Merge 7815be8741 into 6b46063eee

Replay pre-recorded CAN Bus dumps respecting the original relative timestamps.

Fix code style

Conform to codebase style as per maintainer's suggestions.

Refactor code logic according to suggestions for PR #521

.github/workflows/compile.yml

@@ -75,6 +75,7 @@ jobs:
                 gcc \
                 gcc-aarch64-linux-gnu \
                 gcc-arm-linux-gnueabihf \
+                gcc-mips-linux-gnu \
                 libgps-dev \
                 make
 
@@ -138,6 +139,13 @@ 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...3.10)
+cmake_minimum_required(VERSION 3.5)
 
 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,
-		    union cfu *cf, char dir)
+		    cu_t *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, (union cfu *)&cf, NO_DIR);
+			prframe(outfile, &tv, interface, (cu_t *)&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, (union cfu *)&cf, dir[0]);
+		prframe(outfile, &tv, interface, (cu_t *)&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, (union cfu *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (cu_t *)&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, (union cfu *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (cu_t *)&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, (union cfu *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (cu_t *)&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, (union cfu *)&cf, dir[0]);
+	prframe(outfile, &tv, interface, (cu_t *)&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[64];
+	char rxmsg[50];
 
 #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);
@@ -242,8 +242,6 @@ again:
 		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);
@@ -251,35 +249,17 @@ again:
 			ifr.ifr_ifindex = caddr.can_ifindex;
 			ioctl(sc, SIOCGIFNAME, &ifr);
 
-			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;
-			}
+			sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
+				msg.msg_head.can_id, msg.frame.can_dlc);
 
-			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;
-			}
+			for ( i = 0; i < msg.frame.can_dlc; i++)
+				sprintf(rxmsg + strlen(rxmsg), "%02X ",
+					msg.frame.data[i]);
 
 			/* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
-			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;
-			}
+			strcat(rxmsg, ">\0");
 
-			len += res;
-
-			send(sa, rxmsg, len + 1, 0);
+			send(sa, rxmsg, strlen(rxmsg) + 1, 0);
 		}
 
 

candump.c

@@ -72,9 +72,6 @@
 #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 */
 
@@ -116,8 +113,7 @@ static const int canfx_on = 1;
 
 #define MAXANI 4
 static const char anichar[MAXANI] = { '|', '/', '-', '\\' };
-static const char extra_fd_info[4][4] = { "- -", "B -", "- E", "B E" };
-static const char extra_xl_info[4][4] = { "- -", "S -", "- R", "S R" };
+static const char extra_m_info[4][4] = { "- -", "B -", "- E", "B E" };
 
 extern int optind, opterr, optopt;
 
@@ -132,7 +128,6 @@ 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");
@@ -147,7 +142,7 @@ 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|sec rrs])\n");
+	fprintf(stderr, "         -x          (print extra message infos, rx/tx brs esi)\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);
@@ -225,22 +220,16 @@ static int idx2dindex(int ifidx, int socket)
 	return i;
 }
 
-static int sprint_timestamp(char *ts_buffer, const char timestamp, const char use_ns,
-			    const struct timespec *ts, struct timespec *const last_ts)
+static int sprint_timestamp(char *ts_buffer, const char timestamp,
+			    const struct timeval *tv, struct timeval *const last_tv)
 {
 	int numchars = 0;
 
 	switch (timestamp) {
 	case 'a': /* absolute with timestamp */
-		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);
-		}
+		numchars = sprintf(ts_buffer, "(%010llu.%06llu) ",
+				   (unsigned long long)tv->tv_sec,
+				   (unsigned long long)tv->tv_usec);
 		break;
 
 	case 'A': /* absolute with date */
@@ -248,43 +237,32 @@ static int sprint_timestamp(char *ts_buffer, const char timestamp, const char us
 		struct tm tm;
 		char timestring[25];
 
-		tm = *localtime(&ts->tv_sec);
+		tm = *localtime(&tv->tv_sec);
 		strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
-		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);
-		}
+		numchars = sprintf(ts_buffer, "(%s.%06llu) ", timestring,
+				   (unsigned long long)tv->tv_usec);
 	}
 	break;
 
 	case 'd': /* delta */
 	case 'z': /* starting with zero */
 	{
-		struct timespec diff;
+		struct timeval diff;
 
-		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 (last_tv->tv_sec == 0) /* first init */
+			*last_tv = *tv;
+		diff.tv_sec = tv->tv_sec - last_tv->tv_sec;
+		diff.tv_usec = tv->tv_usec - last_tv->tv_usec;
+		if (diff.tv_usec < 0)
+			diff.tv_sec--, diff.tv_usec += 1000000;
 		if (diff.tv_sec < 0)
-			diff.tv_sec = diff.tv_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);
-		}
+			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);
 
 		if (timestamp == 'd')
-			*last_ts = *ts; /* update for delta calculation */
+			*last_tv = *tv; /* update for delta calculation */
 	}
 	break;
 
@@ -310,7 +288,6 @@ 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;
@@ -342,10 +319,10 @@ int main(int argc, char **argv)
 	struct cmsghdr *cmsg;
 	struct can_filter *rfilter;
 	can_err_mask_t err_mask;
-	static union cfu cu; /* union for CAN CC/FD/XL frames */
+	static cu_t cu; /* union for CAN CC/FD/XL frames */
 	int nbytes, i;
 	struct ifreq ifr;
-	struct timespec ts, last_ts;
+	struct timeval tv, last_tv;
 	int timeout_ms = -1; /* default to no timeout */
 	FILE *logfile = NULL;
 	char fname[83]; /* suggested by -Wformat-overflow= */
@@ -357,12 +334,12 @@ int main(int argc, char **argv)
 	signal(SIGHUP, sigterm);
 	signal(SIGINT, sigterm);
 
-	last_ts.tv_sec = 0;
-	last_ts.tv_nsec = 0;
+	last_tv.tv_sec = 0;
+	last_tv.tv_usec = 0;
 
 	progname = basename(argv[0]);
 
-	while ((opt = getopt(argc, argv, "t:HNciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
+	while ((opt = getopt(argc, argv, "t:HciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
 		switch (opt) {
 		case 't':
 			timestamp = optarg[0];
@@ -382,10 +359,6 @@ int main(int argc, char **argv)
 			hwtimestamp = 1;
 			break;
 
-		case 'N':
-			use_ns = 1;
-			break;
-
 		case 'c':
 			color++;
 			break;
@@ -715,12 +688,12 @@ 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;
 		}
@@ -810,13 +783,9 @@ 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 == SCM_TIMESTAMP) {
-					struct timeval tv;
+				if (cmsg->cmsg_type == SO_TIMESTAMP) {
 					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 == SCM_TIMESTAMPING) {
+				} else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
 					struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
 
 					/*
@@ -826,7 +795,8 @@ int main(int argc, char **argv)
 					 * See chapter 2.1.2 Receive timestamps in
 					 * linux/Documentation/networking/timestamping.txt
 					 */
-					ts = stamp[2];
+					tv.tv_sec = stamp[2].tv_sec;
+					tv.tv_usec = stamp[2].tv_nsec / 1000;
 				} else if (cmsg->cmsg_type == SO_RXQ_OVFL) {
 					memcpy(&obj->dropcnt, CMSG_DATA(cmsg), sizeof(__u32));
 				}
@@ -861,9 +831,11 @@ int main(int argc, char **argv)
 			/* build common log format output */
 			if ((log) || ((logfrmt) && (silent == SILENT_OFF))) {
 
-				alen = sprint_timestamp(afrbuf, logtimestamp, use_ns, &ts, &last_ts);
+				alen = sprint_timestamp(afrbuf, logtimestamp,
+							  &tv, &last_tv);
 
-				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);
 			}
@@ -889,23 +861,18 @@ 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, use_ns, &ts, &last_ts);
+			alen += sprint_timestamp(afrbuf + alen, timestamp, &tv, &last_tv);
 			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");
+					alen += sprintf(afrbuf + alen, "  TX %s",
+							  extra_m_info[cu.fd.flags & 3]);
 				else
-					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, "  RX %s",
+							  extra_m_info[cu.fd.flags & 3]);
 			}
 
 			alen += sprintf(afrbuf + alen, "%s  ", (color == 1) ? col_off : "");

canerrsim.c

@@ -25,7 +25,6 @@
 #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>
@@ -123,25 +122,27 @@ void show_help_and_exit()
 	exit(EXIT_SUCCESS);
 }
 
-void __attribute__((format (printf, 1, 2))) err_exit(const char *format, ...)
+void err_exit(const char *msg)
 {
-	va_list ap;
-
-	va_start(ap, format);
-	vfprintf(stdout, format, ap);
-	va_end(ap);
-
+	printf("%s", msg);
 	exit(EXIT_FAILURE);
 }
 
+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);
+}
+
 void show_invalid_option(const char *option)
 {
-	err_exit("Error: Invalid option %s\n", option);
+	show_custom_format_and_exit(option, "Error: Invalid option %s\n");
 }
 
 void show_err_and_exit(const char *err_type)
 {
-	err_exit("Error: You can only have one %s parameter!\n", err_type);
+	show_custom_format_and_exit(err_type, "Error: You can only have one %s parameter!\n");
 }
 
 void show_loc_err_and_exit()
@@ -175,6 +176,7 @@ 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)
@@ -535,25 +537,24 @@ int main(int argc, char *argv[])
 
 	// create socket
 	if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
-		err_exit("Error while opening socket\n");
+		err_exit("Error while opening socket");
 
 	// 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)
-		err_exit("Error setting CAN interface name %s\n", argv[1]);
+	if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0) {
+		sprintf(tmp_str, "Error setting CAN interface name %s", argv[1]);
+		err_exit(tmp_str);
+	}
 
 	// 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\n");
+		err_exit("Error in socket bind");
 
 	// Send CAN error frame
 	if (write(sock, &frame, sizeof(frame)) < 0)
-		err_exit("Error writing to socket\n");
+		err_exit("Error writing to socket");
 	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 CC [-e -R] FD [-f -b -E] XL [-X] on capable devices)\n");
+	fprintf(stderr, "         -m            (mix -e -f -b -E -R -X frames)\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, union cfu *cu, size_t len, int timeout)
+static int do_send_one(int fd, cu_t *cu, size_t len, int timeout)
 {
 	uint8_t control[CMSG_SPACE(sizeof(uint64_t))] = { 0 };
 	struct iovec iov = {
@@ -339,9 +339,10 @@ resend:
 	nbytes = sendmsg(fd, &msg, 0);
 	if (nbytes < 0) {
 		ret = -errno;
-		if (ret != -ENOBUFS)
+		if (ret != -ENOBUFS) {
+			perror("write");
 			return ret;
-
+		}
 		if (!ignore_enobufs && !timeout) {
 			perror("write");
 			return ret;
@@ -454,9 +455,6 @@ 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;
@@ -494,7 +492,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static union cfu cu;
+	static cu_t cu;
 	int i;
 	struct ifreq ifr = { 0 };
 	const int enable_canfx = 1;
@@ -576,6 +574,7 @@ 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;
 
@@ -778,58 +777,14 @@ int main(int argc, char **argv)
 			   &loopback, sizeof(loopback));
 	}
 
-	/* get CAN netdevice MTU for frame type capabilities */
-	if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
-		perror("SIOCGIFMTU");
-		return 1;
-	}
-
-	/* 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) {
+
+		/* check if the frame fits into the CAN netdevice */
+		if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+			perror("SIOCGIFMTU");
+			return 1;
+		}
+
 		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));
@@ -838,6 +793,41 @@ 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) {
@@ -867,7 +857,14 @@ int main(int argc, char **argv)
 	if (ret)
 		return 1;
 
+	int k[] = {1,2};
+	int j = 0;
 	while (running) {
+		ts_gap = double_to_timespec((k[j%2])/1000.0);
+		// printf("%lu, %lu\n", ts_gap.tv_sec, ts_gap.tv_nsec);
+		setsockopt_txtime(s);
+		setup_time();
+		j++;
 		/* clear values but preserve cu.fd.len */
 		cu.fd.flags = 0;
 		cu.fd.__res0 = 0;
@@ -1050,31 +1047,8 @@ int main(int argc, char **argv)
 		}
 
 		ret = do_send_one(s, &cu, mtu, polltimeout);
-		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");
+		if (ret)
 			return 1;
-		}
 
 		if (burst_sent_count >= burst_count)
 			burst_sent_count = 0;
@@ -1115,41 +1089,18 @@ int main(int argc, char **argv)
 		}
 
 		if (mix) {
-			canfd = 0;
-			canxl = 0;
 			i = random();
 			extended = i & 1;
-			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;
-					}
-				}
+			canfd = i & 2;
+			if (canfd) {
+				brs = i & 4;
+				esi = i & 8;
 			}
+			/* 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

@@ -177,8 +177,7 @@ int main(int argc, char **argv)
 	sigset_t sigset;
 	fd_set rdfs;
 	int s[MAXDEV];
-	int socki;
-	int accsocket = -1;
+	int socki, accsocket;
 	canid_t mask[MAXDEV] = {0};
 	canid_t value[MAXDEV] = {0};
 	int inv_filter[MAXDEV] = {0};
@@ -192,7 +191,7 @@ int main(int argc, char **argv)
 		.rx_vcid_mask = 0,
 	};
 	struct can_filter rfilter;
-	static union cfu cu; /* union for CAN CC/FD/XL frames */
+	static cu_t cu; /* union for CAN CC/FD/XL frames */
 	const int canfx_on = 1;
 	int nbytes, i, j;
 	struct ifreq ifr;
@@ -287,7 +286,7 @@ int main(int argc, char **argv)
 	inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
 	inaddr.sin_port = htons(port);
 
-	while(running && bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
+	while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
 		struct timespec f = {
 			.tv_nsec = 100 * 1000 * 1000,
 		};
@@ -296,28 +295,18 @@ 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(running) {
+	while(1) {
 		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");
@@ -325,22 +314,11 @@ 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

@@ -48,6 +48,7 @@
 #include <string.h>
 #include <time.h>
 #include <unistd.h>
+#include <stdbool.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -68,7 +69,7 @@
 #endif
 
 #define DEVSZ 22 /* IFNAMSZ + 6 */
-#define TIMESZ sizeof("(1345212884.318850123)   ")
+#define TIMESZ sizeof("(1345212884.318850)   ")
 #define BUFSZ (TIMESZ + DEVSZ + AFRSZ)
 
 /* adapt sscanf() functions below on error */
@@ -89,6 +90,12 @@ const int canfx_on = 1;
 
 extern int optind, opterr, optopt;
 
+struct sleep {
+	struct timeval *sleep_vector;
+	size_t idx;
+	size_t size;
+};
+
 static void print_usage(char *prg)
 {
 	fprintf(stderr, "%s - replay a compact CAN frame logfile to CAN devices.\n", prg);
@@ -117,6 +124,8 @@ static void print_usage(char *prg)
 			"loopback of sent CAN frames)\n");
 	fprintf(stderr, "         -v           (verbose: print "
 			"sent CAN frames)\n");
+	fprintf(stderr, "         -r           (real-time: send "
+			"CAN frames in real-time)\n");
 	fprintf(stderr, "         -h           (show "
 			"this help message)\n\n");
 	fprintf(stderr, "Interface assignment:\n");
@@ -261,7 +270,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static union cfu cu;
+	static cu_t cu;
 	static struct timeval today_tv, log_tv, last_log_tv, diff_tv;
 	struct timespec sleep_ts;
 	int s; /* CAN_RAW socket */
@@ -280,8 +289,11 @@ int main(int argc, char **argv)
 	int eof, txmtu, i, j;
 	char *fret;
 	unsigned long long sec, usec;
+	bool gap_from_file = false;
+	struct sleep timestamps;
+	struct timeval send_time, act_time, init_trace, init_time;
 
-	while ((opt = getopt(argc, argv, "I:l:tin:g:s:xvh")) != -1) {
+	while ((opt = getopt(argc, argv, "I:l:tin:g:s:xvrh")) != -1) {
 		switch (opt) {
 		case 'I':
 			infile = fopen(optarg, "r");
@@ -336,6 +348,17 @@ int main(int argc, char **argv)
 			verbose++;
 			break;
 
+		case 'r':
+			if (isatty(fileno(infile))) {
+				fprintf(stderr, "Specify an input file for option -r !\n");
+				exit(EXIT_FAILURE);
+			}
+			gap_from_file = true; /* using time delta from file */
+			init_trace.tv_sec = 0;
+			init_trace.tv_usec = 0;
+			timestamps.idx = 0; /*to avoid warning accessing idx variable*/
+			break;
+
 		case 'h':
 			print_usage(basename(argv[0]));
 			exit(EXIT_SUCCESS);
@@ -368,8 +391,10 @@ int main(int argc, char **argv)
 		printf("interactive mode: press ENTER to process next CAN frame ...\n");
 	}
 
-	sleep_ts.tv_sec = gap / 1000;
-	sleep_ts.tv_nsec = (gap % 1000) * 1000000;
+	if (!gap_from_file) {
+		sleep_ts.tv_sec = gap / 1000;
+		sleep_ts.tv_nsec = (gap % 1000) * 1000000;
+	}
 
 	/* open socket */
 	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
@@ -452,20 +477,14 @@ 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 or 9 decimal places long to catch
+		 * ensure the fractions of seconds are 6 decimal places long to catch
 		 * 3rd party or handcrafted logfiles that treat the timestamp as float
 		 */
-		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");
+		if (strchr(buf, ')') - strchr(buf, '.') != 7) {
+			fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
 			return 1;
 		}
 
@@ -547,25 +566,39 @@ int main(int argc, char **argv)
 					break;
 				}
 
-				if (sscanf(buf, "(%llu.%llu) %21s %6299s", &sec, &usec, device, afrbuf) != 4) {
+				if (sscanf(buf, "(%llu.%llu) %s %s", &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;
+
+				if (gap_from_file){
+					if (timestamps.idx == 0){
+						gettimeofday(&init_time, NULL);
+						if (log_tv.tv_sec > 0 || log_tv.tv_usec > 0)
+							init_trace = log_tv;
+					}
+					timersub(&log_tv, &init_trace, &send_time);
+
+					if (timestamps.idx > 0){
+						gettimeofday(&act_time, NULL);
+						timersub(&act_time, &init_time, &act_time);
+
+						while (timercmp(&act_time, &send_time, <)){
+							gettimeofday(&act_time, NULL);
+							timersub(&act_time, &init_time, &act_time);
+						}
+					}
+					timestamps.idx++;
+				}
 
 				/*
-				 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
+				 * ensure the fractions of seconds are 6 decimal places long to catch
 				 * 3rd party or handcrafted logfiles that treat the timestamp as float
 				 */
-				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");
+				if (strchr(buf, ')') - strchr(buf, '.') != 7) {
+					fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
 					return 1;
 				}
 
@@ -582,7 +615,7 @@ int main(int argc, char **argv)
 
 			} /* while frames_to_send ... */
 
-			if (nanosleep(&sleep_ts, NULL))
+			if (!gap_from_file && nanosleep(&sleep_ts, NULL))
 				return 1;
 
 			delay_loops++; /* private statistics */

cansend.c

@@ -80,10 +80,7 @@ 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"
-		" %x CANFD_BRS\n"
-		" %x CANFD_ESI\n"
-		" %x CANFD_FDF\n"
+		" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n"
 		"\n"
 		"<vcid>:\n"
 		" 2 hex chars - virtual CAN network identifier (00 .. FF)\n"
@@ -103,8 +100,7 @@ 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,
-		CANFD_BRS, CANFD_ESI, CANFD_FDF);
+		prg, prg);
 }
 
 int main(int argc, char **argv)
@@ -117,7 +113,7 @@ int main(int argc, char **argv)
 	struct can_raw_vcid_options vcid_opts = {
 		.flags = CAN_RAW_XL_VCID_TX_PASS,
 	};
-	static union cfu cu;
+	static cu_t 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 (ext)
-			printf("{%02X}", frame.data[0]);
-
-		if (nbytes == CAN_MTU)
-			printf("  [%d]  ", frame.len);
-		else
-			printf(" [%02d]  ", frame.len);
-
-		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);
-			datidx = ext+1;
-			break;
-
-		case 0x30:
-			n_pci &= 0x0F;
-			printf("[FC] FC: %d ", n_pci);
-
-			if (n_pci > 3)
-				n_pci = 3;
-
-			printf("= %s # ", fc_info[n_pci]);
-
-			printf("BS: %d %s# ", frame.data[ext+1],
-			       (frame.data[ext+1])? "":"= off ");
-
-			i = frame.data[ext+2];
-			printf("STmin: 0x%02X = ", i);
-
-			if (i < 0x80)
-				printf("%d ms", i);
-			else if (i > 0xF0 && i < 0xFA)
-				printf("%d us", (i & 0x0F) * 100);
+			if (frame.can_id & CAN_EFF_FLAG)
+				printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
 			else
-				printf("reserved");
-			break;
+				printf(" %s  %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
 
-		default:
-			printf("[??]");
-		}
+			if (ext)
+				printf("{%02X}", frame.data[0]);
 
-		if (datidx && frame.len > datidx) {
-			printf(" ");
-			for (i = datidx; i < frame.len; i++) {
-				printf("%02X ", frame.data[i]);
-			}
+			if (nbytes == CAN_MTU)
+				printf("  [%d]  ", frame.len);
+			else
+				printf(" [%02d]  ", frame.len);
 
-			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] : '.');
+			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;
 				}
-				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;
-			}
-		}
+				break;
 
-		if (color)
-			printf("%s", ATTRESET);
-		printf("\n");
-		fflush(stdout);
+			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);
+				datidx = ext+1;
+				break;
+
+			case 0x30:
+				n_pci &= 0x0F;
+				printf("[FC] FC: %d ", n_pci);
+
+				if (n_pci > 3)
+					n_pci = 3;
+
+				printf("= %s # ", fc_info[n_pci]);
+
+				printf("BS: %d %s# ", frame.data[ext+1],
+				       (frame.data[ext+1])? "":"= off ");
+
+				i = frame.data[ext+2];
+				printf("STmin: 0x%02X = ", i);
+
+				if (i < 0x80)
+					printf("%d ms", i);
+				else if (i > 0xF0 && i < 0xFA)
+					printf("%d us", (i & 0x0F) * 100);
+				else
+					printf("reserved");
+				break;
+
+			default:
+				printf("[??]");
+			}
+
+			if (datidx && frame.len > datidx) {
+				printf(" ");
+				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;
+				}
+			}
+
+			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 (rx_ext && frame.data[0] != rx_extaddr)
+			if (ext && extaddr != frame.data[0])
 				continue;
 
-			n_pci = frame.data[rx_ext];
-			/* check flow control PCI only */
-			if ((n_pci & 0xF0) != 0x30)
-				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;
 
-			bs = frame.data[rx_ext + 1];
-			stmin = frame.data[rx_ext + 2];
-		}
+				n_pci = frame.data[rx_ext];
+				/* check flow control PCI only */
+				if ((n_pci & 0xF0) != 0x30)
+					continue;
 
-		/* 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;
+				bs = frame.data[rx_ext + 1];
+				stmin = frame.data[rx_ext + 2];
 			}
 
-			/* ignore incorrect SF PDUs */
-			if (frame.len < rcvlen + datidx)
-				fflen = rcvlen = 0;
+			/* data content starts and index datidx */
+			datidx = 0;
 
-			/* get number of digits for printing */
-			fflen_digits = getdigits(fflen);
+			n_pci = frame.data[ext];
+			switch (n_pci & 0xF0) {
 
-			/* 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;
+			case 0x00:
+				/* SF */
+				if (n_pci & 0xF) {
+					fflen = rcvlen = n_pci & 0xF;
 					datidx = ext+1;
-					rcvlen += frame.len - datidx;
+				} else {
+					fflen = rcvlen = frame.data[ext + 1];
+					datidx = ext+2;
 				}
-			}
-			break;
 
-		default:
-			break;
-		}
+				/* ignore incorrect SF PDUs */
+				if (frame.len < rcvlen + datidx)
+					fflen = rcvlen = 0;
 
-		/* PDU reception in process */
-		if (rcvlen) {
-			if (rcvlen > fflen)
-				rcvlen = fflen;
+				/* get number of digits for printing */
+				fflen_digits = getdigits(fflen);
 
-			percent = (rcvlen * 100 / fflen);
-			printf("\r %3lu%% ", percent);
+				/* get CAN FD bitrate & LL_DL setting information */
+				brs = frame.flags & CANFD_BRS;
+				ll_dl = frame.len;
+				if (ll_dl < 8)
+					ll_dl = 8;
 
-			printf("|");
+				ioctl(s, SIOCGSTAMP, &start_tv);
 
-			if (percent > 100)
-				percent = 100;
-
-			for (i=0; i < NUMBAR; i++){
-				if (i < (int)(percent/PERCENTRES))
-					printf("X");
+				/* determine CAN frame mode for this PDU */
+				if (nbytes == CAN_MTU)
+					canfd_on = 0;
 				else
-					printf(".");
+					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;
 			}
-			printf("| %*lu/%lu ", fflen_digits, rcvlen, fflen);
-		}
 
-		/* PDU complete */
-		if (rcvlen && rcvlen >= fflen) {
+			/* PDU reception in process */
+			if (rcvlen) {
+				if (rcvlen > fflen)
+					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   )");
+				percent = (rcvlen * 100 / fflen);
+				printf("\r %3lu%% ", percent);
 
-			printf(" : %lu byte in ", fflen);
+				printf("|");
 
-			/* 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;
+				if (percent > 100)
+					percent = 100;
 
-			/* 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)     ");
+				for (i=0; i < NUMBAR; i++){
+					if (i < (int)(percent/PERCENTRES))
+						printf("X");
+					else
+						printf(".");
+				}
+				printf("| %*lu/%lu ", fflen_digits, rcvlen, fflen);
+			}
 
-			printf("\n");
-			/* wait for next PDU */
-			fflen = rcvlen = 0;
-		}
-		fflush(stdout);
+			/* 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;
-		}
-	}
+	    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 ((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);
+    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);
 	}
+    }
 
-	setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
-	setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
+    if (opts.flags & CAN_ISOTP_FORCE_RXSTMIN)
+	    setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RX_STMIN, &force_rx_stmin, sizeof(force_rx_stmin));
 
-	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);
+    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);
+    }
 
-	return 0;
+    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;
 }

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 ((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 ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
-		perror("socket");
-		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 (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts)) < 0) {
-		perror("sockopt");
-		exit(1);
-	}
+    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 (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;
-	}
+    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

@@ -41,23 +41,17 @@ 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);
 
-	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;
+	/* 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 */
-		}
-	} else {
-		/* The local time offsets cannot be determined at the moment */
-		hour_offset = 0xF9;
-		minute_offset = 0xFF;
-	}		
+	/* 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 */
+	}
 
 	/*
 	 * Seconds (spn959):

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			1000
+#define J1939_VP1_REPETITION_RATE_MS			5000
 #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 +211.10081215 degrees
- *           - Operating Range: -210 degrees (SOUTH) to +211.1081215 degrees
+ *           - Range: -210 to +211.1008122 degrees
+ *           - Operating Range: -210 degrees (SOUTH) to +211.108122 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 +211.10081215 degrees
- *           - Operating Range: -210 degrees (WEST) to +211.1081215 degrees
+ *           - Range: -210 to +211.1008122 degrees
+ *           - Operating Range: -210 degrees (WEST) to +211.108122 degrees
  *             (EAST)
  *
  * This structure defines each component of the Vehicle Position as described in
@@ -142,48 +142,42 @@ 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 unused5;          /* Always 0xFF */
-	uint8_t unused6;          /* Always 0xFF */
-	uint8_t unused7;          /* Always 0xFF */
+	uint8_t hdop;			  /* SPN 8129 */
+	uint8_t vdop;			  /* SPN 8130 */
+	uint8_t pdop;			  /* SPN 8131 */
+	uint8_t tdop;			  /* SPN 8132 */
 } __attribute__((__packed__));
 
 /**

j1939_vehicle_position/j1939_vehicle_position_srv.c

@@ -270,12 +270,6 @@ 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)
@@ -92,17 +92,16 @@ 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)
@@ -155,7 +154,7 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen)
 	return 0;
 }
 
-int parse_canframe(char *cs, union cfu *cu)
+int parse_canframe(char *cs, cu_t *cu)
 {
 	/* documentation see lib.h */
 
@@ -170,23 +169,21 @@ int parse_canframe(char *cs, union cfu *cu)
 
 	memset(cu, 0, sizeof(*cu)); /* init CAN CC/FD/XL frame, e.g. LEN = 0 */
 
-	if (len >= 4 && cs[3] == CANID_DELIM) { /* 3 digits SFF CAN ID */
+	if (len < 4)
+		return 0;
 
-		idx = 4; /* start of frame data */
+	if (cs[3] == CANID_DELIM) { /* 3 digits SFF */
 
-		/* get 3 digits SFF CAN ID value */
+		idx = 4;
 		for (i = 0; i < 3; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
 			cu->cc.can_id |= tmp << (2 - i) * 4;
 		}
 
-	} else if (len >= 21 && cs[5] == CANID_DELIM && cs[20] == CANID_DELIM) {
-		/* 5 digits CAN XL VCID/PRIO - but also check for 2nd '#' here */
+	} else if (cs[5] == CANID_DELIM) { /* 5 digits CAN XL VCID/PRIO*/
 
-		idx = 6; /* start of CAN XL frame extra content (AF, SDT, etc) */
-
-		/* get 5 digits CAN XL VCID/PRIO */
+		idx = 6;
 		for (i = 0; i < 5; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
@@ -198,11 +195,9 @@ int parse_canframe(char *cs, union cfu *cu)
 		cu->xl.prio &= CANXL_PRIO_MASK;
 		cu->xl.prio |= tmp;
 
-	} else if (len >= 9 && cs[8] == CANID_DELIM) { /* 8 digits EFF CAN ID */
+	} else if (cs[8] == CANID_DELIM) { /* 8 digits EFF */
 
-		idx = 9; /* start of frame data */
-
-		/* get 8 digits EFF CAN ID value */
+		idx = 9;
 		for (i = 0; i < 8; i++) {
 			if ((tmp = asc2nibble(cs[i])) > 0x0F)
 				return 0;
@@ -243,12 +238,11 @@ int parse_canframe(char *cs, union cfu *cu)
 		cu->fd.flags |= CANFD_FDF; /* dual-use */
 		idx += 2;
 
-	} else if (idx == 6) { /* CAN XL frame extra content '#80:00:11223344#' */
+	} else if (cs[idx + 14] == CANID_DELIM) { /* CAN XL frame '#80:00:11223344#' */
 		maxdlen = CANXL_MAX_DLEN;
 		mtu = CANXL_MTU;
-		data = cu->xl.data; /* overwrite pointer to CAN XL data */
+		data = cu->xl.data; /* fill CAN XL data */
 
-		/* get CAN XL frame extra content */
 		if ((cs[idx + 2] != XL_HDR_DELIM) || (cs[idx + 5] != XL_HDR_DELIM))
 			return 0;
 
@@ -282,7 +276,6 @@ int parse_canframe(char *cs, union cfu *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++;
@@ -315,7 +308,7 @@ int parse_canframe(char *cs, union cfu *cu)
 	return mtu;
 }
 
-int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep)
+int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep)
 {
 	/* documentation see lib.h */
 
@@ -439,7 +432,7 @@ int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep)
 	return offset;
 }
 
-int snprintf_long_canframe(char *buf, size_t size, union cfu *cu, int view)
+int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view)
 {
 	/* documentation see lib.h */
 
@@ -784,8 +777,8 @@ 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;
@@ -800,8 +793,8 @@ 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))
@@ -826,7 +819,7 @@ 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;
@@ -865,7 +858,7 @@ 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)
@@ -885,7 +878,7 @@ 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

@@ -49,8 +49,6 @@
 #include <stddef.h>
 #include <stdio.h>
 
-#include <linux/can.h>
-
 #ifdef DEBUG
 #define pr_debug(fmt, args...) printf(fmt, ##args)
 #else
@@ -59,11 +57,11 @@ static inline int pr_debug(const char* fmt, ...) {return 0;}
 #endif
 
 /* CAN CC/FD/XL frame union */
-union cfu {
+typedef union {
 	struct can_frame cc;
 	struct canfd_frame fd;
 	struct canxl_frame xl;
-};
+} cu_t;
 
 /*
  * The buffer size for ASCII CAN frame string representations
@@ -110,7 +108,7 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen);
  *
  */
 
-int parse_canframe(char *cs, union cfu *cu);
+int parse_canframe(char *cs, cu_t *cu);
 /*
  * Transfers a valid ASCII string describing a CAN frame into the CAN union
  * containing CAN CC/FD/XL structs.
@@ -180,7 +178,7 @@ int parse_canframe(char *cs, union cfu *cu);
  * - CAN FD frames do not have a RTR bit
  */
 
-int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep);
+int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep);
 /*
  * Creates a CAN frame hexadecimal output in compact format.
  * The CAN data[] is separated by '.' when sep != 0.
@@ -213,7 +211,7 @@ int snprintf_canframe(char *buf, size_t size, union cfu *cu, int sep);
 
 #define SWAP_DELIMITER '`'
 
-int snprintf_long_canframe(char *buf, size_t size, union cfu *cu, int view);
+int snprintf_long_canframe(char *buf, size_t size, cu_t *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(union cfu *cu, int devno, int mtu,
+static void canxl_asc(cu_t *cu, int devno, int mtu,
 		      char *extra_info, FILE *outfile)
 {
 	char id[10];
@@ -296,7 +296,7 @@ static void canxl_asc(union cfu *cu, int devno, int mtu,
 
 #define DEVSZ 22
 #define EXTRASZ 20
-#define TIMESZ sizeof("(1345212884.318850123)   ")
+#define TIMESZ sizeof("(1345212884.318850)   ")
 #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 union cfu cu;
+	static cu_t cu;
 	static struct timeval tv, start_tv;
 	FILE *infile = stdin;
 	FILE *outfile = stdout;
@@ -407,22 +407,7 @@ int main(int argc, char **argv)
 			}
 		}
 		tv.tv_sec = sec;
-
-		/*
-		 * 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;
-		}
+		tv.tv_usec = usec;
 
 		if (print_banner) { /* print banner */
 			print_banner = 0;

log2long.c

@@ -51,7 +51,7 @@
 #include "lib.h"
 
 #define DEVSZ 22
-#define TIMESZ 25 /* sizeof("(1345212884.318850123)   ") */
+#define TIMESZ 22 /* sizeof("(1345212884.318850)   ") */
 #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 != 25)
+#if (TIMESZ != 22)
 #error "TIMESZ value does not fit sscanf restrictions!"
 #endif
 
 int main(void)
 {
 	static char buf[BUFSZ], timestamp[TIMESZ], device[DEVSZ], afrbuf[AFRSZ];
-	static union cfu cu;
+	static cu_t cu;
 	int mtu;
 
 	while (fgets(buf, BUFSZ-1, stdin)) {
@@ -78,7 +78,7 @@ int main(void)
 			return 1;
 		}
 
-		if (sscanf(buf, "%24s %21s %6299s", timestamp, device, afrbuf) != 3)
+		if (sscanf(buf, "%21s %21s %6299s", timestamp, device, afrbuf) != 3)
 			return 1;
 
 		mtu = parse_canframe(afrbuf, &cu);

mcp251xfd/mcp251xfd-regmap.c

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