Merge cb2ca58e4b into cbbe4b41ea

.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

.github/workflows/release-deb.yml

@@ -0,0 +1,57 @@
+name: Build Deb Package
+
+on:
+  release:
+    types: [created]
+
+permissions:
+  contents: write
+
+jobs:
+  build:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04, ubuntu-24.04]
+
+    steps:
+    - name: Checkout source code
+      uses: actions/checkout@v6
+      with:
+        path: can-utils
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y build-essential devscripts debhelper cmake equivs
+
+        cd can-utils
+        # Install build dependencies defined in debian/control
+        sudo mk-build-deps -i -r -t "apt-get -y" debian/control
+
+    - name: Update changelog
+      run: |
+        cd can-utils
+        # Get version from tag, strip 'v' prefix if present
+        VERSION=${{ github.event.release.tag_name }}
+        VERSION=${VERSION#v}
+
+        # Add new entry to changelog
+        # Use the codename of the current OS (jammy or noble)
+        CODENAME=$(lsb_release -cs)
+
+        dch --create -v "${VERSION}-1~${CODENAME}" --package can-utils --distribution ${CODENAME} "New upstream release ${VERSION}"
+        dch -r ""
+
+    - name: Build package
+      run: |
+        cd can-utils
+        # Build binary packages only, unsigned
+        dpkg-buildpackage -us -uc -b
+
+    - name: Upload to Release
+      uses: softprops/action-gh-release@v2
+      with:
+        files: |
+          *.deb

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);
 		}
 
 

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");
 

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};
@@ -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");
@@ -325,17 +314,6 @@ 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",

debian/changelog

@@ -0,0 +1,5 @@
+can-utils (0.0.0-1) unstable; urgency=medium
+
+  * Initial release.
+
+ -- Maintainer Name <maintainer@example.com>  Thu, 01 Jan 1970 00:00:00 +0000

debian/control

@@ -0,0 +1,23 @@
+Source: can-utils
+Section: net
+Priority: optional
+Maintainer: GitHub Actions <actions@github.com>
+Build-Depends: debhelper-compat (= 13), cmake
+Standards-Version: 4.6.2
+Homepage: https://github.com/linux-can/can-utils
+
+Package: can-utils
+Architecture: linux-any
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: SocketCAN userspace utilities and tools
+ This package contains some userspace utilities for Linux SocketCAN subsystem.
+
+ Basic tools to display, record, generate and replay CAN traffic:
+ candump, canplayer, cansend, cangen, cansniffer, cansequence.
+ CAN access via IP sockets: canlogserver, bcmserver.
+ CAN in-kernel gateway configuration: cangw.
+ CAN bus measurement and testing: canbusload, can-calc-bit-timing, canfdtest, canerrsim.
+ ISO-TP tools: isotpsend, isotprecv, isotpsniffer, isotpdump, isotpserver, isotptun.
+ CAN log file converters: asc2log, log2asc, log2long.
+ Serial Line Discipline configuration: slcan_attach, slcand, slcanpty.
+ J1939 tools: j1939acd, j1939cat, j1939spy, j1939sr, testj1939.

debian/rules

@@ -0,0 +1,3 @@
+#!/usr/bin/make -f
+%:
+	dh $@

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;
 }
 

lib.c

@@ -170,23 +170,21 @@ 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 +196,9 @@ 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 +239,11 @@ 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 +277,6 @@ 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++;

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 */