ static void j1939cat_print_timestamp(struct j1939cat_priv *priv, const char *nam
 		return;
 
 	fprintf(stderr, "  %s: %llu s %llu us (seq=%03u, send=%07u)",
-			name, (unsigned long long)cur->tv_sec, (unsigned long long)cur->tv_nsec / 1000,
-			stats->tskey, stats->send);
+		name, (unsigned long long)cur->tv_sec, (unsigned long long)cur->tv_nsec / 1000,
+		stats->tskey, stats->send);
 
 	fprintf(stderr, "\n");
 }
@@ -226,7 +226,7 @@ static int j1939cat_extract_serr(struct j1939cat_priv *priv)
 		stats->tskey = serr->ee_data;
 
 		j1939cat_print_timestamp(priv, j1939cat_tstype_to_str(serr->ee_info),
-				     &tss->ts[0]);
+					 &tss->ts[0]);
 
 		if (serr->ee_info == SCM_TSTAMP_SCHED)
 			return -EINTR;
@@ -338,7 +338,7 @@ static int j1939cat_recv_err(struct j1939cat_priv *priv)
 }
 
 static int j1939cat_send_loop(struct j1939cat_priv *priv, int out_fd, char *buf,
-			  size_t buf_size)
+			      size_t buf_size)
 {
 	struct j1939cat_stats *stats = &priv->stats;
 	ssize_t count;
@@ -411,7 +411,7 @@ static int j1939cat_send_loop(struct j1939cat_priv *priv, int out_fd, char *buf,
 }
 
 static int j1939cat_sendfile(struct j1939cat_priv *priv, int out_fd, int in_fd,
-			 off_t *offset, size_t count)
+			     off_t *offset, size_t count)
 {
 	int ret = EXIT_SUCCESS;
 	off_t orig = 0;
@@ -617,7 +617,7 @@ static int j1939cat_sock_prepare(struct j1939cat_priv *priv)
 
 	if (priv->todo_prio >= 0) {
 		ret = setsockopt(priv->sock, SOL_CAN_J1939, SO_J1939_SEND_PRIO,
-				&priv->todo_prio, sizeof(priv->todo_prio));
+				 &priv->todo_prio, sizeof(priv->todo_prio));
 		if (ret < 0) {
 			warn("set priority %i", priv->todo_prio);
 			return EXIT_FAILURE;
@@ -633,11 +633,11 @@ static int j1939cat_sock_prepare(struct j1939cat_priv *priv)
 	}
 
 	sock_opt = SOF_TIMESTAMPING_SOFTWARE |
-		   SOF_TIMESTAMPING_OPT_CMSG |
-		   SOF_TIMESTAMPING_TX_ACK |
-		   SOF_TIMESTAMPING_TX_SCHED |
-		   SOF_TIMESTAMPING_OPT_STATS | SOF_TIMESTAMPING_OPT_TSONLY |
-		   SOF_TIMESTAMPING_OPT_ID | SOF_TIMESTAMPING_RX_SOFTWARE;
+		SOF_TIMESTAMPING_OPT_CMSG |
+		SOF_TIMESTAMPING_TX_ACK |
+		SOF_TIMESTAMPING_TX_SCHED |
+		SOF_TIMESTAMPING_OPT_STATS | SOF_TIMESTAMPING_OPT_TSONLY |
+		SOF_TIMESTAMPING_OPT_ID | SOF_TIMESTAMPING_RX_SOFTWARE;
 
 	if (setsockopt(priv->sock, SOL_SOCKET, SO_TIMESTAMPING,
 		       (char *) &sock_opt, sizeof(sock_opt)))

j1939spy.c

@@ -76,7 +76,7 @@ static struct {
 static const int ival_1 = 1;
 
 static char ctrlmsg[
-	  CMSG_SPACE(sizeof(struct timeval))
+	CMSG_SPACE(sizeof(struct timeval))
 	+ CMSG_SPACE(sizeof(uint8_t)) /* dest addr */
 	+ CMSG_SPACE(sizeof(uint64_t)) /* dest name */
 	+ CMSG_SPACE(sizeof(uint8_t)) /* priority */
@@ -264,9 +264,9 @@ abs_time:
 				struct tm tm;
 				tm = *localtime(&tdut.tv_sec);
 				printf("(%04u%02u%02uT%02u%02u%02u.%04llu)",
-					tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
-					tm.tm_hour, tm.tm_min, tm.tm_sec,
-					(unsigned long long)tdut.tv_usec/100);
+				       tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
+				       tm.tm_hour, tm.tm_min, tm.tm_sec,
+				       (unsigned long long)tdut.tv_usec/100);
 			}
 		}
 		printf(" %s ", libj1939_addr2str(&src));

j1939sr.c

@@ -68,9 +68,9 @@ static struct {
 	int pkt_len;
 	int priority;
 	int defined;
-	#define DEF_SRC		1
-	#define DEF_DST		2
-	#define DEF_PRIO	4
+#define DEF_SRC 1
+#define DEF_DST 2
+#define DEF_PRIO 4
 	struct sockaddr_can src, dst;
 } s = {
 	.priority = 6,

lib.c

@@ -83,8 +83,8 @@ static inline void _put_id(char *buf, int end_offset, canid_t id)
 
 /* CAN DLC to real data length conversion helpers */
 
-static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
-					8, 12, 16, 20, 24, 32, 48, 64};
+static const unsigned char dlc2len[] = {
+	0, 1, 2, 3, 4, 5, 6, 7,	8, 12, 16, 20, 24, 32, 48, 64};
 
 /* get data length from raw data length code (DLC) */
 unsigned char can_fd_dlc2len(unsigned char dlc)
@@ -92,16 +92,17 @@ unsigned char can_fd_dlc2len(unsigned char dlc)
 	return dlc2len[dlc & 0x0F];
 }
 
-static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8,		/* 0 - 8 */
-					9, 9, 9, 9,				/* 9 - 12 */
-					10, 10, 10, 10,				/* 13 - 16 */
-					11, 11, 11, 11,				/* 17 - 20 */
-					12, 12, 12, 12,				/* 21 - 24 */
-					13, 13, 13, 13, 13, 13, 13, 13,		/* 25 - 32 */
-					14, 14, 14, 14, 14, 14, 14, 14,		/* 33 - 40 */
-					14, 14, 14, 14, 14, 14, 14, 14,		/* 41 - 48 */
-					15, 15, 15, 15, 15, 15, 15, 15,		/* 49 - 56 */
-					15, 15, 15, 15, 15, 15, 15, 15};	/* 57 - 64 */
+static const unsigned char len2dlc[] = {
+	0, 1, 2, 3, 4, 5, 6, 7, 8,		/* 0 - 8 */
+	9, 9, 9, 9,				/* 9 - 12 */
+	10, 10, 10, 10,				/* 13 - 16 */
+	11, 11, 11, 11,				/* 17 - 20 */
+	12, 12, 12, 12,				/* 21 - 24 */
+	13, 13, 13, 13, 13, 13, 13, 13,		/* 25 - 32 */
+	14, 14, 14, 14, 14, 14, 14, 14,		/* 33 - 40 */
+	14, 14, 14, 14, 14, 14, 14, 14,		/* 41 - 48 */
+	15, 15, 15, 15, 15, 15, 15, 15,		/* 49 - 56 */
+	15, 15, 15, 15, 15, 15, 15, 15};	/* 57 - 64 */
 
 /* map the sanitized data length to an appropriate data length code */
 unsigned char can_fd_len2dlc(unsigned char len)
@@ -154,7 +155,7 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen)
 	return 0;
 }
 
-int parse_canframe(char *cs, cu_t *cu)
+int parse_canframe(char *cs, union cfu *cu)
 {
 	/* documentation see lib.h */
 
@@ -169,21 +170,23 @@ int parse_canframe(char *cs, cu_t *cu)
 
 	memset(cu, 0, sizeof(*cu)); /* init CAN CC/FD/XL frame, e.g. LEN = 0 */
 
-	if (len < 4)
-		return 0;
+	if (len >= 4 && cs[3] == CANID_DELIM) { /* 3 digits SFF CAN ID */
 
-	if (cs[3] == CANID_DELIM) { /* 3 digits SFF */
+		idx = 4; /* start of frame data */
 
-		idx = 4;
+		/* get 3 digits SFF CAN ID value */
 		for (i = 0; i < 3; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
 			cu->cc.can_id |= tmp << (2 - i) * 4;
 		}
 
-	} else if (cs[5] == CANID_DELIM) { /* 5 digits CAN XL VCID/PRIO*/
+	} else if (len >= 21 && cs[5] == CANID_DELIM && cs[20] == CANID_DELIM) {
+		/* 5 digits CAN XL VCID/PRIO - but also check for 2nd '#' here */
 
-		idx = 6;
+		idx = 6; /* start of CAN XL frame extra content (AF, SDT, etc) */
+
+		/* get 5 digits CAN XL VCID/PRIO */
 		for (i = 0; i < 5; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
@@ -195,9 +198,11 @@ int parse_canframe(char *cs, cu_t *cu)
 		cu->xl.prio &= CANXL_PRIO_MASK;
 		cu->xl.prio |= tmp;
 
-	} else if (cs[8] == CANID_DELIM) { /* 8 digits EFF */
+	} else if (len >= 9 && cs[8] == CANID_DELIM) { /* 8 digits EFF CAN ID */
 
-		idx = 9;
+		idx = 9; /* start of frame data */
+
+		/* get 8 digits EFF CAN ID value */
 		for (i = 0; i < 8; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
@@ -238,11 +243,12 @@ int parse_canframe(char *cs, cu_t *cu)
 		cu->fd.flags |= CANFD_FDF; /* dual-use */
 		idx += 2;
 
-	} else if (cs[idx + 14] == CANID_DELIM) { /* CAN XL frame '#80:00:11223344#' */
+	} else if (idx == 6) { /* CAN XL frame extra content '#80:00:11223344#' */
 		maxdlen = CANXL_MAX_DLEN;
 		mtu = CANXL_MTU;
-		data = cu->xl.data; /* fill CAN XL data */
+		data = cu->xl.data; /* overwrite pointer to CAN XL data */
 
+		/* get CAN XL frame extra content */
 		if ((cs[idx + 2] != XL_HDR_DELIM) || (cs[idx + 5] != XL_HDR_DELIM))
 			return 0;
 
@@ -276,6 +282,7 @@ int parse_canframe(char *cs, cu_t *cu)
 		idx++; /* skip CANID_DELIM */
 	}
 
+	/* copy CAN frame data content */
 	for (i = 0, dlen = 0; i < maxdlen; i++) {
 		if (cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
 			idx++;
@@ -308,7 +315,7 @@ int parse_canframe(char *cs, cu_t *cu)
 	return mtu;
 }
 
-int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep)
+int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep)
 {
 	/* documentation see lib.h */
 
@@ -432,7 +439,7 @@ int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep)
 	return offset;
 }
 
-int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view)
+int snprintf_long_canframe(char *buf, size_t size, union cfu *cu, int view)
 {
 	/* documentation see lib.h */
 
@@ -777,8 +784,8 @@ static int snprintf_error_ctrl(char *buf, size_t len, const struct canfd_frame *
 
 	n += snprintf(buf + n, len - n, "{");
 	n += snprintf_error_data(buf + n, len - n, cf->data[1],
-				controller_problems,
-				ARRAY_SIZE(controller_problems));
+				 controller_problems,
+				 ARRAY_SIZE(controller_problems));
 	n += snprintf(buf + n, len - n, "}");
 
 	return n;
@@ -793,8 +800,8 @@ static int snprintf_error_prot(char *buf, size_t len, const struct canfd_frame *
 
 	n += snprintf(buf + n, len - n, "{{");
 	n += snprintf_error_data(buf + n, len - n, cf->data[2],
-				protocol_violation_types,
-				ARRAY_SIZE(protocol_violation_types));
+				 protocol_violation_types,
+				 ARRAY_SIZE(protocol_violation_types));
 	n += snprintf(buf + n, len - n, "}{");
 	if (cf->data[3] > 0 &&
 	    cf->data[3] < ARRAY_SIZE(protocol_violation_locations))
@@ -819,7 +826,7 @@ static int snprintf_error_cnt(char *buf, size_t len, const struct canfd_frame *c
 }
 
 int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
-                  const char* sep)
+			     const char* sep)
 {
 	canid_t class, mask;
 	int i, n = 0, classes = 0;
@@ -858,7 +865,7 @@ int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf
 			n += tmp_n;
 			if (mask == CAN_ERR_LOSTARB)
 				n += snprintf_error_lostarb(buf + n, len - n,
-							   cf);
+							    cf);
 			if (mask == CAN_ERR_CRTL)
 				n += snprintf_error_ctrl(buf + n, len - n, cf);
 			if (mask == CAN_ERR_PROT)
@@ -878,7 +885,7 @@ int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf
 }
 
 int64_t timespec_diff_ms(struct timespec *ts1,
-					  struct timespec *ts2)
+			 struct timespec *ts2)
 {
 	int64_t diff = (ts1->tv_sec - ts2->tv_sec) * 1000;
 

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
@@ -57,11 +59,11 @@ static inline int pr_debug(const char* fmt, ...) {return 0;}
 #endif
 
 /* CAN CC/FD/XL frame union */
-typedef union {
+union cfu {
 	struct can_frame cc;
 	struct canfd_frame fd;
 	struct canxl_frame xl;
-} cu_t;
+};
 
 /*
  * The buffer size for ASCII CAN frame string representations
@@ -108,7 +110,7 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen);
  *
  */
 
-int parse_canframe(char *cs, cu_t *cu);
+int parse_canframe(char *cs, union cfu *cu);
 /*
  * Transfers a valid ASCII string describing a CAN frame into the CAN union
  * containing CAN CC/FD/XL structs.
@@ -178,7 +180,7 @@ int parse_canframe(char *cs, cu_t *cu);
  * - CAN FD frames do not have a RTR bit
  */
 
-int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep);
+int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep);
 /*
  * Creates a CAN frame hexadecimal output in compact format.
  * The CAN data[] is separated by '.' when sep != 0.
@@ -211,7 +213,7 @@ int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep);
 
 #define SWAP_DELIMITER '`'
 
-int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view);
+int snprintf_long_canframe(char *buf, size_t size, union cfu *cu, int view);
 /*
  * Creates a CAN frame hexadecimal output in user readable format.
  *

log2asc.c

@@ -183,7 +183,7 @@ static void canfd_asc(struct canfd_frame *cf, int devno, int mtu,
 	fprintf(outfile, " %8d %4d %8X 0 0 0 0 0", 130000, 130, flags);
 }
 
-static void canxl_asc(cu_t *cu, int devno, int mtu,
+static void canxl_asc(union cfu *cu, int devno, int mtu,
 		      char *extra_info, FILE *outfile)
 {
 	char id[10];
@@ -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 */
@@ -314,7 +314,7 @@ int main(int argc, char **argv)
 {
 	static char buf[BUFSZ], device[DEVSZ], afrbuf[AFRSZ], extra_info[EXTRASZ];
 
-	static cu_t cu;
+	static union cfu cu;
 	static struct timeval tv, start_tv;
 	FILE *infile = stdin;
 	FILE *outfile = stdout;
@@ -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 */
@@ -61,14 +61,14 @@
 #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
 
 int main(void)
 {
 	static char buf[BUFSZ], timestamp[TIMESZ], device[DEVSZ], afrbuf[AFRSZ];
-	static cu_t cu;
+	static union cfu cu;
 	int mtu;
 
 	while (fgets(buf, BUFSZ-1, stdin)) {
@@ -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);

mcp251xfd/mcp251xfd-regmap.c

@@ -72,8 +72,7 @@ int mcp251xfd_regmap_read(struct mcp251xfd_priv *priv,
 		return 0;
 
 	/* maybe it's something like "spi0.0" */
-	tmp = strchr(file_path, '/');
-	if (tmp)
+	if (strchr(file_path, '/'))
 		return -ENOENT;
 
 	/* first try literally */

testj1939.c

@@ -197,7 +197,7 @@ int main(int argc, char *argv[])
 		if (verbose)
 			fprintf(stderr, "- setsockopt(, SOL_CAN_J1939, SO_J1939_SEND_PRIO, &%i);\n", todo_prio);
 		ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_SEND_PRIO,
-				&todo_prio, sizeof(todo_prio));
+				 &todo_prio, sizeof(todo_prio));
 		if (ret < 0)
 			err(1, "set priority %i", todo_prio);
 	}
@@ -246,7 +246,7 @@ int main(int argc, char *argv[])
 			if (verbose)
 				fprintf(stderr, "- sendto(, <dat>, %i, 0, %s, %zi);\n", todo_send, libj1939_addr2str(&peername), sizeof(peername));
 			ret = sendto(sock, dat, todo_send, 0,
-					(void *)&peername, sizeof(peername));
+				     (void *)&peername, sizeof(peername));
 		} else {
 			/*
 			 * we may do sendto(sock, dat, todo_send, 0, NULL, 0)
@@ -273,7 +273,7 @@ int main(int argc, char *argv[])
 			fprintf(stderr, "- recvfrom(, <dat>, %zi, 0, &<peername>, %zi);\n", sizeof(peername), sizeof(peername));
 		peernamelen = sizeof(peername);
 		ret = recvfrom(sock, dat, sizeof(dat), 0,
-				(void *)&peername, &peernamelen);
+			       (void *)&peername, &peernamelen);
 		if (ret < 0) {
 			if (EINTR == errno) {
 				if (verbose)
@@ -287,7 +287,7 @@ int main(int argc, char *argv[])
 			if (verbose)
 				fprintf(stderr, "- sendto(, <dat>, %i, 0, %s, %i);\n", ret, libj1939_addr2str(&peername), peernamelen);
 			ret = sendto(sock, dat, ret, 0,
-					(void *)&peername, peernamelen);
+				     (void *)&peername, peernamelen);
 			if (ret < 0)
 				err(1, "sendto");
 		}
@@ -297,7 +297,7 @@ int main(int argc, char *argv[])
 			if (todo_names && peername.can_addr.j1939.name)
 				printf("%016llx ", peername.can_addr.j1939.name);
 			printf("%02x %05x:", peername.can_addr.j1939.addr,
-					peername.can_addr.j1939.pgn);
+			       peername.can_addr.j1939.pgn);
 			for (i = 0, j = 0; i < ret; ++i, j++) {
 				if (j == 8) {
 					printf("\n%05x    ", i);