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can-utils
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sven:v2018.02.0
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sven:v2025.01
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sven:v2021.08.0
sven:v2021.06.0
sven:v2020.12.0
sven:v2020.11.0
sven:v2020.02.04
sven:v2020.02.0
sven:v2018.02.0

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83
.github/workflows/compile.yml vendored
View File

@ -30,45 +30,7 @@ jobs:
podman run --name stable -di --userns=keep-id:uid=1000,gid=1000 -v "$PWD":/home -w /home ${{ matrix.release }} bash
podman exec -i stable uname -a
podman exec -i stable id
- name: Update APT Sources List (Ubuntu Only)
if:
startsWith(matrix.release, 'ubuntu:') && matrix.release != 'ubuntu:20.04'
run: |
podman exec -i -u root stable apt update
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy \
lsb-release
podman exec -i -u root stable \
test -e /etc/apt/sources.list &&
podman exec -i -u root stable \
sed -i -e 's|\(http.*:\)|[arch=amd64] \1|g' /etc/apt/sources.list
podman exec -i -u root stable \
test -e /etc/apt/sources.list.d/ubuntu.sources &&
podman exec -i -u root stable \
sed -i -e '/^Components:/a Architectures: amd64' /etc/apt/sources.list.d/ubuntu.sources
echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs) main restricted universe multiverse" | \
podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs)-updates main restricted universe multiverse" | \
podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
echo "deb [arch=armhf,arm64] http://ports.ubuntu.com/ubuntu-ports/ $(podman exec -i stable lsb_release -cs)-backports main restricted universe multiverse" | \
podman exec -i -u root stable tee -a /etc/apt/sources.list.d/cross.list
- name: Add Architecture
if:
matrix.release != 'ubuntu:20.04'
run: |
podman exec -i -u root stable dpkg --add-architecture arm64
podman exec -i -u root stable dpkg --add-architecture armhf
- name: Install Development Packages
env:
release: ${{ matrix.release == 'debian:experimental' && '-t experimental' || '' }}
run: |
podman exec -i -u root stable apt update
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt upgrade -o APT::Install-Suggests=false -qy
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy ${release} \
clang \
cmake \
@ -76,67 +38,52 @@ jobs:
gcc-aarch64-linux-gnu \
gcc-arm-linux-gnueabihf \
gcc-mips-linux-gnu \
libgps-dev \
make
- name: Install Cross Libs
env:
release: ${{ matrix.release == 'debian:experimental' && '-t experimental' || '' }}
if:
matrix.release != 'ubuntu:20.04'
run: |
podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy ${release} \
libgps-dev:arm64 \
libgps-dev:armhf
- name: Configure & Build with gcc
env:
cc: gcc
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -DENABLE_GPS=ON -B build-${cc}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -B build-${cc}
podman exec -i stable cmake --build build-${cc}
- name: Configure & Build with clang
env:
cc: clang
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -DENABLE_GPS=ON -B build-${cc}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${cc} -DENABLE_WERROR=ON -B build-${cc}
podman exec -i stable cmake --build build-${cc}
- name: Configure & Build with arm-linux-gnueabihf-gcc
env:
toolchain: arm-linux-gnueabihf-gcc
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake -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 arm-linux-gnueabihf-clang
if:
matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim'
${{ matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim' }}
env:
toolchain: arm-linux-gnueabihf-clang
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake -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 aarch64-linux-gnu-gcc
env:
toolchain: aarch64-linux-gnu-gcc
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake -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 aarch64-linux-gnu-clang
if:
matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim'
${{ matrix.release != 'ubuntu:20.04' && matrix.release != 'debian:oldstable-slim' }}
env:
toolchain: aarch64-linux-gnu-clang
gps: ${{ matrix.release == 'ubuntu:20.04' && 'OFF' || 'ON' }}
run: |
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -DENABLE_GPS=${gps} -B build-${toolchain}
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -DENABLE_WERROR=ON -B build-${toolchain}
podman exec -i stable cmake --build build-${toolchain}
- name: Configure & Build with mips-linux-gnu-gcc
@ -146,20 +93,6 @@ jobs:
podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${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
run: |
podman exec -i stable make CC=${cc}
podman exec -i stable make clean
- name: Configure & Build with clang (Makefile)
env:
cc: clang
run: |
podman exec -i stable make CC=${cc}
podman exec -i stable make clean
- name: Show logs
if: ${{ failure() }}
run: |

8
.gitignore vendored
View File

@ -1,12 +1,6 @@
*~
*.a
*.so
*.so.*
*.o
.ccls-cache
CMakeCache.txt
CMakeFiles/
cmake_install.cmake
compile_commands.json
tags
/build
@ -16,7 +10,6 @@ tags
/can-calc-bit-timing
/canbusload
/candump
/canerrsim
/canfdtest
/cangen
/cangw
@ -40,7 +33,6 @@ tags
/j1939sr
/j1939-timedate-cli
/j1939-timedate-srv
/j1939-vehicle-position-srv
/log2asc
/log2long
/mcp251xfd-dump

237
CMakeLists.txt
View File

@ -4,46 +4,16 @@ project(can-utils LANGUAGES C)
message(STATUS "CMake version: ${CMAKE_VERSION}")
include(CheckFunctionExists)
include(CheckSymbolExists)
include(GNUInstallDirs)
include (CheckFunctionExists)
include (CheckSymbolExists)
include (GNUInstallDirs)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
if(CMAKE_EXPORT_COMPILE_COMMANDS STREQUAL "")
set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE BOOL "project default" FORCE)
endif()
# Add an option to enable treating warnings as errors
option(ENABLE_WERROR "Treat all compiler warnings as errors" OFF)
option(ENABLE_GPS "Enable GPS support" OFF)
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
# Options for controlling targets. These groups correspond to the README.
option(ENABLE_BASIC_TOOLS "Build basic tools" ON)
option(ENABLE_IP_SERVER "Build tools providing CAN access via IP sockets" ON)
option(ENABLE_GATEWAY "Build in-kernel gateway configuration tools" ON)
option(ENABLE_MEASUREMENT "Build measurement tools" ON)
option(ENABLE_ISOTP "Build isotp tools" ON)
option(ENABLE_LOG_FILE "Build log file converter tools" ON)
option(ENABLE_SLCAN "Build slcan tools" ON)
option(ENABLE_MCP251XFD "Build MCP251XFD tools" ON)
# cmake_dependent_option is only available in CMake 3.22 and later.
if(ANDROID)
set(ENABLE_J1939 OFF)
set(ENABLE_ISOBUSFS OFF)
else()
option(ENABLE_J1939 "Build J1939 tools" ON)
option(ENABLE_ISOBUSFS "Build ISOBUS tools" ON)
endif()
find_package(PkgConfig REQUIRED)
if(ENABLE_GPS)
pkg_check_modules(GPS REQUIRED libgps)
endif()
if(ENABLE_WERROR)
add_compile_options(-Werror)
@ -62,116 +32,102 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DCLOCK_TAI=11")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DSO_TXTIME=61")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DSCM_TXTIME=SO_TXTIME")
include_directories(.)
include_directories(./include)
include_directories (.)
include_directories (./include)
check_function_exists(fork HAVE_FORK)
# List of all programs to be built.
# Each program is expected to have a corresponding source file with the same name.
set(PROGRAMS)
# List of programs to link against can.
set(PROGRAMS_CANLIB)
# List of programs to link against j1939 and can.
set(PROGRAMS_J1939)
if(ENABLE_BASIC_TOOLS)
list(APPEND PROGRAMS cansniffer)
list(APPEND PROGRAMS_CANLIB
set(PROGRAMS_CANLIB
asc2log
canbusload
candump
cangen
canplayer
cansend
cangen
cansequence
)
endif()
log2asc
log2long
slcanpty
)
if(ENABLE_IP_SERVER AND HAVE_FORK)
list(APPEND PROGRAMS bcmserver)
if(HAVE_FORK)
list(APPEND PROGRAMS_CANLIB canlogserver)
endif()
if(ENABLE_GATEWAY)
list(APPEND PROGRAMS cangw)
endif()
set(PROGRAMS_J1939
j1939acd
j1939cat
j1939spy
j1939sr
testj1939
)
if(ENABLE_MEASUREMENT)
list(APPEND PROGRAMS
set(PROGRAMS_J1939_TIMEDATE
j1939-timedate-srv
j1939-timedate-cli
)
set(PROGRAMS_ISOBUSFS
isobusfs-srv
isobusfs-cli
)
set(PROGRAMS
${PROGRAMS_CANLIB}
canfdtest
canerrsim
)
list(APPEND PROGRAMS_CANLIB canbusload)
add_executable(can-calc-bit-timing
calc-bit-timing/can-calc-bit-timing.c
)
install(TARGETS can-calc-bit-timing DESTINATION ${CMAKE_INSTALL_BINDIR})
endif()
if(ENABLE_ISOTP)
list(APPEND PROGRAMS
cangw
cansniffer
isotpdump
isotpperf
isotprecv
isotpsend
isotpsniffer
isotptun
)
slcan_attach
slcand
)
if(HAVE_FORK)
if(HAVE_FORK)
list(APPEND PROGRAMS bcmserver)
list(APPEND PROGRAMS isotpserver)
endif()
endif()
if(ENABLE_J1939)
list(APPEND PROGRAMS_J1939
j1939acd
j1939cat
j1939spy
j1939sr
testj1939
add_executable(can-calc-bit-timing
calc-bit-timing/can-calc-bit-timing.c
)
add_executable(mcp251xfd-dump
mcp251xfd/mcp251xfd-dev-coredump.c
mcp251xfd/mcp251xfd-dump.c
mcp251xfd/mcp251xfd-main.c
mcp251xfd/mcp251xfd-regmap.c
)
if(NOT ANDROID)
list(APPEND PROGRAMS ${PROGRAMS_J1939})
add_library(j1939 STATIC
libj1939.c
)
add_executable(j1939-timedate-cli
j1939_timedate/j1939_timedate_cli.c
target_link_libraries(j1939
PRIVATE can
)
target_link_libraries(j1939-timedate-cli
PRIVATE can j1939
)
install(TARGETS j1939-timedate-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(j1939-timedate-srv
j1939_timedate/j1939_timedate_srv.c
)
target_link_libraries(j1939-timedate-srv
PRIVATE can j1939
)
install(TARGETS j1939-timedate-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
endif()
if(ENABLE_J1939 AND ENABLE_GPS)
add_executable(j1939-vehicle-position-srv
j1939_vehicle_position/j1939_vehicle_position_srv.c
)
target_link_libraries(j1939-vehicle-position-srv
PRIVATE can j1939 ${GPS_LIBRARIES}
)
install(TARGETS j1939-vehicle-position-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
endif()
if(ENABLE_ISOBUSFS)
add_library(isobusfs EXCLUDE_FROM_ALL
add_library(isobusfs SHARED
isobusfs/isobusfs_cmn.c
isobusfs/isobusfs_cmn_dh.c
)
set(PUBLIC_HEADER_ISOBUSFS
isobusfs/isobusfs_cmn.h
isobusfs/isobusfs_cmn_cm.h
)
set_target_properties(isobusfs PROPERTIES
PUBLIC_HEADER "${PUBLIC_HEADER_ISOBUSFS}"
SOVERSION 0
)
install(TARGETS isobusfs
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
@ -185,10 +141,10 @@ if(ENABLE_ISOBUSFS)
isobusfs/isobusfs_cli_selftests.c
isobusfs/isobusfs_cli_int.c
)
target_link_libraries(isobusfs-cli
PRIVATE isobusfs can j1939
)
install(TARGETS isobusfs-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(isobusfs-srv
isobusfs/isobusfs_srv.c
@ -199,55 +155,48 @@ if(ENABLE_ISOBUSFS)
isobusfs/isobusfs_srv_fh.c
isobusfs/isobusfs_srv_vh.c
)
target_link_libraries(isobusfs-srv
PRIVATE isobusfs can j1939
)
install(TARGETS isobusfs-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
endif()
if(ENABLE_LOG_FILE)
list(APPEND PROGRAMS_CANLIB
asc2log
log2asc
log2long
install(TARGETS
isobusfs-cli
isobusfs-srv
DESTINATION ${CMAKE_INSTALL_BINDIR})
set(PUBLIC_HEADER_j1939_TIMEDATE
j1939_timedate/j1939_timedate_cmn.h
)
endif()
if(ENABLE_SLCAN)
list(APPEND PROGRAMS
slcan_attach
slcand
add_executable(j1939-timedate-cli
j1939_timedate/j1939_timedate_cli.c
)
list(APPEND PROGRAMS_CANLIB slcanpty)
endif()
if(ENABLE_MCP251XFD)
add_executable(mcp251xfd-dump
mcp251xfd/mcp251xfd-dev-coredump.c
mcp251xfd/mcp251xfd-dump.c
mcp251xfd/mcp251xfd-main.c
mcp251xfd/mcp251xfd-regmap.c
target_link_libraries(j1939-timedate-cli
PRIVATE can j1939
)
install(TARGETS mcp251xfd-dump DESTINATION ${CMAKE_INSTALL_BINDIR})
add_executable(j1939-timedate-srv
j1939_timedate/j1939_timedate_srv.c
)
target_link_libraries(j1939-timedate-srv
PRIVATE can j1939
)
install(TARGETS
j1939-timedate-cli
j1939-timedate-srv
DESTINATION ${CMAKE_INSTALL_BINDIR})
endif()
list(APPEND PROGRAMS
${PROGRAMS_CANLIB}
${PROGRAMS_J1939}
)
add_library(can STATIC EXCLUDE_FROM_ALL
add_library(can STATIC
lib.c
canframelen.c
)
add_library(j1939 STATIC EXCLUDE_FROM_ALL
libj1939.c
)
target_link_libraries(j1939
PRIVATE can
)
foreach(name ${PROGRAMS})
add_executable(${name} ${name}.c)
@ -264,6 +213,12 @@ foreach(name ${PROGRAMS})
install(TARGETS ${name} DESTINATION ${CMAKE_INSTALL_BINDIR})
endforeach()
install(TARGETS
can-calc-bit-timing
mcp251xfd-dump
DESTINATION ${CMAKE_INSTALL_BINDIR}
)
add_custom_target(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_SOURCE_DIR}/cmake/make_uninstall.cmake"
COMMENT "Add uninstall target"

19
Makefile
View File

@ -46,7 +46,6 @@ MAKEFLAGS := -k
CFLAGS := -O2 -Wall -Wno-parentheses -Wsign-compare
HAVE_FORK := $(shell ./check_cc.sh "$(CC)" fork_test.c)
HAVE_LIBGPS := $(shell test -x "`which pkg-config`" && pkg-config --exists libgps && echo 1 || echo 0)
CPPFLAGS += \
-I. \
@ -68,11 +67,6 @@ PROGRAMS_J1939_TIMEDATE := \
j1939-timedate-srv \
j1939-timedate-cli
ifeq ($(HAVE_LIBGPS),1)
PROGRAMS_J1939_VEHICLE_POSITION := \
j1939-vehicle-position-srv
endif
PROGRAMS_ISOBUSFS := \
isobusfs-srv \
isobusfs-cli
@ -104,7 +98,6 @@ PROGRAMS_SLCAN := \
PROGRAMS := \
$(PROGRAMS_CANGW) \
$(PROGRAMS_J1939_TIMEDATE) \
$(PROGRAMS_J1939_VEHICLE_POSITION) \
$(PROGRAMS_ISOBUSFS) \
$(PROGRAMS_ISOTP) \
$(PROGRAMS_J1939) \
@ -113,7 +106,6 @@ PROGRAMS := \
can-calc-bit-timing \
canbusload \
candump \
canerrsim \
canfdtest \
cangen \
cansequence \
@ -134,8 +126,7 @@ endif
all: $(PROGRAMS)
clean:
rm -f $(PROGRAMS) *.o mcp251xfd/*.o isobusfs/*.o j1939_timedate/*.o \
j1939_vehicle_position/*.o
rm -f $(PROGRAMS) *.o mcp251xfd/*.o isobusfs/*.o j1939_timedate/*.o
install:
mkdir -p $(DESTDIR)$(PREFIX)/bin
@ -162,8 +153,6 @@ isobusfs_srv.o: lib.h libj1939.h
isobusfs_c.o: lib.h libj1939.h
j1939_timedate_srv.o: lib.h libj1939.h
j1939_timedate_cli.o: lib.h libj1939.h
j1939_vehicle_position_srv.o: lib.h libj1939.h
canframelen.o: canframelen.h
asc2log: asc2log.o lib.o
@ -193,12 +182,6 @@ j1939-timedate-cli: lib.o \
j1939_timedate/j1939_timedate_cli.o
$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $@
j1939-vehicle-position-srv: \
lib.o \
libj1939.o \
j1939_vehicle_position/j1939_vehicle_position_srv.o
$(CC) $(LDFLAGS) $^ $(LDLIBS) $(shell pkg-config --libs libgps) -o $@
isobusfs-srv: lib.o \
libj1939.o \
isobusfs/isobusfs_cmn.o \

7
README.md
View File

@ -29,7 +29,6 @@ subsystem (aka SocketCAN):
* canbusload : calculate and display the CAN busload
* can-calc-bit-timing : userspace version of in-kernel bitrate calculation
* canfdtest : Full-duplex test program (DUT and host part)
* canerrsim : CAN error message simulator
#### ISO-TP tools [ISO15765-2:2016 for Linux](https://github.com/hartkopp/can-isotp)
* isotpsend : send a single ISO-TP PDU
@ -50,10 +49,6 @@ subsystem (aka SocketCAN):
Follow the link to see examples on how this tools can be used:
[Kickstart guide to can-j1939 on linux](https://github.com/linux-can/can-utils/blob/master/can-j1939-kickstart.md)
#### ISOBus File server tools
* isobusfs-cli : ISOBus file client
* isobusfs-srv : ISOBus file server
#### Log file converters
* asc2log : convert ASC logfile to compact CAN frame logfile
* log2asc : convert compact CAN frame logfile to ASC logfile
@ -80,4 +75,4 @@ Follow the link to see examples on how this tools can be used:
* [SocketCAN Documentation (Linux Kernel)](https://www.kernel.org/doc/html/latest/networking/can.html)
* [Elinux.org CAN Bus Page](http://elinux.org/CAN_Bus)
* [Debian Package Description](https://packages.debian.org/sid/can-utils)
* [J1939 kernel module installation on Debian](can-j1939-install-kernel-module.md)

5
calc-bit-timing/can-calc-bit-timing.c
View File

@ -1121,11 +1121,6 @@ static const unsigned int common_data_bitrates[] = {
4000000,
2000000,
1000000,
800000,
500000,
250000,
125000,
100000,
0
};

103
candump.c
View File

@ -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);
}
(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);
}
(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 {
diff.tv_sec = diff.tv_usec = 0;
numchars = sprintf(ts_buffer, "(%03llu.%06llu) ",
(unsigned long long)diff.tv_sec,
(unsigned long long)diff.tv_nsec / 1000);
}
(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;
@ -345,7 +322,7 @@ int main(int argc, char **argv)
static cu_t cu; /* union for CAN CC/FD/XL frames */
int nbytes, i;
struct ifreq ifr;
struct 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;
@ -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]);
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 : "");

564
canerrsim.c
View File

@ -1,564 +0,0 @@
////////////////////////////////////////////////////////////////////////////////////////////////////
// //
// canerrsim - utility to simulate SocketCAN error messages, by Zeljko Avramovic (c) 2024 //
// //
// SPDX-License-Identifier: LGPL-2.1-or-later OR BSD-3-Clause //
// //
// Virtual CAN adapter vcan0 is hard coded and you can bring it up like this: //
// sudo modprobe vcan //
// sudo ip link add dev vcan0 type vcan //
// sudo ip link set vcan0 mtu 72 # needed for CAN FD //
// sudo ip link set vcan0 up //
// //
// To simulate error messages use canerrsim utility like this: //
// ./canerrsim vcan0 LostArBit=09 Data4=AA TX BusOff NoAck ShowBits //
// //
// That should show in canerrdump utility as: //
// 0x06A [8] 09 00 80 00 AA 00 00 00 ERR=LostArBit09,NoAck,BusOff,Prot(Type(TX),Loc(Unspec)) //
// //
// Alternatively, you could use candump from can-utils to check only error messages like this: //
// candump -tA -e -c -a any,0~0,#FFFFFFFF //
// //
////////////////////////////////////////////////////////////////////////////////////////////////////
#include <linux/can.h>
#include <linux/can/error.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
#define STR_EQUAL 0
void show_help_and_exit()
{
printf("\n");
printf("Usage: canerrsim <CAN interface> <options>\n");
printf("\n");
printf("CAN interface: ( CAN interface is case sensitive )\n");
printf(" can0 ( or can1, can2 or virtual ones like vcan0, vcan1...\n");
printf("\n");
printf("Options: ( options are not case sensitive )\n");
printf(" ( ERROR CLASS (MASK) IN CAN ID: )\n");
printf(" TxTimeout ( TX timeout by netdevice driver )\n");
printf(" NoAck ( received no ACK on transmission )\n");
printf(" BusOff ( bus off )\n");
printf(" BusError ( bus error, may flood! )\n");
printf(" Restarted ( controller restarted )\n");
printf(" TxCount=<00..FF> ( TX error counter )\n");
printf(" RxCount=<00..FF> ( RX error counter )\n");
printf(" ( ARBITRATIONLOST IN CAN ID + BIT NUMBER IN DATA[0]: )\n");
printf(" LostArBit=<00..29> ( decimal lost arbitration bit number in bitstream )\n");
printf(" ( CONTROLLER IN CAN ID + ERROR STATUS IN DATA[1]: )\n");
printf(" OverflowRX ( RX buffer overflow )\n");
printf(" OverflowTX ( TX buffer overflow )\n");
printf(" WarningRX ( reached warning level for RX errors )\n");
printf(" WarningTX ( reached warning level for TX errors )\n");
printf(" PassiveRX ( reached error passive status RX, errors > 127 )\n");
printf(" PassiveTX ( reached error passive status TX, errors > 127 )\n");
printf(" Active ( recovered to error active state )\n");
printf(" ( PROTOCOL ERROR IN CAN ID + TYPE IN DATA[2]: )\n");
printf(" SingleBit ( single bit error )\n");
printf(" FrameFormat ( frame format error )\n");
printf(" BitStuffing ( bit stuffing error )\n");
printf(" Bit0 ( unable to send dominant bit )\n");
printf(" Bit1 ( unable to send recessive bit )\n");
printf(" BusOverload ( bus overload )\n");
printf(" ActiveAnnouncement ( active error announcement )\n");
printf(" TX ( error occurred on transmission )\n");
printf(" ( PROTOCOL ERROR IN CAN ID + LOCATION IN DATA[3]: )\n");
printf(" SOF ( start of frame )\n");
printf(" ID28_21 ( ID bits 21..28, SFF: 3..10 )\n");
printf(" ID20_18 ( ID bits 18..20, SFF: 0..2 )\n");
printf(" SRTR ( substitute RTR, SFF: RTR )\n");
printf(" IDE ( identifier extension )\n");
printf(" ID17_13 ( ID bits 13..17 )\n");
printf(" ID12_05 ( ID bits 5..12 )\n");
printf(" ID04_00 ( ID bits 0..4 )\n");
printf(" RTR ( RTR )\n");
printf(" RES1 ( reserved bit 1 )\n");
printf(" RES0 ( reserved bit 0 )\n");
printf(" DLC ( data length code )\n");
printf(" DATA ( data section )\n");
printf(" CRC_SEQ ( CRC sequence )\n");
printf(" CRC_DEL ( CRC delimiter )\n");
printf(" ACK ( ACK slot )\n");
printf(" ACK_DEL ( ACK delimiter )\n");
printf(" EOF ( end of frame )\n");
printf(" INTERM ( intermission )\n");
printf(" ( TRANSCEIVER ERROR IN CAN ID + STATUS IN DATA[4]: )\n");
printf(" ( CANH CANL )\n");
printf(" TransUnspec ( 0000 0000 )\n");
printf(" CanHiNoWire ( 0000 0100 )\n");
printf(" CanHiShortToBAT ( 0000 0101 )\n");
printf(" CanHiShortToVCC ( 0000 0110 )\n");
printf(" CanHiShortToGND ( 0000 0111 )\n");
printf(" CanLoNoWire ( 0100 0000 )\n");
printf(" CanLoShortToBAT ( 0101 0000 )\n");
printf(" CanLoShortToVCC ( 0110 0000 )\n");
printf(" CanLoShortToGND ( 0111 0000 )\n");
printf(" CanLoShortToCanHi ( 1000 0000 )\n");
printf(" ( CUSTOM BYTE TO DATA[0..7]: )\n");
printf(" Data<0..7>=<00..FF> ( write hex number to one of 8 payload bytes )\n");
printf(" ( DEBUG HELPERS: )\n");
printf(" ShowBits ( display all frame bits )\n");
printf("\n");
printf("Examples:\n");
printf("\n");
printf(" ./canerrsim can1 LostArBit=09 Data3=AA Data4=BB ShowBits\n");
printf(" ( can1: 9th arb. bit lost, custom bytes in Data[3] and Data[4], show debug frame bits )\n");
printf("\n");
printf(" ./canerrsim vcan0 NoAck TxTimeout Active\n");
printf(" ( vcan0: received no ACK on transmission, driver timeout, protocol type active error announcement )\n");
printf("\n");
printf(" ./canerrsim vcan0 BusError CanHiNoWire Restarted INTERM\n");
printf(" ( vcan0: bus error, lost CANH wiring, controller restarted, protocol location intermission )\n");
printf("\n");
exit(EXIT_SUCCESS);
}
void err_exit(const char *msg)
{
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)
{
show_custom_format_and_exit(option, "Error: Invalid option %s\n");
}
void show_err_and_exit(const char *err_type)
{
show_custom_format_and_exit(err_type, "Error: You can only have one %s parameter!\n");
}
void show_loc_err_and_exit()
{
show_err_and_exit("protocol location");
}
void show_arb_err_and_exit()
{
show_err_and_exit("arbitration bit");
}
void show_transc_err_and_exit()
{
show_err_and_exit("transceiver");
}
void print_binary(uint32_t number)
{
uint32_t mask = 0x80000000; // start with the most significant bit
for (int i = 0; i < 32; i++) {
putchar((number & mask) ? '1' : '0');
mask >>= 1; // shift the mask to the right
}
}
int main(int argc, char *argv[])
{
int sock;
struct sockaddr_can addr;
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)
show_help_and_exit();
// initialize CAN frame
memset(&frame, 0, sizeof(frame));
frame.can_id = CAN_ERR_FLAG;
frame.can_dlc = CAN_ERR_DLC;
// Parse command line parameters
for (int i = 2; i < argc; i++) {
//printf("strlen(argv[%d]) = %d\n", i, strlen(argv[i]));
// error class (mask) in can_id
if (strcasecmp(argv[i], "TxTimeout") == STR_EQUAL)
frame.can_id |= CAN_ERR_TX_TIMEOUT; // generate TxTimeout error
else if (strcasecmp(argv[i], "NoAck") == STR_EQUAL)
frame.can_id |= CAN_ERR_ACK; // generate NoAck error
else if (strcasecmp(argv[i], "BusOff") == STR_EQUAL)
frame.can_id |= CAN_ERR_BUSOFF; // generate BusOff error
else if (strcasecmp(argv[i], "BusError") == STR_EQUAL)
frame.can_id |= CAN_ERR_BUSERROR; // generate BusError error
else if (strcasecmp(argv[i], "Restarted") == STR_EQUAL)
frame.can_id |= CAN_ERR_RESTARTED; // generate Restarted error
// error status of CAN controller / data[1]
else if (strcasecmp(argv[i], "OverflowRX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_RX_OVERFLOW; // generate RX Overflow suberror
} else if (strcasecmp(argv[i], "OverflowTX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_TX_OVERFLOW; // generate TX Overflow suberror
} else if (strcasecmp(argv[i], "WarningRX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_RX_WARNING; // generate RX Warning suberror
} else if (strcasecmp(argv[i], "WarningTX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_TX_WARNING; // generate TX Warning suberror
} else if (strcasecmp(argv[i], "PassiveRX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_RX_PASSIVE; // generate RX Passive suberror
} else if (strcasecmp(argv[i], "PassiveTX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_TX_PASSIVE; // generate TX Passive suberror
} else if (strcasecmp(argv[i], "Active") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] |= CAN_ERR_CRTL_ACTIVE; // generate Active suberror
} else if (strcasecmp(argv[i], "CtrlUnspec") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CRTL; // generate Controller error
frame.data[1] = CAN_ERR_CRTL_UNSPEC; // generate Unspec suberror
}
// error in CAN protocol (type) / data[2]
else if (strcasecmp(argv[i], "SingleBit") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_BIT; // generate SingleBit suberror
} else if (strcasecmp(argv[i], "FrameFormat") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_FORM; // generate FrameFormat suberror
} else if (strcasecmp(argv[i], "BitStuffing") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_STUFF; // generate BitStuffing suberror
} else if (strcasecmp(argv[i], "Bit0") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_BIT0; // generate Bit0 suberror
} else if (strcasecmp(argv[i], "Bit1") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_BIT1; // generate Bit1 suberror
} else if (strcasecmp(argv[i], "BusOverload") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_OVERLOAD; // generate BusOverload suberror
} else if (strcasecmp(argv[i], "ActiveAnnouncement") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_ACTIVE; // generate ActiveAnnouncement suberror
} else if (strcasecmp(argv[i], "TX") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_TX; // generate TX suberror
} else if (strcasecmp(argv[i], "ProtUnspec") == STR_EQUAL) {
frame.can_id |= CAN_ERR_PROT; // generate Protocol Type error
frame.data[2] = CAN_ERR_PROT_UNSPEC; // generate Unspec suberror
}
// error in CAN protocol (location) / data[3]
else if (strcasecmp(argv[i], "LocUnspec") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_UNSPEC; // generate Unspec suberror
location_processed = true;
} else if (strcasecmp(argv[i], "SOF") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_SOF; // generate SOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "SOF") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_SOF; // generate SOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID28_21") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID28_21; // generate ID28_21 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID20_18") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID20_18; // generate ID20_18 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "SRTR") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_SRTR; // generate SRTR suberror
location_processed = true;
} else if (strcasecmp(argv[i], "IDE") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_IDE; // generate IDE suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID17_13") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID17_13; // generate ID17_13 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID12_05") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID12_05; // generate ID12_05 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ID04_00") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ID04_00; // generate ID04_00 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "RTR") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_RTR; // generate RTR suberror
location_processed = true;
} else if (strcasecmp(argv[i], "RES1") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_RES1; // generate RES1 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "RES0") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_RES0; // generate RES0 suberror
location_processed = true;
} else if (strcasecmp(argv[i], "DLC") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_DLC; // generate DLC suberror
location_processed = true;
} else if (strcasecmp(argv[i], "DATA") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_DATA; // generate DATA suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CRC_SEQ") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_CRC_SEQ; // generate CRC_SEQ suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CRC_DEL") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_CRC_DEL; // generate CRC_DEL suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ACK") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ACK; // generate ACK suberror
location_processed = true;
} else if (strcasecmp(argv[i], "ACK_DEL") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_ACK_DEL; // generate ACK_DEL suberror
location_processed = true;
} else if (strcasecmp(argv[i], "EOF") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_EOF; // generate EOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "INTERM") == STR_EQUAL) {
if (location_processed)
show_loc_err_and_exit();
frame.can_id |= CAN_ERR_PROT; // generate Protocol Location error
frame.data[3] = CAN_ERR_PROT_LOC_INTERM; // generate INTERM suberror
location_processed = true;
}
// error status of CAN transceiver / data[4]
else if (strcasecmp(argv[i], "TransUnspec") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_UNSPEC; // generate EOF suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiNoWire") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_NO_WIRE; // generate CanHiNoWire suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiShortToBAT") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_BAT; // generate CanHiShortToBAT suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiShortToVCC") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_VCC; // generate CanHiShortToVCC suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanHiShortToGND") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANH_SHORT_TO_GND; // generate CanHiShortToGND suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoNoWire") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_NO_WIRE; // generate CanLoNoWire suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToBAT") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_BAT; // generate CanLoShortToBAT suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToVCC") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_VCC; // generate CanLoShortToVCC suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToGND") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_GND; // generate CanLoShortToGND suberror
location_processed = true;
} else if (strcasecmp(argv[i], "CanLoShortToCanHi") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.can_id |= CAN_ERR_TRX; // generate Transceiver error
frame.data[4] = CAN_ERR_TRX_CANL_SHORT_TO_CANH; // generate CanLoShortToCanHi suberror
location_processed = true;
}
// LostArBit=29 (Totallength=12)
else if ((strlen(argv[i]) == 12) && // 'LostArBit=29'
(argv[i][9] == '=') && // '='
(argv[i][10] >= '0' && argv[i][10] <= '2') && // valid bits are from 00 to 29 (in decimal)
(argv[i][11] >= '0' && argv[i][11] <= '9')) { // valid bits are from 00 to 29 (in decimal)
unsigned char arb_bit_num = (argv[i][10] - '0') * 10 + argv[i][11] - '0'; // convert decimal bitnumber to byte
argv[i][9] = 0; // terminate string for comparison
if (strcasecmp(argv[i], "LostArBit") == STR_EQUAL) {
if (arbitration_processed)
show_arb_err_and_exit();
frame.can_id |= CAN_ERR_LOSTARB; // generate LostArbitartionBit error
frame.data[0] = arb_bit_num; // bitnumber
arbitration_processed = true;
} else {
argv[i][9] = '='; // undo string termination
show_invalid_option(argv[i]);
}
}
// Data1=F4 (Totallength=8) // since this does not set any error bit, has to be combined with other errors
else if ((strlen(argv[i]) == 8) && // 'Data1=F4'
(argv[i][4] >= '0' && argv[i][4] <= '7') && // valid data bytes are from 0 to 7 (in decimal)
(argv[i][5] == '=') && // '='
((argv[i][6] >= '0' && argv[i][6] <= '9') || (argv[i][6] >= 'A' && argv[i][6] <= 'F')) && // first hexadecimal digit
((argv[i][7] >= '0' && argv[i][7] <= '9') || (argv[i][6] >= 'A' && argv[i][6] <= 'F'))) { // second hexadecimal digit
unsigned char data_byte_value, data_byte_no = 0;
data_byte_no = argv[i][4] - '0'; // convert order number of data byte (Data1 to 1, Data2 to 2...)
data_byte_value = 0;
if (argv[i][6] >= 'A') // convert higher digit hexadecimal char to byte
data_byte_value += (argv[i][6] - 'A' + 10) * 16;
else
data_byte_value += (argv[i][6] - '0') * 16;
if (argv[i][7] >= 'A') // convert lower digit hexadecimal char to byte
data_byte_value += (argv[i][7] - 'A' + 10);
else
data_byte_value += (argv[i][7] - '0');
argv[i][4] = 0; // terminate string for comparison
if (strcasecmp(argv[i], "Data") == STR_EQUAL) {
if (transceiver_processed)
show_transc_err_and_exit();
frame.data[data_byte_no] = data_byte_value; // populate proper data byte
arbitration_processed = true;
} else {
argv[i][4] = data_byte_no + '0'; // undo string termination
show_invalid_option(argv[i]);
}
}
// RxCount=F4 or TxCount=3A (Totallength=10)
else if ((strlen(argv[i]) == 10) && // 'RxCounter=F4' or 'TxCounter=3A'
(argv[i][7] == '=') && // '='
((argv[i][8] >= '0' && argv[i][8] <= '9') || (argv[i][8] >= 'A' && argv[i][8] <= 'F')) && // first hexadecimal digit
((argv[i][9] >= '0' && argv[i][9] <= '9') || (argv[i][9] >= 'A' && argv[i][9] <= 'F'))) { // second hexadecimal digit
unsigned char counter_value = 0;
if (argv[i][8] >= 'A') // convert higher digit hexadecimal char to byte
counter_value += (argv[i][8] - 'A' + 10) * 16;
else
counter_value += (argv[i][8] - '0') * 16;
if (argv[i][9] >= 'A') // convert lower digit hexadecimal char to byte
counter_value += (argv[i][9] - 'A' + 10);
else
counter_value += (argv[i][9] - '0');
argv[i][7] = 0; // terminate string for comparison
if (strcasecmp(argv[i], "TxCount") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CNT; // generate TxCounter error
frame.data[6] = counter_value; // populate proper data byte
} else if (strcasecmp(argv[i], "RxCount") == STR_EQUAL) {
frame.can_id |= CAN_ERR_CNT; // generate RxCounter error
frame.data[7] = counter_value; // populate proper data byte
} else {
argv[i][7] = '='; // undo string termination
show_invalid_option(argv[i]);
}
} else if (strcasecmp(argv[i], "ShowBits") == STR_EQUAL) // DEBUG helper
show_bits = true; // Display frame as bits
else
show_invalid_option(argv[i]);
}
if (show_bits == true) {
printf("CAN ID = ");
print_binary(frame.can_id);
printf("\n");
// printf("frame.can_dlc = %d\n", frame.can_dlc);
printf("CAN Data = ");
for (size_t i = 0; i < frame.can_dlc; i++)
printf("%02X ", frame.data[i]);
printf("\n");
}
// create socket
if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
err_exit("Error while opening socket");
// set interface name
strcpy(ifr.ifr_name, argv[1]); // can0, vcan0...
if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0) {
sprintf(tmp_str, "Error setting CAN interface name %s", argv[1]);
err_exit(tmp_str);
}
// 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");
// Send CAN error frame
if (write(sock, &frame, sizeof(frame)) < 0)
err_exit("Error writing to socket");
else
printf("CAN error frame sent\n");
close(sock);
return 0;
}

116
cangen.c
View File

@ -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");
@ -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;
@ -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;
@ -778,32 +777,34 @@ int main(int argc, char **argv)
&loopback, sizeof(loopback));
}
/* get CAN netdevice MTU for frame type capabilities */
if (canfd || canxl) {
/* check if the frame fits into the CAN netdevice */
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) {
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));
} else {
/* limit fixed CAN XL data length to 64 */
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;
}
}
/* check CAN FD support */
if (ifr.ifr_mtu < (int)CANFD_MTU) {
mixfd = 0;
if (canfd) {
if (canfd && (ifr.ifr_mtu < (int)CANFD_MTU)) {
printf("CAN interface not CAN FD capable - sorry.\n");
return 1;
}
}
/* enable CAN FD on the socket */
if (mixfd) {
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))){
@ -812,8 +813,7 @@ int main(int argc, char **argv)
}
}
/* enable CAN XL on the socket */
if (mixxl) {
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))){
@ -828,16 +828,6 @@ int main(int argc, char **argv)
}
}
/* sanitize given values */
if (canfd || canxl) {
if (canfd) {
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
} else {
/* limit fixed CAN XL data length to 64 */
if (cu.fd.len > CANFD_MAX_DLEN)
cu.fd.len = CANFD_MAX_DLEN;
}
} else {
/* sanitize Classical CAN 2.0 frame length */
if (len8_dlc) {
@ -997,12 +987,12 @@ int main(int argc, char **argv)
rnd = random();
if (xl_flags_mode == MODE_RANDOM) {
cu.xl.flags = rnd & (CANXL_SEC | CANXL_RRS);
cu.xl.flags = rnd & CANXL_SEC;
} else if (xl_flags_mode == MODE_FIX) {
cu.xl.flags = xl_flags;
} else if (xl_flags_mode == MODE_INCREMENT) {
xl_flags++;
cu.xl.flags = (xl_flags & (CANXL_SEC | CANXL_RRS));
xl_flags ^= CANXL_SEC;
cu.xl.flags = (xl_flags & CANXL_SEC);
}
/* mark CAN XL frame */
@ -1050,31 +1040,8 @@ 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");
if (ret)
return 1;
}
if (!mixcc && !mixfd && !mixxl) {
printf ("mix mode: no valid CAN frame types\n");
return 1;
}
} else if (ret) {
/* other error than -ENOBUFS and -EINVAL */
perror("write");
return 1;
}
if (burst_sent_count >= burst_count)
burst_sent_count = 0;
@ -1115,41 +1082,18 @@ 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;
}
}
}
/* 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 */
}
}

32
canplayer.c
View File

@ -68,7 +68,7 @@
#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 */
@ -452,20 +452,14 @@ 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 +541,19 @@ 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;
/*
* 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;
}

8
cansend.c
View File

@ -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)

2
isobusfs/isobusfs_cli_int.c
View File

@ -1077,7 +1077,7 @@ int isobusfs_cli_interactive(struct isobusfs_priv *priv)
}
}
pr_int("unknown command\n");
pr_int("unknown comand\n");
isobusfs_cli_promt(priv);
} else {
if (errno != EAGAIN && errno != EWOULDBLOCK)

2
isobusfs/isobusfs_cli_selftests.c
View File

@ -211,7 +211,7 @@ static struct isobusfs_cli_test_dir_path test_dir_patterns[] = {
{ "~tilde_dir", true },
/* expected result \\vol1\dir1\~\ */
{ "\\\\vol1\\dir1\\~", true },
/* expected result \\vol1\~\ not clear if it is manufacture specific dir */
/* expected result \\vol1\~\ not clear if it is manufacture speficic dir */
{ "\\~\\", true },
/* expected result \\~\ */
{ "\\\\~\\", false },

2
isobusfs/isobusfs_cmn.c
View File

@ -611,7 +611,7 @@ int isobusfs_cmn_connect_socket(int sock, struct sockaddr_can *addr)
}
/* FIXME: linger is currently not supported by the kernel J1939 stack
* but it would be nice to have it. Especially if we won't to stop sending
* but it would be nice to have it. Especially if we wont to stop sending
* messages on a socket when the connection is lost.
*/
int isobusfs_cmn_set_linger(int sock)

2
isobusfs/isobusfs_cmn_dh.c
View File

@ -23,7 +23,7 @@ int isobusfs_cmn_dh_validate_dir_path(const char *path, bool writable)
ret = access(path, mode);
if (ret == -1) {
ret = -errno;
pr_err("failed to access path %s, for read %s. %s", path,
pr_err("failed to acces path %s, for read %s. %s", path,
writable ? "and write" : "", strerror(ret));
return ret;
}

6
isobusfs/isobusfs_srv.c
View File

@ -70,7 +70,7 @@ static int isobusfs_srv_rx_fs(struct isobusfs_srv_priv *priv,
cg);
/* ISO 11783-13:2021 - Annex C.1.1 Overview:
* If a client sends a command, which is not defined within this
* If a client sends a command, which is not defined withing this
* documentation, the file server shall respond with a
* NACK (ISO 11783-3:2018 Chapter 5.4.5)
*/
@ -279,7 +279,7 @@ static int isobusfs_srv_sock_fss_prepare(struct isobusfs_srv_priv *priv)
return ret;
/* keep address and name and overwrite PGN */
/* TODO: actually, this is PGN input filter. Should we use different
/* TOOD: actually, this is PGN input filter. Should we use different
* PGN?
*/
addr.can_addr.j1939.pgn = ISOBUSFS_PGN_CL_TO_FS;
@ -720,7 +720,7 @@ static int isobusfs_srv_parse_args(struct isobusfs_srv_priv *priv, int argc,
}
if (!local_name_set)
pr_warn("local name is not set. Won't be able to generate proper manufacturer-specific directory name. Falling mack to MCMC0000");
pr_warn("local name is not set. Wont be able to generate proper manufacturer-specific directory name. Falling mack to MCMC0000");
isobusfs_srv_generate_mfs_dir_name(priv);
pr_debug("Server configuration:");

6
isobusfs/isobusfs_srv_dh.c
View File

@ -662,8 +662,8 @@ static int isobusfs_srv_dh_ccd_res(struct isobusfs_srv_priv *priv,
int ret;
/*
* We assume, the relative path stored in res->name is not longer
* than absolute path
* We assime, the relative path stored in res->name is not longer
* than absolue path
*/
if (req->name_len > ISOBUSFS_SRV_MAX_PATH_LEN) {
pr_warn("path too long");
@ -697,7 +697,7 @@ static int isobusfs_srv_dh_ccd_res(struct isobusfs_srv_priv *priv,
process_error:
if (ret < 0) {
/* linux_error_to_isobusfs_error() can't distinguish between
* -EINVAL for SRC and DST, so we have to do it manually.
* -EINVAL vor SRC and DST, so we have to do it manually.
*/
if (ret == -EINVAL)
error_code = ISOBUSFS_ERR_INVALID_DST_NAME;

2
isobusfs/isobusfs_srv_fa.c
View File

@ -686,7 +686,7 @@ send_response:
goto free_res;
}
pr_debug("> tx: Read File Response. Error code: %d (%s), read size: %d",
pr_debug("> tx: Read File Response. Error code: %d (%s), readed size: %d",
error_code, isobusfs_error_to_str(error_code), readed_size);
free_res:

1394
j1939_vehicle_position/j1939_vehicle_position_cmn.h
View File

File diff suppressed because it is too large Load Diff

1514
j1939_vehicle_position/j1939_vehicle_position_srv.c
View File

File diff suppressed because it is too large Load Diff

12
j1939acd.c
View File

@ -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 */

6
j1939sr.c
View File

@ -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,

7
lib.c
View File

@ -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)
@ -92,8 +92,7 @@ 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 */
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 */

2
lib.h
View File

@ -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

25
libj1939.c
View File

@ -253,31 +253,6 @@ int libj1939_bind_socket(int sock, struct sockaddr_can *addr)
return 0;
}
/**
* libj1939_connect_socket - Connects a socket to a CAN address.
* @sock: The socket file descriptor.
* @addr: The CAN address to connect to.
*
* This function attempts to establish a connection between the given socket
* and the specified CAN address. If the connection fails, it logs an error
* message with the error code and a description of the error.
*
* Return: 0 on success, or a negative error code on failure.
*/
int libj1939_connect_socket(int sock, struct sockaddr_can *addr)
{
int ret;
ret = connect(sock, (void *)addr, sizeof(*addr));
if (ret < 0) {
ret = -errno;
pr_err("failed to connect socket: %d (%s)", ret, strerror(ret));
return ret;
}
return 0;
}
/**
* libj1939_socket_prio - Set the priority of a J1939 socket
* @sock: The file descriptor of the socket

2
libj1939.h
View File

@ -17,7 +17,6 @@
#include <linux/can/j1939.h>
#include <stdbool.h>
#include <stdint.h>
#include <time.h>
#include <sys/socket.h>
#ifndef J1939_LIB_H
@ -43,7 +42,6 @@ void libj1939_init_sockaddr_can(struct sockaddr_can *sac, uint32_t pgn);
int libj1939_open_socket(void);
int libj1939_bind_socket(int sock, struct sockaddr_can *addr);
int libj1939_connect_socket(int sock, struct sockaddr_can *addr);
int libj1939_socket_prio(int sock, int prio);
int libj1939_set_broadcast(int sock);
int libj1939_add_socket_to_epoll(int epoll_fd, int sock, uint32_t events);

17
log2asc.c
View File

@ -296,7 +296,7 @@ static void canxl_asc(cu_t *cu, int devno, int mtu,
#define DEVSZ 22
#define EXTRASZ 20
#define TIMESZ sizeof("(1345212884.318850123) ")
#define TIMESZ sizeof("(1345212884.318850) ")
#define BUFSZ (DEVSZ + AFRSZ + EXTRASZ + TIMESZ)
/* adapt sscanf() functions below on error */
@ -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;
}
if (print_banner) { /* print banner */
print_banner = 0;

6
log2long.c
View File

@ -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 */
@ -61,7 +61,7 @@
#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
@ -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);

7
slcand.c
View File

@ -160,7 +160,7 @@ static int look_up_uart_speed(long int s)
return B3500000;
#endif
#ifdef B3710000
case 3710000:
case 3710000
return B3710000;
#endif
#ifdef B4000000
@ -370,13 +370,8 @@ int main(int argc, char *argv[])
/* retrieve the name of the created CAN netdevice */
if (ioctl(fd, SIOCGIFNAME, ifr.ifr_name) < 0) {
if (name) {
perror("ioctl SIOCGIFNAME");
exit(EXIT_FAILURE);
} else {
/* Graceful degradation: we only needed the name for display. */
snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "<unknown>");
}
}
syslogger(LOG_NOTICE, "attached TTY %s to netdevice %s\n", ttypath, ifr.ifr_name);

2
testj1939.c
View File

@ -266,7 +266,7 @@ int main(int argc, char *argv[])
fprintf(stderr, "- while (1)\n");
while (todo_echo || todo_recv) {
/*
* reuse peername for storing the sender's peername of
* re-use peername for storing the sender's peername of
* received packets
*/
if (verbose)