Merge pull request #259 from marckleinebudde/cansequence

cansequence: do_send(): remove unneeded cast

.github/workflows/autotools.yml

@@ -0,0 +1,19 @@
+name: C with autotools
+
+on: [push, pull_request]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v1
+    - name: autogen
+      run: ./autogen.sh
+    - name: configure
+      run: ./configure
+    - name: make
+      run: make
+    - name: make distcheck
+      run: make distcheck

.gitignore

@@ -32,6 +32,7 @@ GNUmakefile.in
 /canlogserver
 /canplayer
 /cansend
+/cansequence
 /cansniffer
 /isotpdump
 /isotpperf
@@ -40,9 +41,10 @@ GNUmakefile.in
 /isotpserver
 /isotpsniffer
 /isotptun
-/jacd
-/jspy
-/jsr
+/j1939acd
+/j1939cat
+/j1939spy
+/j1939sr
 /log2asc
 /log2long
 /slcan_attach

.travis.yml

@@ -2,6 +2,9 @@ language: c
 
 matrix:
     include:
+
+# native
+
         - env: test="x64 4.8.4 (make)"
           os: linux
           dist: trusty
@@ -12,13 +15,141 @@ matrix:
           os: linux
           dist: trusty
           compiler: gcc
-          script: ./autogen.sh && ./configure && make distcheck
+          script: ./autogen.sh && ./configure CFLAGS="-Werror -Wno-unused-result" && make distcheck
 
         - env: test="x64 5.0 (autotools)"
           os: linux
           dist: trusty
           compiler: clang
-          script: ./autogen.sh && ./configure && make distcheck
+          script: ./autogen.sh && ./configure CFLAGS="-Werror -Wno-unused-result" && make distcheck
+
+        - env: test="x64 4.8.4 (CMake gcc)"
+          os: linux
+          dist: trusty
+          compiler: gcc
+          before_script:
+              - mkdir gcc_rel && cd gcc_rel
+              - cmake ..
+          script: make
+
+        - env: test="x64 5.0 (CMake clang)"
+          os: linux
+          dist: trusty
+          compiler: clang
+          before_script:
+              - mkdir clang_rel && cd clang_rel
+              - cmake ..
+          script: make
+
+        - env: test="x64 5.0 (CMake clang - Ninja) Debug"
+          os: linux
+          dist: trusty
+          compiler: clang
+          before_script:
+              - mkdir clang_ninja_dbg && cd clang_ninja_dbg
+              - cmake .. -GNinja -DCMAKE_BUILD_TYPE=Debug
+          script: ninja
+
+# ppc64le
+
+        - env: test="ppc64le 4.8.4 (make)"
+          os: linux
+          dist: trusty
+          compiler: gcc
+          script: make
+          arch: ppc64le
+
+        - env: test="ppc64le 4.8.4 (autotools)"
+          os: linux
+          dist: trusty
+          compiler: gcc
+          script: ./autogen.sh && ./configure CFLAGS="-Werror -Wno-unused-result" && make distcheck
+          arch: ppc64le
+
+        - env: test="ppc64le 5.0 (autotools)"
+          os: linux
+          dist: trusty
+          compiler: clang
+          script: ./autogen.sh && ./configure CFLAGS="-Werror -Wno-unused-result" && make distcheck
+          arch: ppc64le
+
+        - env: test="ppc64le 4.8.4 (CMake gcc)"
+          os: linux
+          dist: trusty
+          compiler: gcc
+          before_script:
+              - mkdir gcc_rel && cd gcc_rel
+              - cmake ..
+          script: make
+          arch: ppc64le
+
+        - env: test="ppc64le 5.0 (CMake clang)"
+          os: linux
+          dist: trusty
+          compiler: clang
+          before_script:
+              - mkdir clang_rel && cd clang_rel
+              - cmake ..
+          script: make
+          arch: ppc64le
+
+        - env: test="ppc64le 5.0 (CMake clang - Ninja) Debug"
+          os: linux
+          dist: trusty
+          compiler: clang
+          before_script:
+              - mkdir clang_ninja_dbg && cd clang_ninja_dbg
+              - cmake .. -GNinja -DCMAKE_BUILD_TYPE=Debug
+          script: ninja
+          arch: ppc64le
+
+# Android
+
+        - env: test="Android NDK (CMake)"
+          os: linux
+          language: android
+          android:
+              components:
+                  - build-tools-25.0.2
+          install:
+              - echo y | sdkmanager "ndk-bundle"
+              - echo y | sdkmanager "cmake;3.6.4111459"
+          before_script:
+              - export ANDROID_NDK_HOME=$ANDROID_HOME/ndk-bundle
+              - export ANDROID_CMAKE=$ANDROID_HOME/cmake/3.6.4111459/bin/cmake
+              - export ANDROID_TOOLCHAIN_FILE=$ANDROID_NDK_HOME/build/cmake/android.toolchain.cmake
+          script:
+              - pushd . && mkdir android15_armeabiv7a_rel && cd android15_armeabiv7a_rel
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-15 -DANDROID_ABI=armeabi-v7a -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
+
+              - pushd . && mkdir android15_x86_rel && cd android15_x86_rel
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-15 -DANDROID_ABI=x86 -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
+
+              - pushd . && mkdir android21_arm64-v8a_rel && cd android21_arm64-v8a_rel
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-21 -DANDROID_ABI=arm64-v8a -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
+
+              - pushd . && mkdir android21_x86_64_rel && cd android21_x86_64_rel
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-21 -DANDROID_ABI=x86_64 -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
+
+              - pushd . && mkdir android15_armeabiv7a_dbg && cd android15_armeabiv7a_dbg
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-15 -DANDROID_ABI=armeabi-v7a -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
+
+              - pushd . && mkdir android15_x86_dbg && cd android15_x86_dbg
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-15 -DANDROID_ABI=x86 -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
+
+              - pushd . && mkdir android21_arm64-v8a_dbg && cd android21_arm64-v8a_dbg
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-21 -DANDROID_ABI=arm64-v8a -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
+
+              - pushd . && mkdir android21_x86_64_dbg && cd android21_x86_64_dbg
+              - $ANDROID_CMAKE -DANDROID_PLATFORM=android-21 -DANDROID_ABI=x86_64 -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=$ANDROID_TOOLCHAIN_FILE ..
+              - make && popd
 
 addons:
     apt:
@@ -27,5 +158,7 @@ addons:
             - automake
             - libtool
             - m4
+            - cmake
+            - ninja-build
         sources:
             - ubuntu-toolchain-r-test

Android.mk

@@ -1,6 +1,7 @@
 LOCAL_PATH := $(call my-dir)
 
 PRIVATE_LOCAL_CFLAGS := -O2 -g -W -Wall		\
+			-Wno-error=unused-parameter	\
 			-DSO_RXQ_OVFL=40	\
 			-DPF_CAN=29		\
 			-DAF_CAN=PF_CAN
@@ -15,9 +16,104 @@ LOCAL_SRC_FILES := lib.c canframelen.c
 LOCAL_MODULE := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_STATIC_LIBRARY)
 
+#
+# j1939lib
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := libj1939.c
+LOCAL_MODULE := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_STATIC_LIBRARY)
+
+#
+# j1939acd
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939acd.c
+LOCAL_MODULE := j1939acd
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# j1939cat
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939cat.c
+LOCAL_MODULE := j1939cat
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# j1939spy
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939spy.c
+LOCAL_MODULE := j1939spy
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# j1939sr
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := j1939sr.c
+LOCAL_MODULE := j1939sr
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# testj1939
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := testj1939.c
+LOCAL_MODULE := testj1939
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libj1939
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
 #
 # candump
 #
@@ -30,6 +126,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -45,6 +142,21 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# cansequence
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := cansequence.c
+LOCAL_MODULE := cansequence
+LOCAL_MODULE_TAGS := optional
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
 
 include $(BUILD_EXECUTABLE)
 
@@ -59,10 +171,10 @@ LOCAL_MODULE := bcmserver
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
-
 #
 # can-calc-bit-timing
 #
@@ -74,6 +186,7 @@ LOCAL_MODULE := can-calc-bit-timing
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -89,6 +202,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -103,6 +217,7 @@ LOCAL_MODULE := canfdtest
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -118,6 +233,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -132,6 +248,7 @@ LOCAL_MODULE := cangw
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -147,6 +264,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -162,6 +280,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -176,6 +295,7 @@ LOCAL_MODULE := cansniffer
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -190,6 +310,7 @@ LOCAL_MODULE := isotpdump
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -204,6 +325,7 @@ LOCAL_MODULE := isotprecv
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -218,6 +340,7 @@ LOCAL_MODULE := isotpsend
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -232,6 +355,7 @@ LOCAL_MODULE := isotpserver
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -242,10 +366,11 @@ include $(BUILD_EXECUTABLE)
 include $(CLEAR_VARS)
 
 LOCAL_SRC_FILES := isotpsniffer.c
-LOCAL_MODULE := isotpsniffer.c
+LOCAL_MODULE := isotpsniffer
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -260,6 +385,7 @@ LOCAL_MODULE := isotptun
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -274,6 +400,7 @@ LOCAL_MODULE := isotpperf
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -289,6 +416,23 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
+
+include $(BUILD_EXECUTABLE)
+
+#
+# asc2log
+#
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := asc2log.c
+LOCAL_MODULE := asc2log
+LOCAL_MODULE_TAGS := optional
+LOCAL_STATIC_LIBRARIES := libcan
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
+LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -304,6 +448,7 @@ LOCAL_MODULE_TAGS := optional
 LOCAL_STATIC_LIBRARIES := libcan
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -318,6 +463,7 @@ LOCAL_MODULE := slcan_attach
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -332,6 +478,7 @@ LOCAL_MODULE := slcand
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)
 
@@ -346,5 +493,6 @@ LOCAL_MODULE := slcanpty
 LOCAL_MODULE_TAGS := optional
 LOCAL_C_INCLUDES := $(LOCAL_PATH)/include/
 LOCAL_CFLAGS := $(PRIVATE_LOCAL_CFLAGS)
+LOCAL_VENDOR_MODULE := true
 
 include $(BUILD_EXECUTABLE)

CMakeLists.txt

@@ -0,0 +1,98 @@
+cmake_minimum_required(VERSION 3.3)
+
+project(can-utils LANGUAGES C)
+
+include (CheckSymbolExists)
+include (GNUInstallDirs)
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+check_symbol_exists(__GNU_LIBRARY__ "features.h" _GNU_SOURCE)
+if(_GNU_SOURCE)
+  add_definitions(-D_GNU_SOURCE)
+endif()
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-parentheses")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fno-strict-aliasing")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DSO_RXQ_OVFL=40")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DPF_CAN=29")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DAF_CAN=PF_CAN")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DN_SLCAN=17")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DSCM_TIMESTAMPING_OPT_STATS=54")
+
+include_directories (.)
+include_directories (./include)
+
+set(PROGRAMS_CANLIB
+    asc2log
+    canbusload
+    candump
+    cangen
+    canlogserver
+    canplayer
+    cansend
+    cansequence
+    log2asc
+    log2long
+)
+
+set(PROGRAMS_J1939
+    j1939acd
+    j1939cat
+    j1939spy
+    j1939sr
+    testj1939
+)
+
+set(PROGRAMS
+    ${PROGRAMS_CANLIB}
+    bcmserver
+    can-calc-bit-timing
+    canfdtest
+    cangw
+    cansniffer
+    isotpdump
+    isotpperf
+    isotprecv
+    isotpsend
+    isotpserver
+    isotpsniffer
+    isotptun
+    slcan_attach
+    slcand
+    slcanpty
+)
+
+if(NOT ANDROID)
+  list(APPEND PROGRAMS ${PROGRAMS_J1939})
+
+  add_library(j1939 STATIC
+      libj1939.c
+  )
+endif()
+
+add_library(can STATIC
+    lib.c
+    canframelen.c
+)
+
+foreach(name ${PROGRAMS})
+  add_executable(${name} ${name}.c)
+
+  if("${name}" IN_LIST PROGRAMS_J1939)
+    target_link_libraries(${name}
+        PRIVATE j1939
+    )
+  elseif("${name}" IN_LIST PROGRAMS_CANLIB)
+    target_link_libraries(${name}
+        PRIVATE can
+    )
+  endif()
+
+  install(TARGETS ${name} DESTINATION ${CMAKE_INSTALL_BINDIR})
+endforeach()
+
+
+ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_SOURCE_DIR}/cmake/make_uninstall.cmake")

GNUmakefile.am

@@ -14,16 +14,18 @@ noinst_HEADERS = \
 	lib.h \
 	libj1939.h \
 	terminal.h \
+	include/linux/can.h \
 	include/linux/can/bcm.h \
 	include/linux/can/error.h \
 	include/linux/can/gw.h \
-	include/linux/can.h \
 	include/linux/can/isotp.h \
 	include/linux/can/j1939.h \
 	include/linux/can/netlink.h \
 	include/linux/can/raw.h \
-	include/linux/can/vxcan.h
-
+	include/linux/can/vxcan.h \
+	include/linux/errqueue.h \
+	include/linux/net_tstamp.h \
+	include/linux/netlink.h
 
 noinst_LTLIBRARIES = \
 	libcan.la \
@@ -48,6 +50,7 @@ bin_PROGRAMS = \
 	canlogserver \
 	canplayer \
 	cansend \
+	cansequence \
 	cansniffer \
 	isotpdump \
 	isotpperf \
@@ -56,9 +59,10 @@ bin_PROGRAMS = \
 	isotpserver \
 	isotpsniffer \
 	isotptun \
-	jacd \
-	jspy \
-	jsr \
+	j1939acd \
+	j1939cat \
+	j1939spy \
+	j1939sr \
 	log2asc \
 	log2long \
 	slcan_attach \
@@ -66,9 +70,10 @@ bin_PROGRAMS = \
 	slcanpty \
 	testj1939
 
-jacd_LDADD = libj1939.la
-jspy_LDADD = libj1939.la
-jsr_LDADD = libj1939.la
+j1939acd_LDADD = libj1939.la
+j1939cat_LDADD = libj1939.la
+j1939spy_LDADD = libj1939.la
+j1939sr_LDADD = libj1939.la
 testj1939_LDADD = libj1939.la
 
 EXTRA_DIST = \
@@ -76,7 +81,7 @@ EXTRA_DIST = \
 	Android.mk \
 	README.md \
 	autogen.sh \
-	can-j1939-kickstart.md
+	can-j1939-kickstart.md \
 	can-j1939.md
 
 MAINTAINERCLEANFILES = \

LICENSES/BSD-3-Clause

@@ -0,0 +1,27 @@
+Copyright (c) <year> <owner> . All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from this
+   software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

LICENSES/GPL-2.0-only.txt

@@ -0,0 +1,340 @@
+		    GNU GENERAL PUBLIC LICENSE
+		       Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+     59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+			    Preamble
+
+  The licenses for most software are designed to take away your
+freedom to share and change it.  By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users.	This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it.  (Some other Free Software Foundation software is covered by
+the GNU Library General Public License instead.)  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.	Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
+
+  To protect your rights, we need to make restrictions that forbid
+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must give the recipients all the rights that
+you have.  You must make sure that they, too, receive or can get the
+source code.  And you must show them these terms so they know their
+rights.
+
+  We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
+distribute and/or modify the software.
+
+  Also, for each author's protection and ours, we want to make certain
+that everyone understands that there is no warranty for this free
+software.  If the software is modified by someone else and passed on, we
+want its recipients to know that what they have is not the original, so
+that any problems introduced by others will not reflect on the original
+authors' reputations.
+
+  Finally, any free program is threatened constantly by software
+patents.  We wish to avoid the danger that redistributors of a free
+program will individually obtain patent licenses, in effect making the
+program proprietary.  To prevent this, we have made it clear that any
+patent must be licensed for everyone's free use or not licensed at all.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+		    GNU GENERAL PUBLIC LICENSE
+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+  0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License.  The "Program", below,
+refers to any such program or work, and a "work based on the Program"
+means either the Program or any derivative work under copyright law:
+that is to say, a work containing the Program or a portion of it,
+either verbatim or with modifications and/or translated into another
+language.  (Hereinafter, translation is included without limitation in
+the term "modification".)  Each licensee is addressed as "you".
+
+Activities other than copying, distribution and modification are not
+covered by this License; they are outside its scope.  The act of
+running the Program is not restricted, and the output from the Program
+is covered only if its contents constitute a work based on the
+Program (independent of having been made by running the Program).
+Whether that is true depends on what the Program does.
+
+  1. You may copy and distribute verbatim copies of the Program's
+source code as you receive it, in any medium, provided that you
+conspicuously and appropriately publish on each copy an appropriate
+copyright notice and disclaimer of warranty; keep intact all the
+notices that refer to this License and to the absence of any warranty;
+and give any other recipients of the Program a copy of this License
+along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and
+you may at your option offer warranty protection in exchange for a fee.
+
+  2. You may modify your copy or copies of the Program or any portion
+of it, thus forming a work based on the Program, and copy and
+distribute such modifications or work under the terms of Section 1
+above, provided that you also meet all of these conditions:
+
+    a) You must cause the modified files to carry prominent notices
+    stating that you changed the files and the date of any change.
+
+    b) You must cause any work that you distribute or publish, that in
+    whole or in part contains or is derived from the Program or any
+    part thereof, to be licensed as a whole at no charge to all third
+    parties under the terms of this License.
+
+    c) If the modified program normally reads commands interactively
+    when run, you must cause it, when started running for such
+    interactive use in the most ordinary way, to print or display an
+    announcement including an appropriate copyright notice and a
+    notice that there is no warranty (or else, saying that you provide
+    a warranty) and that users may redistribute the program under
+    these conditions, and telling the user how to view a copy of this
+    License.  (Exception: if the Program itself is interactive but
+    does not normally print such an announcement, your work based on
+    the Program is not required to print an announcement.)
+
+These requirements apply to the modified work as a whole.  If
+identifiable sections of that work are not derived from the Program,
+and can be reasonably considered independent and separate works in
+themselves, then this License, and its terms, do not apply to those
+sections when you distribute them as separate works.  But when you
+distribute the same sections as part of a whole which is a work based
+on the Program, the distribution of the whole must be on the terms of
+this License, whose permissions for other licensees extend to the
+entire whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest
+your rights to work written entirely by you; rather, the intent is to
+exercise the right to control the distribution of derivative or
+collective works based on the Program.
+
+In addition, mere aggregation of another work not based on the Program
+with the Program (or with a work based on the Program) on a volume of
+a storage or distribution medium does not bring the other work under
+the scope of this License.
+
+  3. You may copy and distribute the Program (or a work based on it,
+under Section 2) in object code or executable form under the terms of
+Sections 1 and 2 above provided that you also do one of the following:
+
+    a) Accompany it with the complete corresponding machine-readable
+    source code, which must be distributed under the terms of Sections
+    1 and 2 above on a medium customarily used for software interchange; or,
+
+    b) Accompany it with a written offer, valid for at least three
+    years, to give any third party, for a charge no more than your
+    cost of physically performing source distribution, a complete
+    machine-readable copy of the corresponding source code, to be
+    distributed under the terms of Sections 1 and 2 above on a medium
+    customarily used for software interchange; or,
+
+    c) Accompany it with the information you received as to the offer
+    to distribute corresponding source code.  (This alternative is
+    allowed only for noncommercial distribution and only if you
+    received the program in object code or executable form with such
+    an offer, in accord with Subsection b above.)
+
+The source code for a work means the preferred form of the work for
+making modifications to it.  For an executable work, complete source
+code means all the source code for all modules it contains, plus any
+associated interface definition files, plus the scripts used to
+control compilation and installation of the executable.  However, as a
+special exception, the source code distributed need not include
+anything that is normally distributed (in either source or binary
+form) with the major components (compiler, kernel, and so on) of the
+operating system on which the executable runs, unless that component
+itself accompanies the executable.
+
+If distribution of executable or object code is made by offering
+access to copy from a designated place, then offering equivalent
+access to copy the source code from the same place counts as
+distribution of the source code, even though third parties are not
+compelled to copy the source along with the object code.
+
+  4. You may not copy, modify, sublicense, or distribute the Program
+except as expressly provided under this License.  Any attempt
+otherwise to copy, modify, sublicense or distribute the Program is
+void, and will automatically terminate your rights under this License.
+However, parties who have received copies, or rights, from you under
+this License will not have their licenses terminated so long as such
+parties remain in full compliance.
+
+  5. You are not required to accept this License, since you have not
+signed it.  However, nothing else grants you permission to modify or
+distribute the Program or its derivative works.  These actions are
+prohibited by law if you do not accept this License.  Therefore, by
+modifying or distributing the Program (or any work based on the
+Program), you indicate your acceptance of this License to do so, and
+all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+
+  6. Each time you redistribute the Program (or any work based on the
+Program), the recipient automatically receives a license from the
+original licensor to copy, distribute or modify the Program subject to
+these terms and conditions.  You may not impose any further
+restrictions on the recipients' exercise of the rights granted herein.
+You are not responsible for enforcing compliance by third parties to
+this License.
+
+  7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues),
+conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot
+distribute so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you
+may not distribute the Program at all.	For example, if a patent
+license would not permit royalty-free redistribution of the Program by
+all those who receive copies directly or indirectly through you, then
+the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under
+any particular circumstance, the balance of the section is intended to
+apply and the section as a whole is intended to apply in other
+circumstances.
+
+It is not the purpose of this section to induce you to infringe any
+patents or other property right claims or to contest validity of any
+such claims; this section has the sole purpose of protecting the
+integrity of the free software distribution system, which is
+implemented by public license practices.  Many people have made
+generous contributions to the wide range of software distributed
+through that system in reliance on consistent application of that
+system; it is up to the author/donor to decide if he or she is willing
+to distribute software through any other system and a licensee cannot
+impose that choice.
+
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+
+  8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
+those countries, so that distribution is permitted only in or among
+countries not thus excluded.  In such case, this License incorporates
+the limitation as if written in the body of this License.
+
+  9. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+Each version is given a distinguishing version number.	If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation.  If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+  10. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
+to ask for permission.	For software which is copyrighted by the Free
+Software Foundation, write to the Free Software Foundation; we sometimes
+make exceptions for this.  Our decision will be guided by the two goals
+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+
+			    NO WARRANTY
+
+  11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+  12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+		     END OF TERMS AND CONDITIONS
+
+	    How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) 19yy	<name of author>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+    Gnomovision version 69, Copyright (C) 19yy name of author
+    Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary.  Here is a sample; alter the names:
+
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+  `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs.  If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library.  If this is what you want to do, use the GNU Library General
+Public License instead of this License.

LICENSES/Linux-syscall-note.txt

@@ -0,0 +1,12 @@
+ NOTE! This copyright does *not* cover user programs that use kernel
+ services by normal system calls - this is merely considered normal use
+ of the kernel, and does *not* fall under the heading of "derived work".
+ Also note that the GPL below is copyrighted by the Free Software
+ Foundation, but the instance of code that it refers to (the Linux
+ kernel) is copyrighted by me and others who actually wrote it.
+
+ Also note that the only valid version of the GPL as far as the kernel
+ is concerned is _this_ particular version of the license (ie v2, not
+ v2.2 or v3.x or whatever), unless explicitly otherwise stated.
+
+			Linus Torvalds

Makefile

@@ -41,29 +41,62 @@
 DESTDIR ?=
 PREFIX ?= /usr/local
 
-MAKEFLAGS = -k
+MAKEFLAGS := -k
 
-CFLAGS    = -O2 -Wall -Wno-parentheses
+CFLAGS := -O2 -Wall -Wno-parentheses
 
-CPPFLAGS += -Iinclude \
-	    -D_FILE_OFFSET_BITS=64 \
-	    -DSO_RXQ_OVFL=40 \
-	    -DPF_CAN=29 \
-	    -DAF_CAN=PF_CAN \
-	    -D_GNU_SOURCE
+CPPFLAGS += \
+	-Iinclude \
+	-DAF_CAN=PF_CAN \
+	-DPF_CAN=29 \
+	-DSO_RXQ_OVFL=40 \
+	-DSCM_TIMESTAMPING_OPT_STATS=54 \
+	-D_FILE_OFFSET_BITS=64 \
+	-D_GNU_SOURCE
 
-PROGRAMS_ISOTP = isotpdump isotprecv isotpsend isotpsniffer isotptun isotpserver isotpperf
-PROGRAMS_CANGW = cangw
-PROGRAMS_SLCAN = slcan_attach slcand
-PROGRAMS_J1939 = jacd jspy jsr testj1939
-PROGRAMS = can-calc-bit-timing candump cansniffer cansend canplayer cangen canbusload\
-	   log2long log2asc asc2log\
-	   canlogserver bcmserver\
-	   $(PROGRAMS_ISOTP)\
-	   $(PROGRAMS_CANGW)\
-	   $(PROGRAMS_SLCAN)\
-	   $(PROGRAMS_J1939)\
-	   slcanpty canfdtest
+PROGRAMS_CANGW := \
+	cangw
+
+PROGRAMS_ISOTP := \
+	isotpdump \
+	isotpperf \
+	isotprecv \
+	isotpsend \
+	isotpserver \
+	isotpsniffer \
+	isotptun
+
+PROGRAMS_J1939 := \
+	j1939acd \
+	j1939cat \
+	j1939spy \
+	j1939sr \
+	testj1939
+
+PROGRAMS_SLCAN := \
+	slcan_attach \
+	slcand
+
+PROGRAMS := \
+	$(PROGRAMS_CANGW) \
+	$(PROGRAMS_ISOTP) \
+	$(PROGRAMS_J1939) \
+	$(PROGRAMS_SLCAN) \
+	asc2log \
+	bcmserver \
+	can-calc-bit-timing \
+	canbusload \
+	candump \
+	canfdtest \
+	cangen \
+	cansequence \
+	canlogserver \
+	canplayer \
+	cansend \
+	cansniffer \
+	log2asc \
+	log2long \
+	slcanpty
 
 all: $(PROGRAMS)
 
@@ -77,31 +110,35 @@ install:
 distclean:
 	rm -f $(PROGRAMS) $(LIBRARIES) *.o *~
 
-cansend.o:	lib.h
-cangen.o:	lib.h
-candump.o:	lib.h
-canplayer.o:	lib.h
-canlogserver.o:	lib.h
-canbusload.o:	lib.h
-log2long.o:	lib.h
-log2asc.o:	lib.h
 asc2log.o:	lib.h
-jacd.o:		libj1939.h
-jspy.o:		libj1939.h
-jsr.o:		libj1939.h
+canbusload.o:	lib.h
+candump.o:	lib.h
+cangen.o:	lib.h
+canlogserver.o:	lib.h
+canplayer.o:	lib.h
+cansend.o:	lib.h
+cansequence.o:	lib.h
+log2asc.o:	lib.h
+log2long.o:	lib.h
+j1939acd.o:	libj1939.h
+j1939cat.o:	libj1939.h
+j1939spy.o:	libj1939.h
+j1939sr.o:	libj1939.h
 testj1939.o:	libj1939.h
 canframelen.o:  canframelen.h
 
-cansend:	cansend.o	lib.o
-cangen:		cangen.o	lib.o
-candump:	candump.o	lib.o
-canplayer:	canplayer.o	lib.o
-canlogserver:	canlogserver.o	lib.o
-log2long:	log2long.o	lib.o
-log2asc:	log2asc.o	lib.o
 asc2log:	asc2log.o	lib.o
-canbusload:	canbusload.o	canframelen.o
-jacd:		jacd.o		libj1939.o
-jspy:		jspy.o		libj1939.o
-jsr:		jsr.o		libj1939.o
+candump:	candump.o	lib.o
+cangen:		cangen.o	lib.o
+canlogserver:	canlogserver.o	lib.o
+canplayer:	canplayer.o	lib.o
+cansend:	cansend.o	lib.o
+cansequence:	cansequence.o	lib.o
+log2asc:	log2asc.o	lib.o
+log2long:	log2long.o	lib.o
+j1939acd:	j1939acd.o	libj1939.o
+j1939cat:	j1939cat.o	libj1939.o
+j1939spy:	j1939spy.o	libj1939.o
+j1939sr:	j1939sr.o	libj1939.o
 testj1939:	testj1939.o	libj1939.o
+canbusload:	canbusload.o	canframelen.o

README.md

@@ -13,15 +13,17 @@ subsystem (aka SocketCAN):
 * canplayer : replay CAN logfiles
 * cansend : send a single frame
 * cangen : generate (random) CAN traffic
-* cansniffer : display CAN data content differences (just 11bit CAN IDs)
+* cansequence : send and check sequence of CAN frames with incrementing payload
+* cansniffer : display CAN data content differences
 
 #### CAN access via IP sockets
 * canlogserver : log CAN frames from a remote/local host
 * bcmserver : interactive BCM configuration (remote/local)
-* [socketcand](https://github.com/dschanoeh/socketcand) : use RAW/BCM/ISO-TP sockets via TCP/IP sockets
+* [socketcand](https://github.com/linux-can/socketcand) : use RAW/BCM/ISO-TP sockets via TCP/IP sockets
+* [cannelloni](https://github.com/mguentner/cannelloni) : UDP/SCTP based SocketCAN tunnel
 
 #### CAN in-kernel gateway configuration
-* cangw : CAN gateway userpace tool for netlink configuration
+* cangw : CAN gateway userspace tool for netlink configuration
 
 #### CAN bus measurement and testing
 * canbusload : calculate and display the CAN busload
@@ -37,6 +39,16 @@ subsystem (aka SocketCAN):
 * isotpperf : ISO15765-2 protocol performance visualisation
 * isotptun : create a bi-directional IP tunnel on CAN via ISO-TP
 
+#### J1939/ISOBus tools
+* j1939acd : address claim daemon
+* j1939cat : take a file and send and receive it over CAN
+* j1939spy : spy on J1939 messages using SOC_J1939
+* j1939sr : send/recv from stdin or to stdout
+* testj1939 : send/receive test packet
+
+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)
+
 #### Log file converters
 * asc2log : convert ASC logfile to compact CAN frame logfile
 * log2asc : convert compact CAN frame logfile to ASC logfile
@@ -47,6 +59,17 @@ subsystem (aka SocketCAN):
 * slcand : daemon for serial line CAN interface configuration
 * slcanpty : creates a pty for applications using the slcan ASCII protocol
 
+#### CMake Project Generator
+* Place your build folder anywhere, passing CMake the path.  Relative or absolute.
+* Some examples using a build folder under the source tree root:
+* Android : ``cmake -DCMAKE_TOOLCHAIN_FILE=~/Android/Sdk/ndk-bundle/build/cmake/android.toolchain.cmake -DANDROID_PLATFORM=android-21 -DANDROID_ABI=armeabi-v7a .. && make``
+* Android Studio : Copy repo under your project's ``app`` folder, add ``add_subdirectory(can-utils)`` to your ``CMakeLists.txt`` file after ``cmake_minimum_required()``.  Generating project will build Debug/Release for all supported EABI types.  ie. arm64-v8a, armeabi-v7a, x86, x86_64.
+* Raspberry Pi : ``cmake -DCMAKE_TOOLCHAIN_FILE=~/rpi/tools/build/cmake/rpi.toolchain.cmake .. && make``
+* Linux : ``cmake -GNinja .. && ninja``
+* Linux Eclipse Photon (Debug) : ``CC=clang cmake -G"Eclipse CDT4 - Unix Makefiles" ../can-utils/ -DCMAKE_BUILD_TYPE=Debug -DCMAKE_ECLIPSE_VERSION=4.8.0``
+* To override the base installation directory use: ``CMAKE_INSTALL_PREFIX``
+  ie. ``CC=clang cmake -DCMAKE_INSTALL_PREFIX=./out .. && make install``
+
 ### Additional Information:
 
 *   [SocketCAN Documentation (Linux Kernel)](https://www.kernel.org/doc/Documentation/networking/can.txt)

asc2log.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * asc2log.c - convert ASC logfile to compact CAN frame logfile
  *
@@ -41,44 +42,47 @@
  *
  */
 
+#include <libgen.h>
+#include <locale.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 #include <sys/time.h>
 #include <time.h>
-#include <libgen.h>
 #include <unistd.h>
-#include <stdlib.h>
-#include <locale.h>
 
-#include <net/if.h>
 #include <linux/can.h>
 #include <linux/can/error.h>
+#include <net/if.h>
 
 #include "lib.h"
 
+#define BUFLEN 400 /* CAN FD mode lines can be pretty long */
+
 extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - convert ASC logfile to compact CAN frame logfile.\n", prg);
 	fprintf(stderr, "Usage: %s\n", prg);
-	fprintf(stderr, "Options: -I <infile>  (default stdin)\n");
-	fprintf(stderr, "         -O <outfile> (default stdout)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "\t-I <infile>\t(default stdin)\n");
+	fprintf(stderr, "\t-O <outfile>\t(default stdout)\n");
 }
 
-void prframe(FILE *file, struct timeval *tv, int dev, struct can_frame *cf) {
+void prframe(FILE *file, struct timeval *tv, int dev, struct canfd_frame *cf, unsigned int max_dlen, char *extra_info) {
 
-	fprintf(file, "(%ld.%06ld) ", tv->tv_sec, tv->tv_usec);
+	fprintf(file, "(%lu.%06lu) ", tv->tv_sec, tv->tv_usec);
 
 	if (dev > 0)
 		fprintf(file, "can%d ", dev-1);
 	else
 		fprintf(file, "canX ");
 
-	/* no CAN FD support so far */
-	fprint_canframe(file, (struct canfd_frame *)cf, "\n", 0, CAN_MAX_DLEN);
+	fprint_canframe(file, cf, extra_info, 0, max_dlen);
 }
 
-void get_can_id(struct can_frame *cf, char *idstring, int base) {
+void get_can_id(struct canfd_frame *cf, char *idstring, int base) {
 
 	if (idstring[strlen(idstring)-1] == 'x') {
 		cf->can_id = CAN_EFF_FLAG;
@@ -121,14 +125,224 @@ void calc_tv(struct timeval *tv, struct timeval *read_tv,
 	}
 }
 
+void eval_can(char* buf, struct timeval *date_tvp, char timestamps, char base, int dplace, FILE *outfile) {
+
+	int interface;
+	static struct timeval tv; /* current frame timestamp */
+	static struct timeval read_tv; /* frame timestamp from ASC file */
+	struct canfd_frame cf;
+	char rtr;
+	int dlc = 0;
+	int data[8];
+	char tmp1[BUFLEN];
+	char dir[3]; /* 'Rx' or 'Tx' plus terminating zero */
+	char *extra_info;
+	int i, items, found;
+
+	/* 0.002367 1 390x Rx d 8 17 00 14 00 C0 00 08 00 */
+
+	found = 0; /* found valid CAN frame ? */
+
+	if (base == 'h') { /* check for CAN frames with hexadecimal values */
+
+		items = sscanf(buf, "%lu.%lu %d %s %2s %c %d %x %x %x %x %x %x %x %x",
+			       &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+			       tmp1, dir, &rtr, &dlc,
+			       &data[0], &data[1], &data[2], &data[3],
+			       &data[4], &data[5], &data[6], &data[7]);
+
+		if ((items == dlc + 7 ) || /* data frame */
+		    ((items == 6) && (rtr == 'r')) || /* RTR without DLC */
+		    ((items == 7) && (rtr == 'r'))) { /* RTR with DLC */
+			found = 1;
+			get_can_id(&cf, tmp1, 16);
+		}
+
+	} else { /* check for CAN frames with decimal values */
+
+		items = sscanf(buf, "%lu.%lu %d %s %2s %c %d %d %d %d %d %d %d %d %d",
+			       &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+			       tmp1, dir, &rtr, &dlc,
+			       &data[0], &data[1], &data[2], &data[3],
+			       &data[4], &data[5], &data[6], &data[7]);
+
+		if ((items == dlc + 7 ) || /* data frame */
+		    ((items == 6) && (rtr == 'r')) || /* RTR without DLC */
+		    ((items == 7) && (rtr == 'r'))) { /* RTR with DLC */
+			found = 1;
+			get_can_id(&cf, tmp1, 10);
+		}
+	}
+
+	if (found) {
+
+		if (dlc > CAN_MAX_DLC)
+			return;
+
+		if (strlen(dir) != 2) /* "Rx" or "Tx" */
+			return;
+
+		if (dir[0] == 'R')
+			extra_info = " R\n";
+		else
+			extra_info = " T\n";
+
+		cf.len = dlc;
+		if (rtr == 'r')
+			cf.can_id |= CAN_RTR_FLAG;
+		else
+			for (i = 0; i < dlc; i++)
+				cf.data[i] = data[i] & 0xFFU;
+
+		calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
+		prframe(outfile, &tv, interface, &cf, CAN_MAX_DLEN, extra_info);
+		fflush(outfile);
+		return;
+	}
+
+	/* check for ErrorFrames */
+	if (sscanf(buf, "%lu.%lu %d %s",
+		   &read_tv.tv_sec, &read_tv.tv_usec,
+		   &interface, tmp1) == 4) {
+
+		if (!strncmp(tmp1, "ErrorFrame", strlen("ErrorFrame"))) {
+
+			memset(&cf, 0, sizeof(cf));
+			/* do not know more than 'Error' */
+			cf.can_id = (CAN_ERR_FLAG | CAN_ERR_BUSERROR);
+			cf.len = CAN_ERR_DLC;
+
+			calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
+			prframe(outfile, &tv, interface, &cf, CAN_MAX_DLEN, "\n");
+			fflush(outfile);
+		}
+	}
+}
+
+void eval_canfd(char* buf, struct timeval *date_tvp, char timestamps, int dplace, FILE *outfile) {
+
+	int interface;
+	static struct timeval tv; /* current frame timestamp */
+	static struct timeval read_tv; /* frame timestamp from ASC file */
+	struct canfd_frame cf = { 0 };
+	unsigned char brs, esi, ctmp;
+	unsigned int flags;
+	int dlc, dlen = 0;
+	char tmp1[BUFLEN];
+	char dir[3]; /* 'Rx' or 'Tx' plus terminating zero */
+	char *extra_info;
+	char *ptr;
+	int i;
+
+	/* The CANFD format is mainly in hex representation but <DataLength>
+	   and probably some content we skip anyway. Don't trust the docs! */
+
+	/* 21.671796 CANFD   1 Tx         11  msgCanFdFr1                      1 0 a 16 \
+	   00 00 00 00 00 00 00 00 00 00 00 00 00 00 59 c0		\
+	   100000  214   223040 80000000 46500250 460a0250 20011736 20010205 */
+
+	/* check for valid line without symbolic name */
+	if (sscanf(buf, "%lu.%lu %*s %d %2s %s %hhx %hhx %x %d ",
+		   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+		   dir, tmp1, &brs, &esi, &dlc, &dlen) != 9) {
+
+		/* check for valid line with a symbolic name */
+		if (sscanf(buf, "%lu.%lu %*s %d %2s %s %*s %hhx %hhx %x %d ",
+			   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
+			   dir, tmp1, &brs, &esi, &dlc, &dlen) != 9) {
+
+			/* no valid CANFD format pattern */
+			return;
+		}
+	}
+
+	/* check for allowed (unsigned) value ranges */
+	if ((dlen > CANFD_MAX_DLEN) || (dlc > CANFD_MAX_DLC) ||
+	    (brs > 1) || (esi > 1))
+		return;
+
+	if (strlen(dir) != 2) /* "Rx" or "Tx" */
+		return;
+
+	if (dir[0] == 'R')
+		extra_info = " R\n";
+	else
+		extra_info = " T\n";
+
+	/* don't trust ASCII content - sanitize data length */
+	if (dlen != can_dlc2len(can_len2dlc(dlen)))
+		return;
+
+	get_can_id(&cf, tmp1, 16);
+
+	/* now search for the beginning of the data[] content */
+	sprintf(tmp1, " %x %x %x %2d ", brs, esi, dlc, dlen);
+
+	/* search for the pattern generated by real data */
+	ptr = strcasestr(buf, tmp1);
+	if (ptr == NULL)
+		return;
+
+	ptr += strlen(tmp1); /* start of ASCII hex frame data */
+
+	cf.len = dlen;
+
+	for (i = 0; i < dlen; i++) {
+		ctmp = asc2nibble(ptr[0]);
+		if (ctmp > 0x0F)
+			return;
+
+		cf.data[i] = (ctmp << 4);
+
+		ctmp = asc2nibble(ptr[1]);
+		if (ctmp > 0x0F)
+			return;
+
+		cf.data[i] |= ctmp;
+
+		ptr += 3; /* start of next ASCII hex byte */
+	}
+
+	/* skip MessageDuration and MessageLength to get Flags value */
+	if (sscanf(ptr, "   %*x %*x %x ", &flags) != 1)
+		return;
+
+	/* relevant flags in Flags field */
+#define ASC_F_RTR 0x00000010
+#define ASC_F_FDF 0x00001000
+#define ASC_F_BRS 0x00002000
+#define ASC_F_ESI 0x00004000
+
+	if (flags & ASC_F_FDF) {
+		dlen = CANFD_MAX_DLEN;
+		if (flags & ASC_F_BRS)
+			cf.flags |= CANFD_BRS;
+		if (flags & ASC_F_ESI)
+			cf.flags |= CANFD_ESI;
+	} else {
+		/* yes. The 'CANFD' format supports classic CAN content! */
+		dlen = CAN_MAX_DLEN;
+		if (flags & ASC_F_RTR) {
+			cf.can_id |= CAN_RTR_FLAG;
+			/* dlen is always 0 for classic CAN RTR frames
+			   but the DLC value is valid in RTR cases */
+			cf.len = dlc;
+		}
+	}
+
+	calc_tv(&tv, &read_tv, date_tvp, timestamps, dplace);
+	prframe(outfile, &tv, interface, &cf, dlen, extra_info);
+	fflush(outfile);
+
+	/* No support for really strange CANFD ErrorFrames format m( */
+}
+
 int get_date(struct timeval *tv, char *date) {
 
-	char ctmp[10];
-	int  itmp;
-
 	struct tm tms;
+	unsigned int msecs = 0;
 
-	if (sscanf(date, "%9s %d %9s %9s %d", ctmp, &itmp, ctmp, ctmp, &itmp) == 5) {
+	if (strcasestr(date, " pm ") != NULL) {
 		/* assume EN/US date due to existing am/pm field */
 
 		if (!setlocale(LC_TIME, "en_US")) {
@@ -136,29 +350,39 @@ int get_date(struct timeval *tv, char *date) {
 			return 1;
 		}
 
-		if (!strptime(date, "%B %d %r %Y", &tms))
-			return 1;
+		if (!strptime(date, "%B %d %I:%M:%S %p %Y", &tms)) {
+			/* The string might contain a milliseconds value which strptime()
+			   does not support. So we read the ms value into the year variable
+			   before parsing the real year value (hack) */
+			if (!strptime(date, "%B %d %I:%M:%S.%Y %p %Y", &tms))
+				return 1;
+			sscanf(date, "%*s %*d %*d:%*d:%*d.%3u ", &msecs);
+		}
 
 	} else {
 		/* assume DE date due to non existing am/pm field */
 
-		if (sscanf(date, "%9s %d %9s %d", ctmp, &itmp, ctmp, &itmp) != 4)
-			return 1;
-
 		if (!setlocale(LC_TIME, "de_DE")) {
 			fprintf(stderr, "Setting locale to 'de_DE' failed!\n");
 			return 1;
 		}
 
-		if (!strptime(date, "%B %d %T %Y", &tms))
-			return 1;
+		if (!strptime(date, "%B %d %H:%M:%S %Y", &tms)) {
+			/* The string might contain a milliseconds value which strptime()
+			   does not support. So we read the ms value into the year variable
+			   before parsing the real year value (hack) */
+			if (!strptime(date, "%B %d %H:%M:%S.%Y %Y", &tms))
+				return 1;
+			sscanf(date, "%*s %*d %*d:%*d:%*d.%3u ", &msecs);
+		}
 	}
-    
-	//printf("h %d m %d s %d d %d m %d y %d\n",
-	//tms.tm_hour, tms.tm_min, tms.tm_sec,
+
+	//printf("h %d m %d s %d ms %03d d %d m %d y %d\n",
+	//tms.tm_hour, tms.tm_min, tms.tm_sec, msecs,
 	//tms.tm_mday, tms.tm_mon+1, tms.tm_year+1900);
 
 	tv->tv_sec = mktime(&tms);
+	tv->tv_usec = msecs * 1000;
 
 	if (tv->tv_sec < 0)
 		return 1;
@@ -168,24 +392,17 @@ int get_date(struct timeval *tv, char *date) {
 
 int main(int argc, char **argv)
 {
-	char buf[100], tmp1[100], tmp2[100];
+	char buf[BUFLEN], tmp1[BUFLEN], tmp2[BUFLEN];
 
 	FILE *infile = stdin;
 	FILE *outfile = stdout;
 	static int verbose;
-	struct can_frame cf;
-	static struct timeval tv; /* current frame timestamp */
-	static struct timeval read_tv; /* frame timestamp from ASC file */
+	static struct timeval tmp_tv; /* tmp frame timestamp from ASC file */
 	static struct timeval date_tv; /* date of the ASC file */
 	static int dplace; /* decimal place 4, 5 or 6 or uninitialized */
 	static char base; /* 'd'ec or 'h'ex */
 	static char timestamps; /* 'a'bsolute or 'r'elative */
-
-	int interface;
-	char rtr;
-	int dlc = 0;
-	int data[8];
-	int i, found, opt;
+	int opt;
 
 	while ((opt = getopt(argc, argv, "I:O:v?")) != -1) {
 		switch (opt) {
@@ -223,7 +440,7 @@ int main(int argc, char **argv)
 	}
 
 
-	while (fgets(buf, 99, infile)) {
+	while (fgets(buf, BUFLEN-1, infile)) {
 
 		if (!dplace) { /* the representation of a valid CAN frame not known */
 
@@ -258,87 +475,35 @@ int main(int argc, char **argv)
 					gettimeofday(&date_tv, NULL);
 				}
 				if (verbose)
-					printf("date %ld => %s", date_tv.tv_sec, ctime(&date_tv.tv_sec));
+					printf("date %lu => %s", date_tv.tv_sec, ctime(&date_tv.tv_sec));
 				continue;
 			}
 
 			/* check for decimal places length in valid CAN frames */
-			if (sscanf(buf, "%ld.%s %d ", &tv.tv_sec, tmp2, &i) == 3){
-				dplace = strlen(tmp2);
-				if (verbose)
-					printf("decimal place %d, e.g. '%s'\n", dplace, tmp2);
-				if (dplace < 4 || dplace > 6) {
-					printf("invalid dplace %d (must be 4, 5 or 6)!\n", dplace);
-					return 1;
-				}
-			} else
+			if (sscanf(buf, "%lu.%s %s ", &tmp_tv.tv_sec, tmp2,
+				   tmp1) != 3)
 				continue; /* dplace remains zero until first found CAN frame */
-		} 
+
+			dplace = strlen(tmp2);
+			if (verbose)
+				printf("decimal place %d, e.g. '%s'\n", dplace,
+				       tmp2);
+			if (dplace < 4 || dplace > 6) {
+				printf("invalid dplace %d (must be 4, 5 or 6)!\n",
+				       dplace);
+				return 1;
+			}
+		}
 
 		/* the representation of a valid CAN frame is known here */
 		/* so try to get CAN frames and ErrorFrames and convert them */
 
-		/* 0.002367 1 390x Rx d 8 17 00 14 00 C0 00 08 00 */
-
-		found = 0; /* found valid CAN frame ? */
-
-		if (base == 'h') { /* check for CAN frames with hexadecimal values */
-
-			if (sscanf(buf, "%ld.%ld %d %s %*s %c %d %x %x %x %x %x %x %x %x",
-				   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
-				   tmp1, &rtr, &dlc,
-				   &data[0], &data[1], &data[2], &data[3],
-				   &data[4], &data[5], &data[6], &data[7]
-				    ) == dlc + 6 ) {
-
-				found = 1;
-				get_can_id(&cf, tmp1, 16);
-			}
-
-		} else { /* check for CAN frames with decimal values */
-
-			if (sscanf(buf, "%ld.%ld %d %s %*s %c %d %d %d %d %d %d %d %d %d",
-				   &read_tv.tv_sec, &read_tv.tv_usec, &interface,
-				   tmp1, &rtr, &dlc,
-				   &data[0], &data[1], &data[2], &data[3],
-				   &data[4], &data[5], &data[6], &data[7]
-				    ) == dlc + 6 ) {
-
-				found = 1;
-				get_can_id(&cf, tmp1, 10);
-			}
-		}
-
-		if (found) {
-			if (rtr == 'r')
-				cf.can_id |= CAN_RTR_FLAG;
- 
-			cf.can_dlc = dlc & 0x0FU;
-			for (i=0; i<dlc; i++)
-				cf.data[i] = data[i] & 0xFFU;
-
-			calc_tv(&tv, &read_tv, &date_tv, timestamps, dplace);
-			prframe(outfile, &tv, interface, &cf);
-			fflush(outfile);
-			continue;
-		}
-
-		/* check for ErrorFrames */
-		if (sscanf(buf, "%ld.%ld %d %s",
-			   &read_tv.tv_sec, &read_tv.tv_usec,
-			   &interface, tmp1) == 4) {
-		
-			if (!strncmp(tmp1, "ErrorFrame", strlen("ErrorFrame"))) {
-
-				memset(&cf, 0, sizeof(cf));
-				/* do not know more than 'Error' */
-				cf.can_id  = (CAN_ERR_FLAG | CAN_ERR_BUSERROR);
-				cf.can_dlc =  CAN_ERR_DLC;
-		    
-				calc_tv(&tv, &read_tv, &date_tv, timestamps, dplace);
-				prframe(outfile, &tv, interface, &cf);
-				fflush(outfile);
-			}
+		/* check classic CAN format or the CANFD tag which can take both types */
+		if (sscanf(buf, "%lu.%lu %s ", &tmp_tv.tv_sec,  &tmp_tv.tv_usec, tmp1) == 3){
+			if (!strncmp(tmp1, "CANFD", 5))
+				eval_canfd(buf, &date_tv, timestamps, dplace, outfile);
+			else
+				eval_can(buf, &date_tv, timestamps, base, dplace, outfile);
 		}
 	}
 	fclose(outfile);

bcmserver.c

@@ -1,7 +1,8 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * tst-bcm-server.c
  *
- * Test programm that implements a socket server which understands ASCII
+ * Test program that implements a socket server which understands ASCII
  * messages for simple broadcast manager frame send commands.
  *
  * < interface command ival_s ival_us can_id can_dlc [data]* >
@@ -107,20 +108,21 @@
  *
  */
 
+#include <errno.h>
+#include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <unistd.h>
 #include <string.h>
-#include <signal.h>
-#include <errno.h>
+#include <time.h>
+#include <unistd.h>
 
-#include <sys/types.h>
-#include <sys/wait.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <sys/uio.h>
 #include <net/if.h>
 #include <netinet/in.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/uio.h>
+#include <sys/wait.h>
 
 #include <linux/can.h>
 #include <linux/can/bcm.h>
@@ -134,7 +136,7 @@ void childdied(int i)
 	wait(NULL);
 }
 
-int main(int argc, char **argv)
+int main(void)
 {
 
 	int sl, sa, sc;
@@ -179,8 +181,12 @@ int main(int argc, char **argv)
 	saddr.sin_port = htons(PORT);
 
 	while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
+		struct timespec f = {
+			.tv_nsec = 100 * 1000 * 1000,
+		};
+
 		printf(".");fflush(NULL);
-		usleep(100000);
+		nanosleep(&f, NULL);
 	}
 
 	if (listen(sl,3) != 0) {
@@ -191,11 +197,9 @@ int main(int argc, char **argv)
 	while (1) { 
 		sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
 		if (sa > 0 ){
-
-			if (fork())
-				close(sa);
-			else
+			if (!fork())
 				break;
+			close(sa);
 		}
 		else {
 			if (errno != EINTR) {

can-calc-bit-timing.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /* can-calc-bit-timing.c: Calculate CAN bit timing parameters
  *
  * Copyright (C) 2008 Wolfgang Grandegger <wg@grandegger.com>
@@ -11,13 +12,13 @@
  *   email:pisa@cmp.felk.cvut.cz
  *
  * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * any later version.
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
  */
 
 #include <errno.h>
 #include <getopt.h>
+#include <libgen.h>
 #include <limits.h>
 #include <stdbool.h>
 #include <stdint.h>
@@ -25,8 +26,8 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include <linux/types.h>
 #include <linux/can/netlink.h>
+#include <linux/types.h>
 
 /* imported from kernel */
 
@@ -131,17 +132,16 @@ static inline void *netdev_priv(const struct net_device *dev)
 
 static void print_usage(char *cmd)
 {
+	printf("%s - calculate CAN bit timing parameters.\n", cmd);
 	printf("Usage: %s [options] [<CAN-contoller-name>]\n"
-	       "\tOptions:\n"
-	       "\t-q           : don't print header line\n"
-	       "\t-l           : list all support CAN controller names\n"
-	       "\t-b <bitrate> : bit-rate in bits/sec\n"
-	       "\t-s <samp_pt> : sample-point in one-tenth of a percent\n"
+	       "Options:\n"
+	       "\t-q             don't print header line\n"
+	       "\t-l             list all support CAN controller names\n"
+	       "\t-b <bitrate>   bit-rate in bits/sec\n"
+	       "\t-s <samp_pt>   sample-point in one-tenth of a percent\n"
 	       "\t               or 0 for CIA recommended sample points\n"
-	       "\t-c <clock>   : real CAN system clock in Hz\n",
+	       "\t-c <clock>     real CAN system clock in Hz\n",
 	       cmd);
-
-	exit(EXIT_FAILURE);
 }
 
 static void printf_btr_sja1000(struct can_bittiming *bt, bool hdr)
@@ -444,7 +444,7 @@ static int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt,
 	unsigned int spt_nominal;	/* nominal sample point */
 	unsigned int best_tseg = 0;	/* current best value for tseg */
 	unsigned int best_brp = 0;	/* current best value for brp */
-	unsigned int brp, tsegall, tseg, tseg1, tseg2;
+	unsigned int brp, tsegall, tseg, tseg1 = 0, tseg2 = 0;
 	u64 v64;
 
 	/* Use CiA recommended sample points */
@@ -638,7 +638,7 @@ int main(int argc, char *argv[])
 
 	const struct calc_bittiming_const *btc;
 
-	while ((opt = getopt(argc, argv, "b:c:lqs:")) != -1) {
+	while ((opt = getopt(argc, argv, "b:c:lqs:?")) != -1) {
 		switch (opt) {
 		case 'b':
 			bitrate_nominal = atoi(optarg);
@@ -660,14 +660,22 @@ int main(int argc, char *argv[])
 			spt_nominal = strtoul(optarg, NULL, 10);
 			break;
 
+		case '?':
+			print_usage(basename(argv[0]));
+			exit(EXIT_SUCCESS);
+			break;
+
 		default:
-			print_usage(argv[0]);
+			print_usage(basename(argv[0]));
+			exit(EXIT_FAILURE);
 			break;
 		}
 	}
 
-	if (argc > optind + 1)
+	if (argc > optind + 1) {
 		print_usage(argv[0]);
+		exit(EXIT_FAILURE);
+	}
 
 	if (argc == optind + 1)
 		name = argv[optind];
@@ -677,11 +685,14 @@ int main(int argc, char *argv[])
 		exit(EXIT_SUCCESS);
 	}
 
-	if (spt_nominal && (spt_nominal >= 1000 || spt_nominal < 100))
+	if (spt_nominal && (spt_nominal >= 1000 || spt_nominal < 100)) {
 		print_usage(argv[0]);
+		exit(EXIT_FAILURE);
+	}
 
 	for (i = 0; i < ARRAY_SIZE(can_calc_consts); i++) {
-		if (name && strcmp(can_calc_consts[i].bittiming_const.name, name))
+		if (name &&
+		    strcmp(can_calc_consts[i].bittiming_const.name, name) != 0)
 			continue;
 
 		found = true;

can-j1939-install-kernel-module.md

@@ -0,0 +1,180 @@
+# can-j1939 kernel module installation #
+
+
+
+### Problem
+
+You already have **can0** or **vcan0** up and working, **can-utils** downloaded and compiled to **~/can/can-utils** and you can send and receive frames without problems. However, when you want to bring up **can-j1939** you get error like this:
+
+```bash
+avra@vm-debian:~/can/can-utils$ sudo modprobe can-j1939
+modprobe: FATAL: Module can-j1939 not found in directory /lib/modules/5.7.0.0.bpo.2-amd64
+```
+
+and also this:
+
+```bash
+avra@vm-debian:~/can/can-utils$ testj1939
+testj1939: socket(j1939): Protocol not supported
+```
+
+
+
+### Solution
+
+Above errors mean that **can-j1939** was not enabled in your kernel and you need to compile it manually. There are several ways to do it. Any Linux kernel since 5.4 has **can-j1939** module, but you will probably want to install fresher version, which leads to downloading kernel sources, enabling **can-j1939** module, recompiling kernel and installing it. I will be using Debian 10.5 x64 (buster testing) virtual machine.
+
+
+
+#### 1. Download kernel source ####
+
+We will download Debian patched kernel 5.8. First update your sources
+
+```
+avra@vm-debian:~$ sudo apt update
+```
+
+and then look at available Debian patched kernel source packages
+
+```
+avra@vm-debian:~$ apt-cache search linux-source
+linux-source-4.19 - Linux kernel source for version 4.19 with Debian patches
+linux-source - Linux kernel source (meta-package)
+linux-source-5.4 - Linux kernel source for version 5.4 with Debian patches
+linux-source-5.5 - Linux kernel source for version 5.5 with Debian patches
+linux-source-5.6 - Linux kernel source for version 5.6 with Debian patches
+linux-source-5.7 - Linux kernel source for version 5.7 with Debian patches
+linux-source-5.8 - Linux kernel source for version 5.8 with Debian patches
+```
+
+If kernel 5.8 does not show in your linux-sources list (it shows above in mine since I have already upgraded stock 4.19 kernel to backported 5.7), then you will need to add backports to your sources list. It is best to do it like this
+
+```
+echo 'deb http://deb.debian.org/debian buster-backports main contrib' | sudo tee -a /etc/apt/sources.list.d/debian-backports.list
+```
+
+Alternatively, or in case you have problems with installation of some packages, or you just want to have everything in a single list, here is what my **/etc/apt/sources.list** looks like (you will need to append at least last line to yours)
+
+```
+deb http://security.debian.org/debian-security buster/updates main contrib
+deb-src http://security.debian.org/debian-security buster/updates main contrib
+
+deb http://deb.debian.org/debian/ buster main contrib non-free
+deb-src http://deb.debian.org/debian/ buster main contrib non-free
+
+deb http://deb.debian.org/debian buster-backports main contrib
+```
+
+After adding backports in one way or another, try **sudo apt update** again, and after that **apt-cache search linux-source** should show kernel 5.8 in the list, so you can install it's source package
+
+```
+sudo apt install linux-source-5.8
+```
+
+and unpack it
+```
+avra@vm-debian:~$ cd /usr/src
+avra@vm-debian:/usr/src$ sudo tar -xaf linux-source-5.8.tar.xz
+avra@vm-debian:/usr/src$ cd linux-source-5.8
+```
+
+
+
+#### 2. Add can-j1939 module to kernel ####
+
+First we need some packages for **menuconfig** 
+
+```
+sudo apt-get install libncurses5 libncurses5-dev
+```
+
+copy and use our old configuration to run **menuconfig**
+
+```
+avra@vm-debian:/usr/src/linux-source-5.8$ sudo cp /boot/config-$(uname -r) .config
+avra@vm-debian:/usr/src/linux-source-5.8$ sudo make menuconfig
+```
+
+where we enable SAE  J1939 kernel module as shown
+
+```
+	- Networking Support
+		- Can bus subsystem support
+			- <M> SAE J1939
+```
+
+Now edit **/usr/src/linux-source-5.8/.config**, find CONFIG_SYSTEM_TRUSTED_KEYS, change it as following
+```
+CONFIG_SYSTEM_TRUSTED_KEYS=""
+```
+
+and save the file.
+
+
+
+#### 3. Compile and install kernel and modules
+
+We will have to download necessary packages
+
+```
+sudo apt install build-essential libssl-dev libelf-dev bison flex
+```
+
+compile kernel (using threads to make it faster)
+
+```
+avra@vm-debian:/usr/src/linux-source-5.8$ sudo make -j $(nproc)
+```
+
+install
+
+```
+avra@vm-debian:/usr/src/linux-source-5.8$ sudo make modules_install
+avra@vm-debian:/usr/src/linux-source-5.8$ sudo make install
+```
+
+and update grub
+
+```
+avra@vm-debian:/usr/src/linux-source-5.8$ sudo update-grub
+avra@vm-debian:/usr/src/linux-source-5.8$ sudo reboot
+```
+
+Check if installation is correct with
+
+```
+sudo modprobe can-j1939
+```
+
+and if you get no error then you can enjoy **can-j1939**. If you get some error then you might check if this alternative command works:
+
+```
+sudo insmod /lib/modules/5.8.10/kernel/net/can/j1939/can-j1939.ko
+```
+
+If it does then all you need to do is 
+
+```
+sudo depmod -av
+```
+
+reboot once, and **modprobe** command from the above should finally work.
+
+
+
+#### 4. Install headers if needed
+
+You might have a problem with headers not being updated. To check that open file **/usr/include/linux/can.h** with
+
+```
+nano /usr/include/linux/can.h
+```
+
+If in the struct **sockaddr_can** you don’t see **j1939**, then header files did not upgrade and you need to do it manually
+
+```
+sudo cp /usr/src/linux-source-5.8/include/uapi/linux/can.h /usr/include/linux/can.h
+sudo cp /usr/src/linux-source-5.8/include/uapi/linux/can/j1939.h /usr/include/linux/can/
+```
+
+That is the minimum for compiling some **J1939** C code, but you might want to upgrade other header files as well. That's up to you. Enjoy!

can-j1939-kickstart.md

@@ -33,7 +33,7 @@ testj1939 can be told to print the used API calls by adding **-v** program argum
 
 Do in terminal 1
 
-	./testj1939 -r can0:
+	testj1939 -B -r can0
 
 Send raw CAN in terminal 2
 
@@ -44,7 +44,7 @@ You should have this output in terminal 1
 	40 02300: 01 23
 
 This means, from NAME 0, SA 40, PGN 02300 was received,
-with 2 databytes, *01* & *02*.
+with 2 databytes, *01* & *23*.
 
 now emit this CAN message:
 
@@ -54,20 +54,11 @@ In J1939, this means that ECU 0x40 sends directly to ECU 0x41
 Since we did not bind to address 0x41, this traffic
 is not meant for us and *testj1939* does not receive it.
 
-### Use source address
-
-Binding a can-j1939 socket to a source address will register
-allow you to send packets.
-
-	./testj1939 can0:0x80
-
-Your system had, for a small moment, source address 0x80 assigned.
-
 ### receive with source address
 
 Terminal 1:
 
-	./testj1939 -r can0:0x80
+	testj1939 -r can0:0x80
 
 Terminal 2:
 
@@ -87,37 +78,42 @@ Open in terminal 1:
 
 And to these test in another terminal
 
-	./testj1939 -s can0:0x80,0x3ffff
+	testj1939 -B -s can0:0x80 can0:,0x3ffff
 
 This produces **1BFFFF80#0123456789ABCDEF** on CAN.
 
+Note: To be able to send a broadcast we need to use, we need to use "-B" flag.
+
 ### Multiple source addresses on 1 CAN device
 
-	./testj1939 -s can0:0x90,0x3ffff
+	testj1939 -B -s can0:0x90 can0:,0x3ffff
 
 produces **1BFFFF90#0123456789ABCDEF** ,
 
 ### Use PDU1 PGN
 
-	./testj1939 -s can0:0x80,0x12345
+	testj1939 -B -s can0:0x80 can0:,0x12300
 
 emits **1923FF80#0123456789ABCDEF** .
 
-Note that the real PGN is **0x12300**, and destination address is **0xff**.
+Note that the PGN is **0x12300**, and destination address is **0xff**.
 
 ### Use destination address info
 
+Since in this example we use unicast source and destination addresses, we do
+not need to use "-B" (broadcast) flag.
+
 The destination field may be set during sendto().
 *testj1939* implements that like this
 
-	./testj1939 -s can0:0x80,0x12345 can0:0x40
+	testj1939 -s can0:0x80 can0:0x40,0x12300
 
 emits **19234080#0123456789ABCDEF** .
 
 The destination CAN iface __must__ always match the source CAN iface.
-Specifing one during bind is therefore sufficient.
+Specifying one during bind is therefore sufficient.
 
-	./testj1939 -s can0:,0x12300 :0x40
+	testj1939 -s can0:0x80 :0x40,0x12300
 
 emits the very same.
 
@@ -129,13 +125,13 @@ __sendto( *peername* )__ , and only one is used.
 
 For broadcasted transmissions
 
-	./testj1939 -s can0:0x80,0x12300 :,0x32100
+	testj1939 -B -s can0:0x80 :,0x32100
 
-emits **1B21FF80#0123456789ABCDEF** rather than 1923FF80#012345678ABCDEF
+emits **1B21FF80#0123456789ABCDEF**
 
-Desitination specific transmissions
+Destination specific transmissions
 
-	./testj1939 -s can0:0x80,0x12300 :0x40,0x32100
+	testj1939 -s can0:0x80,0x12300 :0x40,0x32100
 
 emits **1B214080#0123456789ABCDEF** .
 
@@ -146,30 +142,16 @@ It makes sometimes sense to omit the PGN in __bind( *sockname* )__ .
 J1939 transparently switches to *Transport Protocol* when packets
 do not fit into single CAN packets.
 
-	./testj1939 -s20 can0:0x80 :,0x12300
-
-emits:
-
-	18ECFF80#20140003FF002301
-
-This is the first fragment for broadcasted *Transport Protocol*.
-_testj1939_ returns before the subsequent packets can leave, and
-as the last socket on the system closes, can-j1939 effectively
-cleans up all resources. Real-world applications will run like forever,
-and will not encounter this side-effect.
-
-Try again, and instruct _testj1939_ to keep the socket open for 1 second.
-
-	./testj1939 -w1.0 -s20 can0:0x80 :,0x12300
+	testj1939 -B -s20 can0:0x80 :,0x12300
 
 emits:
 
 	18ECFF80#20140003FF002301
 	18EBFF80#010123456789ABCD
 	18EBFF80#02EF0123456789AB
-	18EBFF80#03CDEF01234567
+	18EBFF80#03CDEF01234567FF
 
-The fragments for broadcasted *Transport Protocol* are seperated
+The fragments for broadcasted *Transport Protocol* are separated
 __50ms__ from each other.
 Destination specific *Transport Protocol* applies flow control
 and may emit CAN packets much faster.
@@ -178,11 +160,11 @@ First assign 0x90 to the local system.
 This becomes important because the kernel must interact in the
 transport protocol sessions before the complete packet is delivered.
 
-	./testj1939 can0:0x90 -r &
+	testj1939 can0:0x90 -r &
 
 Now test:
 
-	./testj1939 -s20 can0:0x80 :0x90,0x12300
+	testj1939 -s20 can0:0x80 :0x90,0x12300
 
 emits:
 
@@ -190,7 +172,7 @@ emits:
 	18EC8090#110301FFFF002301
 	18EB9080#010123456789ABCD
 	18EB9080#02EF0123456789AB
-	18EB9080#03CDEF01234567
+	18EB9080#03CDEF01234567FF
 	18EC8090#13140003FF002301
 
 The flow control causes a bit overhead.
@@ -200,8 +182,8 @@ This overhead scales very good for larger J1939 packets.
 
 ### Change priority of J1939 packets
 
-	./testj1939 -s can0:0x80,0x0100
-	./testj1939 -s -p3 can0:0x80,0x0200
+	testj1939 -B -s can0:0x80 :,0x0100
+	testj1939 -B -s -p3 can0:0x80 :,0x0200
 
 emits
 

can-j1939.md

@@ -19,7 +19,7 @@ See [Wikipedia:socketcan](http://en.wikipedia.org/wiki/Socketcan)
 * CAN id is composed of
   * 0..8: SA (source address)
   * 9..26:
-    * PDU1: PGN+DA (destionation address)
+    * PDU1: PGN+DA (destination address)
     * PDU2: PGN
   * 27..29: PRIO
 
@@ -61,7 +61,7 @@ will emit a single CAN frame.
 
 	send(sock, data, 9, 0);
 
-will use fragementation, emitting 1+ CAN frames.
+will use fragmentation, emitting 1+ CAN frames.
 
 # Using J1939
 

canbusload.c

@@ -1,5 +1,6 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * canbusload.c
+ * canbusload.c - monitor CAN bus load
  *
  * Copyright (c) 2002-2008 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -41,21 +42,21 @@
  *
  */
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-#include <signal.h>
 #include <ctype.h>
 #include <libgen.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
 #include <time.h>
+#include <unistd.h>
 
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
 #include <sys/time.h>
 #include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
 #include <sys/uio.h>
-#include <net/if.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -90,23 +91,25 @@ static char *prg;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - monitor CAN bus load.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -t (show current time on the first line)\n");
-	fprintf(stderr, "         -c (colorize lines)\n");
-	fprintf(stderr, "         -b (show bargraph in %d%% resolution)\n", PERCENTRES);
-	fprintf(stderr, "         -r (redraw the terminal - similar to top)\n");
-	fprintf(stderr, "         -i (ignore bitstuffing in bandwidth calculation)\n");
-	fprintf(stderr, "         -e (exact calculation of stuffed bits)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -t  (show current time on the first line)\n");
+	fprintf(stderr, "         -c  (colorize lines)\n");
+	fprintf(stderr, "         -b  (show bargraph in %d%% resolution)\n", PERCENTRES);
+	fprintf(stderr, "         -r  (redraw the terminal - similar to top)\n");
+	fprintf(stderr, "         -i  (ignore bitstuffing in bandwidth calculation)\n");
+	fprintf(stderr, "         -e  (exact calculation of stuffed bits)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with mandatory bitrate can be specified on the \n", MAXSOCK);
 	fprintf(stderr, "commandline in the form: <ifname>@<bitrate>\n\n");
 	fprintf(stderr, "The bitrate is mandatory as it is needed to know the CAN bus bitrate to\n");
-	fprintf(stderr, "calcultate the bus load percentage based on the received CAN frames.\n");
+	fprintf(stderr, "calculate the bus load percentage based on the received CAN frames.\n");
 	fprintf(stderr, "Due to the bitstuffing estimation the calculated busload may exceed 100%%.\n");
 	fprintf(stderr, "For each given interface the data is presented in one line which contains:\n\n");
 	fprintf(stderr, "(interface) (received CAN frames) (used bits total) (used bits for payload)\n");
-	fprintf(stderr, "\nExample:\n");
+	fprintf(stderr, "\nExamples:\n");
 	fprintf(stderr, "\nuser$> canbusload can0@100000 can1@500000 can2@500000 can3@500000 -r -t -b -c\n\n");
 	fprintf(stderr, "%s 2014-02-01 21:13:16 (worst case bitstuffing)\n", prg);
 	fprintf(stderr, " can0@100000   805   74491  36656  74%% |XXXXXXXXXXXXXX......|\n");
@@ -297,7 +300,7 @@ int main(int argc, char **argv)
 		ptr = argv[optind+i];
 
 		nbytes = strlen(ptr);
-		if (nbytes >= IFNAMSIZ+sizeof("@1000000")+1) {
+		if (nbytes >= (int)(IFNAMSIZ+sizeof("@1000000")+1)) {
 			printf("name of CAN device '%s' is too long!\n", ptr);
 			return 1;
 		}
@@ -321,7 +324,7 @@ int main(int argc, char **argv)
 
 		nbytes = nptr - ptr;  /* interface name is up the first '@' */
 
-		if (nbytes >= IFNAMSIZ) {
+		if (nbytes >= (int)IFNAMSIZ) {
 			printf("name of CAN device '%s' is too long!\n", ptr);
 			return 1;
 		}
@@ -386,14 +389,14 @@ int main(int argc, char **argv)
 
 			if (FD_ISSET(s[i], &rdfs)) {
 
-				nbytes = read(s[i], &frame, sizeof(struct can_frame));
+				nbytes = read(s[i], &frame, sizeof(frame));
 
 				if (nbytes < 0) {
 					perror("read");
 					return 1;
 				}
 
-				if (nbytes < sizeof(struct can_frame)) {
+				if (nbytes < (int)sizeof(struct can_frame)) {
 					fprintf(stderr, "read: incomplete CAN frame\n");
 					return 1;
 				}

candump.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * candump.c
  *
@@ -41,23 +42,23 @@
  *
  */
 
+#include <ctype.h>
+#include <errno.h>
+#include <libgen.h>
+#include <signal.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdint.h>
-#include <unistd.h>
 #include <string.h>
-#include <signal.h>
-#include <ctype.h>
-#include <libgen.h>
 #include <time.h>
-#include <errno.h>
+#include <unistd.h>
 
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
 #include <sys/time.h>
 #include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
 #include <sys/uio.h>
-#include <net/if.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -115,21 +116,20 @@ static volatile int running = 1;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - dump CAN bus traffic.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+	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, "         -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");
 	fprintf(stderr, "         -S          (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
 	fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
-	fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
-	fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
-	fprintf(stderr, "         -u <usecs>  (delay bridge forwarding by <usecs> microseconds)\n");
 	fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 	fprintf(stderr, "         -L          (use log file format on stdout)\n");
-	fprintf(stderr, "         -n <count>  (terminate after receiption of <count> CAN frames)\n");
+	fprintf(stderr, "         -n <count>  (terminate after reception of <count> CAN frames)\n");
 	fprintf(stderr, "         -r <size>   (set socket receive buffer to <size>)\n");
 	fprintf(stderr, "         -D          (Don't exit if a \"detected\" can device goes down.\n");
 	fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
@@ -139,22 +139,23 @@ void print_usage(char *prg)
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 	fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
-	fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
-	fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
-	fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
-	fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
-	fprintf(stderr, " [j|J]               (join the given CAN filters - logical AND semantic)\n");
+	fprintf(stderr, "\nFilters:\n");
+	fprintf(stderr, "  Comma separated filters can be specified for each given CAN interface:\n");
+	fprintf(stderr, "    <can_id>:<can_mask>\n         (matches when <received_can_id> & mask == can_id & mask)\n");
+	fprintf(stderr, "    <can_id>~<can_mask>\n         (matches when <received_can_id> & mask != can_id & mask)\n");
+	fprintf(stderr, "    #<error_mask>\n         (set error frame filter, see include/linux/can/error.h)\n");
+	fprintf(stderr, "    [j|J]\n         (join the given CAN filters - logical AND semantic)\n");
 	fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
-	fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
+	fprintf(stderr, "When the can_id is 8 digits long the CAN_EFF_FLAG is set for 29 bit EFF format.\n");
 	fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 	fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
-	fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
-	fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
-	fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
-	fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
-	fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
+	fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n\n", prg);
+	fprintf(stderr, "%s -l any,0~0,#FFFFFFFF\n         (log only error frames but no(!) data frames)\n", prg);
+	fprintf(stderr, "%s -l any,0:0,#FFFFFFFF\n         (log error frames and also all data frames)\n", prg);
+	fprintf(stderr, "%s vcan2,12345678:DFFFFFFF\n         (match only for extended CAN ID 12345678)\n", prg);
+	fprintf(stderr, "%s vcan2,123:7FF\n         (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
+	fprintf(stderr, "%s vcan2,123:C00007FF\n         (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 	fprintf(stderr, "\n");
 }
 
@@ -200,7 +201,7 @@ int idx2dindex(int ifidx, int socket) {
 	if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 		perror("SIOCGIFNAME");
 
-	if (max_devname_len < strlen(ifr.ifr_name))
+	if (max_devname_len < (int)strlen(ifr.ifr_name))
 		max_devname_len = strlen(ifr.ifr_name);
 
 	strcpy(devname[i], ifr.ifr_name);
@@ -216,8 +217,6 @@ int main(int argc, char **argv)
 {
 	fd_set rdfs;
 	int s[MAXSOCK];
-	int bridge = 0;
-	useconds_t bridge_delay = 0;
 	unsigned char timestamp = 0;
 	unsigned char hwtimestamp = 0;
 	unsigned char down_causes_exit = 1;
@@ -256,7 +255,7 @@ int main(int argc, char **argv)
 	last_tv.tv_sec  = 0;
 	last_tv.tv_usec = 0;
 
-	while ((opt = getopt(argc, argv, "t:HciaSs:b:B:u:lDdxLn:r:heT:?")) != -1) {
+	while ((opt = getopt(argc, argv, "t:HciaSs:lDdxLn:r:heT:?")) != -1) {
 		switch (opt) {
 		case 't':
 			timestamp = optarg[0];
@@ -300,49 +299,6 @@ int main(int argc, char **argv)
 			}
 			break;
 
-		case 'b':
-		case 'B':
-			if (strlen(optarg) >= IFNAMSIZ) {
-				fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
-				return 1;
-			} else {
-				bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
-				if (bridge < 0) {
-					perror("bridge socket");
-					return 1;
-				}
-				addr.can_family = AF_CAN;
-				strcpy(ifr.ifr_name, optarg);
-				if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
-					perror("SIOCGIFINDEX");
-				addr.can_ifindex = ifr.ifr_ifindex;
-		
-				if (!addr.can_ifindex) {
-					perror("invalid bridge interface");
-					return 1;
-				}
-
-				/* disable default receive filter on this write-only RAW socket */
-				setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
-
-				if (opt == 'B') {
-					const int loopback = 0;
-
-					setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
-						   &loopback, sizeof(loopback));
-				}
-
-				if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
-					perror("bridge bind");
-					return 1;
-				}
-			}
-			break;
-	    
-		case 'u':
-			bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
-			break;
-
 		case 'l':
 			log = 1;
 			break;
@@ -461,7 +417,7 @@ int main(int argc, char **argv)
 		printf("using interface name '%s'.\n", ifr.ifr_name);
 #endif
 
-		if (strcmp(ANYDEV, ifr.ifr_name)) {
+		if (strcmp(ANYDEV, ifr.ifr_name) != 0) {
 			if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 				perror("SIOCGIFINDEX");
 				exit(1);
@@ -502,12 +458,16 @@ int main(int argc, char **argv)
 					   &rfilter[numfilter].can_id, 
 					   &rfilter[numfilter].can_mask) == 2) {
  					rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
+					if (*(ptr+8) == ':')
+						rfilter[numfilter].can_id |= CAN_EFF_FLAG;
 					numfilter++;
 				} else if (sscanf(ptr, "%x~%x",
 						  &rfilter[numfilter].can_id, 
 						  &rfilter[numfilter].can_mask) == 2) {
  					rfilter[numfilter].can_id |= CAN_INV_FILTER;
  					rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
+					if (*(ptr+8) == '~')
+						rfilter[numfilter].can_id |= CAN_EFF_FLAG;
 					numfilter++;
 				} else if (*ptr == 'j' || *ptr == 'J') {
 					join_filter = 1;
@@ -612,7 +572,7 @@ int main(int argc, char **argv)
 	if (log) {
 		time_t currtime;
 		struct tm now;
-		char fname[sizeof("candump-2006-11-20_202026.log")+1];
+		char fname[83]; /* suggested by -Wformat-overflow= */
 
 		if (time(&currtime) == (time_t)-1) {
 			perror("time");
@@ -630,9 +590,9 @@ int main(int argc, char **argv)
 			now.tm_sec);
 
 		if (silent != SILENT_ON)
-			printf("\nWarning: console output active while logging!");
+			fprintf(stderr, "Warning: Console output active while logging!\n");
 
-		fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
+		fprintf(stderr, "Enabling Logfile '%s'\n", fname);
 
 		logfile = fopen(fname, "w");
 		if (!logfile) {
@@ -668,6 +628,7 @@ int main(int argc, char **argv)
 			if (FD_ISSET(s[i], &rdfs)) {
 
 				int idx;
+				char *extra_info = "";
 
 				/* these settings may be modified by recvmsg() */
 				iov.iov_len = sizeof(frame);
@@ -698,20 +659,6 @@ int main(int argc, char **argv)
 
 				if (count && (--count == 0))
 					running = 0;
-
-				if (bridge) {
-					if (bridge_delay)
-						usleep(bridge_delay);
-
-					nbytes = write(bridge, &frame, nbytes);
-					if (nbytes < 0) {
-						perror("bridge write");
-						return 1;
-					} else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
-						fprintf(stderr,"bridge write: incomplete CAN frame\n");
-						return 1;
-					}
-				}
 		    
 				for (cmsg = CMSG_FIRSTHDR(&msg);
 				     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
@@ -755,24 +702,33 @@ int main(int argc, char **argv)
 				if (frame.can_id & CAN_EFF_FLAG)
 					view |= CANLIB_VIEW_INDENT_SFF;
 
+				if (extra_msg_info) {
+					if (msg.msg_flags & MSG_DONTROUTE)
+						extra_info = " T";
+					else
+						extra_info = " R";
+				}
+
 				if (log) {
 					char buf[CL_CFSZ]; /* max length */
 
 					/* log CAN frame with absolute timestamp & device */
 					sprint_canframe(buf, &frame, 0, maxdlen);
-					fprintf(logfile, "(%010ld.%06ld) %*s %s\n",
+					fprintf(logfile, "(%010lu.%06lu) %*s %s%s\n",
 						tv.tv_sec, tv.tv_usec,
-						max_devname_len, devname[idx], buf);
+						max_devname_len, devname[idx], buf,
+						extra_info);
 				}
 
-				if (logfrmt) {
+				if ((logfrmt) && (silent == SILENT_OFF)){
 					char buf[CL_CFSZ]; /* max length */
 
 					/* print CAN frame in log file style to stdout */
 					sprint_canframe(buf, &frame, 0, maxdlen);
-					printf("(%010ld.%06ld) %*s %s\n",
+					printf("(%010lu.%06lu) %*s %s%s\n",
 					       tv.tv_sec, tv.tv_usec,
-					       max_devname_len, devname[idx], buf);
+					       max_devname_len, devname[idx], buf,
+					       extra_info);
 					goto out_fflush; /* no other output to stdout */
 				}
 
@@ -789,7 +745,7 @@ int main(int argc, char **argv)
 				switch (timestamp) {
 
 				case 'a': /* absolute with timestamp */
-					printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+					printf("(%010lu.%06lu) ", tv.tv_sec, tv.tv_usec);
 					break;
 
 				case 'A': /* absolute with date */
@@ -799,7 +755,7 @@ int main(int argc, char **argv)
 
 					tm = *localtime(&tv.tv_sec);
 					strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
-					printf("(%s.%06ld) ", timestring, tv.tv_usec);
+					printf("(%s.%06lu) ", timestring, tv.tv_usec);
 				}
 				break;
 
@@ -816,7 +772,7 @@ int main(int argc, char **argv)
 						diff.tv_sec--, diff.tv_usec += 1000000;
 					if (diff.tv_sec < 0)
 						diff.tv_sec = diff.tv_usec = 0;
-					printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
+					printf("(%03lu.%06lu) ", diff.tv_sec, diff.tv_usec);
 				
 					if (timestamp == 'd')
 						last_tv = tv; /* update for delta calculation */
@@ -854,9 +810,6 @@ int main(int argc, char **argv)
 	for (i=0; i<currmax; i++)
 		close(s[i]);
 
-	if (bridge)
-		close(bridge);
-
 	if (log)
 		fclose(logfile);
 

canfdtest.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
  * canfdtest.c - Full-duplex test program (DUT and host part)
  *
@@ -5,9 +6,8 @@
  * (C) 2009 Wolfgang Grandegger <wg@grandegger.com>
  *
  * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * any later version.
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -17,23 +17,24 @@
  * Send feedback to <linux-can@vger.kernel.org>
  */
 
+#include <errno.h>
+#include <getopt.h>
+#include <libgen.h>
+#include <limits.h>
+#include <sched.h>
+#include <signal.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <unistd.h>
 #include <string.h>
-#include <signal.h>
-#include <libgen.h>
-#include <getopt.h>
 #include <time.h>
-#include <sched.h>
-#include <limits.h>
-#include <errno.h>
+#include <unistd.h>
 
-#include <sys/types.h>
-#include <sys/time.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
 #include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <sys/types.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -47,71 +48,78 @@ static int running = 1;
 static int verbose;
 static int sockfd;
 static int test_loops;
+static int exit_sig;
+static int inflight_count = CAN_MSG_COUNT;
 
 static void print_usage(char *prg)
 {
 	fprintf(stderr,
+		"%s - Full-duplex test program (DUT and host part).\n"
 		"Usage: %s [options] <can-interface>\n"
 		"\n"
-		"Options: -v       (low verbosity)\n"
+		"Options:\n"
+		"         -v       (low verbosity)\n"
 		"         -vv      (high verbosity)\n"
 		"         -g       (generate messages)\n"
 		"         -l COUNT (test loop count)\n"
+		"         -f COUNT (number of frames in flight, default: %d)\n"
 		"\n"
 		"With the option '-g' CAN messages are generated and checked\n"
 		"on <can-interface>, otherwise all messages received on the\n"
                 "<can-interface> are sent back incrementing the CAN id and\n"
 		"all data bytes. The program can be aborted with ^C.\n"
 		"\n"
-		"Example:\n"
-		"\ton DUT : %s -v can0\n"
-		"\ton Host: %s -g -v can2\n",
-		prg, prg, prg);
+		"Examples:\n"
+		"\ton DUT:\n"
+		"%s -v can0\n"
+		"\ton Host:\n"
+		"%s -g -v can2\n",
+		prg, prg, CAN_MSG_COUNT, prg, prg);
 
 	exit(1);
 }
 
-static void print_frame(struct can_frame *frame)
+static void print_frame(const struct can_frame *frame, int inc)
 {
 	int i;
 
-	printf("%04x: ", frame->can_id);
+	printf("%04x: ", frame->can_id + inc);
 	if (frame->can_id & CAN_RTR_FLAG) {
 		printf("remote request");
 	} else {
 		printf("[%d]", frame->can_dlc);
 		for (i = 0; i < frame->can_dlc; i++)
-			printf(" %02x", frame->data[i]);
+			printf(" %02x", (uint8_t)(frame->data[i] + inc));
 	}
 	printf("\n");
 }
 
-static void print_compare(struct can_frame *exp, struct can_frame *rec)
+static void print_compare(const struct can_frame *exp, const struct can_frame *rec, int inc)
 {
 	printf("expected: ");
-	print_frame(exp);
+	print_frame(exp, inc);
 	printf("received: ");
-	print_frame(rec);
+	print_frame(rec, 0);
 }
 
-static void compare_frame(struct can_frame *exp, struct can_frame *rec)
+static void compare_frame(struct can_frame *exp, struct can_frame *rec, int inc)
 {
 	int i;
 
-	if (rec->can_id != exp->can_id) {
+	if (rec->can_id != exp->can_id + inc) {
 		printf("Message ID mismatch!\n");
-		print_compare(exp, rec);
+		print_compare(exp, rec, inc);
 		running = 0;
 	} else if (rec->can_dlc != exp->can_dlc) {
 		printf("Message length mismatch!\n");
-		print_compare(exp, rec);
+		print_compare(exp, rec, inc);
 		running = 0;
 	} else {
 		for (i = 0; i < rec->can_dlc; i++) {
-			if (rec->data[i] != exp->data[i]) {
-				printf("Databyte %x mismatch !\n", i);
+			if (rec->data[i] != (uint8_t)(exp->data[i] + inc)) {
+				printf("Databyte %x mismatch!\n", i);
 				print_compare(exp,
-					      rec);
+					      rec, inc);
 				running = 0;
 			}
 		}
@@ -149,6 +157,7 @@ static void signal_handler(int signo)
 {
 	close(sockfd);
 	running = 0;
+	exit_sig = signo;
 }
 
 static int recv_frame(struct can_frame *frame)
@@ -172,29 +181,63 @@ static int send_frame(struct can_frame *frame)
 
 	while ((ret = send(sockfd, frame, sizeof(*frame), 0))
 	       != sizeof(*frame)) {
-		if (ret < 0) {
-			if (errno != ENOBUFS) {
-				perror("send failed");
-				return -1;
-			} else {
-				if (verbose) {
-					printf("N");
-					fflush(stdout);
-				}
-			}
-		} else {
+		if (ret >= 0) {
 			fprintf(stderr, "send returned %d", ret);
 			return -1;
 		}
+		if (errno != ENOBUFS) {
+			perror("send failed");
+			return -1;
+		}
+		if (verbose) {
+			printf("N");
+			fflush(stdout);
+		}
 	}
 	return 0;
 }
 
+static int check_frame(const struct can_frame *frame)
+{
+	int err = 0;
+	int i;
+
+	if (frame->can_id != CAN_MSG_ID) {
+		printf("unexpected Message ID 0x%04x!\n", frame->can_id);
+		err = -1;
+	}
+
+	if (frame->can_dlc != CAN_MSG_LEN) {
+		printf("unexpected Message length %d!\n", frame->can_dlc);
+		err = -1;
+	}
+
+	for (i = 1; i < frame->can_dlc; i++) {
+		if (frame->data[i] != (uint8_t)(frame->data[i-1] + 1)) {
+			printf("Frame inconsistent!\n");
+			print_frame(frame, 0);
+			err = -1;
+			goto out;
+		}
+	}
+
+ out:
+	return err;
+}
+
+static void inc_frame(struct can_frame *frame)
+{
+	int i;
+
+	frame->can_id++;
+	for (i = 0; i < frame->can_dlc; i++)
+		frame->data[i]++;
+}
+
 static int can_echo_dut(void)
 {
 	unsigned int frame_count = 0;
 	struct can_frame frame;
-	int i;
 
 	while (running) {
 		if (recv_frame(&frame))
@@ -203,19 +246,11 @@ static int can_echo_dut(void)
 		if (verbose == 1) {
 			echo_progress(frame.data[0]);
 		} else if (verbose > 1) {
-			printf("%04x: ", frame.can_id);
-			if (frame.can_id & CAN_RTR_FLAG) {
-				printf("remote request");
-			} else {
-				printf("[%d]", frame.can_dlc);
-				for (i = 0; i < frame.can_dlc; i++)
-					printf(" %02x", frame.data[i]);
-			}
-			printf("\n");
+			print_frame(&frame, 0);
 		}
-		frame.can_id++;
-		for (i = 0; i < frame.can_dlc; i++)
-			frame.data[i]++;
+
+		check_frame(&frame);
+		inc_frame(&frame);
 		if (send_frame(&frame))
 			return -1;
 
@@ -234,29 +269,40 @@ static int can_echo_dut(void)
 
 static int can_echo_gen(void)
 {
-	struct can_frame tx_frames[CAN_MSG_COUNT];
+	struct can_frame *tx_frames;
+	int *recv_tx;
 	struct can_frame rx_frame;
 	unsigned char counter = 0;
-	int send_pos = 0, recv_pos = 0, unprocessed = 0, loops = 0;
+	int send_pos = 0, recv_rx_pos = 0, recv_tx_pos = 0, unprocessed = 0, loops = 0;
+	int err = 0;
 	int i;
 
+	tx_frames = calloc(inflight_count, sizeof(* tx_frames));
+	if (!tx_frames)
+		return -1;
+
+	recv_tx = calloc(inflight_count, sizeof(* recv_tx));
+	if (!recv_tx) {
+		err = -1;
+		goto out_free_tx_frames;
+	}
+
 	while (running) {
-		if (unprocessed < CAN_MSG_COUNT) {
+		if (unprocessed < inflight_count) {
 			/* still send messages */
 			tx_frames[send_pos].can_dlc = CAN_MSG_LEN;
 			tx_frames[send_pos].can_id = CAN_MSG_ID;
+			recv_tx[send_pos] = 0;
+
 			for (i = 0; i < CAN_MSG_LEN; i++)
 				tx_frames[send_pos].data[i] = counter + i;
-			if (send_frame(&tx_frames[send_pos]))
-				return -1;
-
-			/* increment to be equal to expected */
-			tx_frames[send_pos].can_id++;
-			for (i = 0; i < CAN_MSG_LEN; i++)
-				tx_frames[send_pos].data[i]++;
+			if (send_frame(&tx_frames[send_pos])) {
+				err = -1;
+				goto out_free;
+			}
 
 			send_pos++;
-			if (send_pos == CAN_MSG_COUNT)
+			if (send_pos == inflight_count)
 				send_pos = 0;
 			unprocessed++;
 			if (verbose == 1)
@@ -268,29 +314,51 @@ static int can_echo_gen(void)
 			else
 				millisleep(1);
 		} else {
-			if (recv_frame(&rx_frame))
-				return -1;
+			if (recv_frame(&rx_frame)) {
+				err = -1;
+				goto out_free;
+			}
 
 			if (verbose > 1)
-				print_frame(&rx_frame);
+				print_frame(&rx_frame, 0);
 
+			/* own frame */
+			if (rx_frame.can_id == CAN_MSG_ID) {
+				compare_frame(&tx_frames[recv_tx_pos], &rx_frame, 0);
+				recv_tx[recv_tx_pos] = 1;
+				recv_tx_pos++;
+				if (recv_tx_pos == inflight_count)
+					recv_tx_pos = 0;
+				continue;
+			}
+
+			if (!recv_tx[recv_rx_pos]) {
+				printf("RX before TX!\n");
+				print_frame(&rx_frame, 0);
+				running = 0;
+			}
 			/* compare with expected */
-			compare_frame(&tx_frames[recv_pos], &rx_frame);
+			compare_frame(&tx_frames[recv_rx_pos], &rx_frame, 1);
+			recv_rx_pos++;
+			if (recv_rx_pos == inflight_count)
+				recv_rx_pos = 0;
 
 			loops++;
 			if (test_loops && loops >= test_loops)
 				break;
 
-			recv_pos++;
-			if (recv_pos == CAN_MSG_COUNT)
-				recv_pos = 0;
 			unprocessed--;
 		}
 	}
 
 	printf("\nTest messages sent and received: %d\n", loops);
 
-	return 0;
+ out_free:
+	free(recv_tx);
+ out_free_tx_frames:
+	free(tx_frames);
+
+	return err;
 }
 
 int main(int argc, char *argv[])
@@ -300,25 +368,30 @@ int main(int argc, char *argv[])
 	int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
 	int echo_gen = 0;
 	int opt, err;
+	int recv_own_msgs = 1;
 
 	signal(SIGTERM, signal_handler);
 	signal(SIGHUP, signal_handler);
 	signal(SIGINT, signal_handler);
 
-	while ((opt = getopt(argc, argv, "gl:v")) != -1) {
+	while ((opt = getopt(argc, argv, "f:gl:v?")) != -1) {
 		switch (opt) {
 		case 'v':
 			verbose++;
 			break;
+		case 'f':
+			inflight_count = atoi(optarg);
+			break;
 
 		case 'l':
-			test_loops = atoi(optarg);;
+			test_loops = atoi(optarg);
 			break;
 
 		case 'g':
 			echo_gen = 1;
 			break;
 
+		case '?':
 		default:
 			print_usage(basename(argv[0]));
 			break;
@@ -337,8 +410,21 @@ int main(int argc, char *argv[])
 		return 1;
 	}
 
+	if (echo_gen) {
+		if (setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
+			   &recv_own_msgs, sizeof(recv_own_msgs)) == -1) {
+			perror("setsockopt");
+			return 1;
+		}
+	}
+
 	addr.can_family = family;
 	addr.can_ifindex = if_nametoindex(intf_name);
+	if (!addr.can_ifindex) {
+		perror("if_nametoindex");
+		close(sockfd);
+		return 1;
+	}
 
 	if (bind(sockfd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 		perror("bind");
@@ -355,5 +441,11 @@ int main(int argc, char *argv[])
 		printf("Exiting...\n");
 
 	close(sockfd);
+
+	if (exit_sig) {
+		signal(exit_sig, SIG_DFL);
+		kill(getpid(), exit_sig);
+	}
+
 	return err;
 }

canframelen.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * canframelen.c
  *
@@ -43,13 +44,14 @@
  *
  */
 
-#include "canframelen.h"
-#include <stdint.h>
-#include <stddef.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
 #include <arpa/inet.h>
+#include <assert.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "canframelen.h"
 
 /**
  * Functions and types for CRC checks.

canframelen.h

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * canframelen.h
  *

cangen.c

@@ -1,5 +1,6 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * cangen.c - CAN frames generator for testing purposes
+ * cangen.c - CAN frames generator
  *
  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -41,30 +42,32 @@
  *
  */
 
+#include <ctype.h>
+#include <errno.h>
+#include <libgen.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdint.h>
-#include <unistd.h>
 #include <string.h>
-#include <signal.h>
-#include <poll.h>
-#include <ctype.h>
-#include <libgen.h>
 #include <time.h>
-#include <errno.h>
+#include <unistd.h>
 
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
 #include <sys/time.h>
 #include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
 #include <sys/uio.h>
-#include <net/if.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
+
 #include "lib.h"
 
 #define DEFAULT_GAP 200 /* ms */
+#define DEFAULT_BURST_COUNT 1
 
 #define MODE_RANDOM	0
 #define MODE_INCREMENT	1
@@ -77,17 +80,20 @@ static unsigned long long enobufs_count;
 
 void print_usage(char *prg)
 {
-	fprintf(stderr, "\n%s: generate CAN frames\n\n", prg);
+	fprintf(stderr, "%s - CAN frames generator.\n\n", prg);
 	fprintf(stderr, "Usage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -g <ms>       (gap in milli seconds "
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -g <ms>       (gap in milli seconds "
 		"- default: %d ms)\n", DEFAULT_GAP);
 	fprintf(stderr, "         -e            (generate extended frame mode "
 		"(EFF) CAN frames)\n");
 	fprintf(stderr, "         -f            (generate CAN FD CAN frames)\n");
 	fprintf(stderr, "         -b            (generate CAN FD CAN frames"
 		" with bitrate switch (BRS))\n");
+	fprintf(stderr, "         -E            (generate CAN FD CAN frames"
+		" with error state (ESI))\n");
 	fprintf(stderr, "         -R            (send RTR frame)\n");
-	fprintf(stderr, "         -m            (mix -e -f -b -R frames)\n");
+	fprintf(stderr, "         -m            (mix -e -f -b -E -R frames)\n");
 	fprintf(stderr, "         -I <mode>     (CAN ID"
 		" generation mode - see below)\n");
 	fprintf(stderr, "         -L <mode>     (CAN data length code (dlc)"
@@ -102,28 +108,30 @@ void print_usage(char *prg)
 		" write() syscalls)\n");
 	fprintf(stderr, "         -x            (disable local loopback of "
 		"generated CAN frames)\n");
+	fprintf(stderr, "         -c            (number of messages to send in burst, "
+		"default 1)\n");
 	fprintf(stderr, "         -v            (increment verbose level for "
 		"printing sent CAN frames)\n\n");
 	fprintf(stderr, "Generation modes:\n");
-	fprintf(stderr, "'r'        => random values (default)\n");
-	fprintf(stderr, "'i'        => increment values\n");
-	fprintf(stderr, "<hexvalue> => fix value using <hexvalue>\n\n");
+	fprintf(stderr, " 'r'         => random values (default)\n");
+	fprintf(stderr, " 'i'         => increment values\n");
+	fprintf(stderr, " <hexvalue>  => fix value using <hexvalue>\n\n");
 	fprintf(stderr, "When incrementing the CAN data the data length code "
 		"minimum is set to 1.\n");
 	fprintf(stderr, "CAN IDs and data content are given and expected in hexadecimal values.\n\n");
 	fprintf(stderr, "Examples:\n");
-	fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v   ", prg);
-	fprintf(stderr, "(fixed CAN ID and length, inc. data)\n");
-	fprintf(stderr, "%s vcan0 -e -L i -v -v -v              ", prg);
-	fprintf(stderr, "(generate EFF frames, incr. length)\n");
-	fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8      ", prg);
-	fprintf(stderr, "(fixed CAN data payload and length)\n");
-	fprintf(stderr, "%s vcan0 -g 0 -i -x                    ", prg);
-	fprintf(stderr, "(full load test ignoring -ENOBUFS)\n");
-	fprintf(stderr, "%s vcan0 -g 0 -p 10 -x                 ", prg);
-	fprintf(stderr, "(full load test with polling, 10ms timeout)\n");
-	fprintf(stderr, "%s vcan0                               ", prg);
-	fprintf(stderr, "(my favourite default :)\n\n");
+	fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v\n", prg);
+	fprintf(stderr, "\t(fixed CAN ID and length, inc. data)\n");
+	fprintf(stderr, "%s vcan0 -e -L i -v -v -v\n", prg);
+	fprintf(stderr, "\t(generate EFF frames, incr. length)\n");
+	fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8\n", prg);
+	fprintf(stderr, "\t(fixed CAN data payload and length)\n");
+	fprintf(stderr, "%s vcan0 -g 0 -i -x\n", prg);
+	fprintf(stderr, "\t(full load test ignoring -ENOBUFS)\n");
+	fprintf(stderr, "%s vcan0 -g 0 -p 10 -x\n", prg);
+	fprintf(stderr, "\t(full load test with polling, 10ms timeout)\n");
+	fprintf(stderr, "%s vcan0\n", prg);
+	fprintf(stderr, "\t(my favourite default :)\n\n");
 }
 
 void sigterm(int signo)
@@ -134,11 +142,13 @@ void sigterm(int signo)
 int main(int argc, char **argv)
 {
 	double gap = DEFAULT_GAP;
+	unsigned long burst_count = DEFAULT_BURST_COUNT;
 	unsigned long polltimeout = 0;
 	unsigned char ignore_enobufs = 0;
 	unsigned char extended = 0;
 	unsigned char canfd = 0;
 	unsigned char brs = 0;
+	unsigned char esi = 0;
 	unsigned char mix = 0;
 	unsigned char id_mode = MODE_RANDOM;
 	unsigned char data_mode = MODE_RANDOM;
@@ -147,6 +157,7 @@ int main(int argc, char **argv)
 	unsigned char verbose = 0;
 	unsigned char rtr_frame = 0;
 	int count = 0;
+	unsigned long burst_sent_count = 0;
 	int mtu, maxdlen;
 	uint64_t incdata = 0;
 	int incdlc = 0;
@@ -174,7 +185,7 @@ int main(int argc, char **argv)
 	signal(SIGHUP, sigterm);
 	signal(SIGINT, sigterm);
 
-	while ((opt = getopt(argc, argv, "ig:ebfmI:L:D:xp:n:vRh?")) != -1) {
+	while ((opt = getopt(argc, argv, "ig:ebEfmI:L:D:xp:n:c:vRh?")) != -1) {
 		switch (opt) {
 
 		case 'i':
@@ -198,6 +209,11 @@ int main(int argc, char **argv)
 			canfd = 1;
 			break;
 
+		case 'E':
+			esi = 1; /* error state indicator implies CAN FD */
+			canfd = 1;
+			break;
+
 		case 'm':
 			mix = 1;
 			canfd = 1; /* to switch the socket into CAN FD mode */
@@ -239,6 +255,10 @@ int main(int argc, char **argv)
 			}
 			break;
 
+		case 'c':
+			burst_count = strtoul(optarg, NULL, 10);
+			break;
+
 		case 'v':
 			verbose++;
 			break;
@@ -278,7 +298,7 @@ int main(int argc, char **argv)
 	}
 
 	ts.tv_sec = gap / 1000;
-	ts.tv_nsec = (long)(((long long)(gap * 1000000)) % 1000000000ll);
+	ts.tv_nsec = (long)(((long long)(gap * 1000000)) % 1000000000LL);
 
 	/* recognize obviously missing commandline option */
 	if (id_mode == MODE_FIX && frame.can_id > 0x7FF && !extended) {
@@ -368,6 +388,8 @@ int main(int argc, char **argv)
 			maxdlen = CANFD_MAX_DLEN;
 			if (brs)
 				frame.flags |= CANFD_BRS;
+			if (esi)
+				frame.flags |= CANFD_ESI;
 		} else {
 			mtu = CAN_MTU;
 			maxdlen = CAN_MAX_DLEN;
@@ -447,8 +469,8 @@ resend:
 				if (poll(&fds, 1, polltimeout) < 0) {
 					perror("poll");
 					return 1;
-				} else
-					goto resend;
+				}
+				goto resend;
 			} else
 				enobufs_count++;
 
@@ -457,10 +479,14 @@ resend:
 			return 1;
 		}
 
-		if (gap) /* gap == 0 => performance test :-] */
+		burst_sent_count++;
+		if (gap && burst_sent_count >= burst_count) /* gap == 0 => performance test :-] */
 			if (nanosleep(&ts, NULL))
 				return 1;
 
+		if (burst_sent_count >= burst_count)
+			burst_sent_count = 0;
+
 		if (id_mode == MODE_INCREMENT)
 			frame.can_id++;
 
@@ -489,8 +515,10 @@ resend:
 			i = random();
 			extended = i&1;
 			canfd = i&2;
-			if (canfd)
+			if (canfd) {
 				brs = i&4;
+				esi = i&8;
+			}
 			rtr_frame = ((i&24) == 24); /* reduce RTR frames to 1/4 */
 		}
 	}

cangw.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * cangw.c - manage PF_CAN netlink gateway
  *
@@ -41,17 +42,17 @@
  *
  */
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <libgen.h>
-#include <string.h>
-#include <unistd.h>
 #include <errno.h>
-#include <sys/socket.h>
-#include <net/if.h>
+#include <libgen.h>
+#include <linux/can/gw.h>
 #include <linux/netlink.h>
 #include <linux/rtnetlink.h>
-#include <linux/can/gw.h>
+#include <net/if.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <unistd.h>
 
 enum {
 	UNSPEC,
@@ -67,13 +68,19 @@ struct modattr {
 	__u8 instruction;
 } __attribute__((packed));
 
+struct fdmodattr {
+	struct canfd_frame cf;
+	__u8 modtype;
+	__u8 instruction;
+} __attribute__((packed));
+
 
 #define RTCAN_RTA(r)  ((struct rtattr*)(((char*)(r)) + NLMSG_ALIGN(sizeof(struct rtcanmsg))))
 #define RTCAN_PAYLOAD(n) NLMSG_PAYLOAD(n,sizeof(struct rtcanmsg))
 
 /* some netlink helpers stolen from iproute2 package */
 #define NLMSG_TAIL(nmsg) \
-        ((struct rtattr *)(((void *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len)))
+        ((struct rtattr *)(((char *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len)))
 
 int addattr_l(struct nlmsghdr *n, int maxlen, int type, const void *data,
 	      int alen)
@@ -81,7 +88,7 @@ int addattr_l(struct nlmsghdr *n, int maxlen, int type, const void *data,
 	int len = RTA_LENGTH(alen);
 	struct rtattr *rta;
 
-	if (NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len) > maxlen) {
+	if ((int)(NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len)) > maxlen) {
 		fprintf(stderr, "addattr_l: message exceeded bound of %d\n",
 			maxlen);
 		return -1;
@@ -124,7 +131,36 @@ void printmod(const char *type, const void *data)
 
 	printf(":%03X.%X.", mod.cf.can_id, mod.cf.can_dlc);
 
-	for (i = 0; i < 8; i++)
+	for (i = 0; i < CAN_MAX_DLEN; i++)
+		printf("%02X", mod.cf.data[i]);
+
+	printf(" ");
+}
+
+void printfdmod(const char *type, const void *data)
+{
+	struct fdmodattr mod;
+	int i;
+
+	memcpy (&mod, data, CGW_FDMODATTR_LEN);
+
+	printf("-M %s:", type);
+
+	if (mod.modtype & CGW_MOD_ID)
+		printf("I");
+
+	if (mod.modtype & CGW_MOD_FLAGS)
+		printf("F");
+
+	if (mod.modtype & CGW_MOD_LEN)
+		printf("L");
+
+	if (mod.modtype & CGW_MOD_DATA)
+		printf("D");
+
+	printf(":%03X.%X.%X.", mod.cf.can_id, mod.cf.flags, mod.cf.len);
+
+	for (i = 0; i < CANFD_MAX_DLEN; i++)
 		printf("%02X", mod.cf.data[i]);
 
 	printf(" ");
@@ -186,45 +222,60 @@ void print_cs_crc8(struct cgw_csum_crc8 *cs_crc8)
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - manage PF_CAN netlink gateway.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options]\n\n", prg);
-	fprintf(stderr, "Commands:  -A (add a new rule)\n");
-	fprintf(stderr, "           -D (delete a rule)\n");
-	fprintf(stderr, "           -F (flush / delete all rules)\n");
-	fprintf(stderr, "           -L (list all rules)\n");
-	fprintf(stderr, "Mandatory: -s <src_dev>  (source netdevice)\n");
-	fprintf(stderr, "           -d <dst_dev>  (destination netdevice)\n");
-	fprintf(stderr, "Options:   -t (preserve src_dev rx timestamp)\n");
-	fprintf(stderr, "           -e (echo sent frames - recommended on vcanx)\n");
-	fprintf(stderr, "           -i (allow to route to incoming interface)\n");
-	fprintf(stderr, "           -u <uid> (user defined modification identifier)\n");
-	fprintf(stderr, "           -l <hops> (limit the number of frame hops / routings)\n");
-	fprintf(stderr, "           -f <filter> (set CAN filter)\n");
-	fprintf(stderr, "           -m <mod> (set frame modifications)\n");
-	fprintf(stderr, "           -x <from_idx>:<to_idx>:<result_idx>:<init_xor_val> (XOR checksum)\n");
-	fprintf(stderr, "           -c <from>:<to>:<result>:<init_val>:<xor_val>:<crctab[256]> (CRC8 cs)\n");
-	fprintf(stderr, "           -p <profile>:[<profile_data>] (CRC8 checksum profile & parameters)\n");
+	fprintf(stderr, "Commands:\n");
+	fprintf(stderr, "          -A  (add a new rule)\n");
+	fprintf(stderr, "          -D  (delete a rule)\n");
+	fprintf(stderr, "          -F  (flush / delete all rules)\n");
+	fprintf(stderr, "          -L  (list all rules)\n");
+	fprintf(stderr, "Mandatory:\n");
+	fprintf(stderr, "          -s <src_dev>  (source netdevice)\n");
+	fprintf(stderr, "          -d <dst_dev>  (destination netdevice)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "          -X  (this is a CAN FD rule)\n");
+	fprintf(stderr, "          -t  (preserve src_dev rx timestamp)\n");
+	fprintf(stderr, "          -e  (echo sent frames - recommended on vcanx)\n");
+	fprintf(stderr, "          -i  (allow to route to incoming interface)\n");
+	fprintf(stderr, "          -u <uid>  (user defined modification identifier)\n");
+	fprintf(stderr, "          -l <hops>  (limit the number of frame hops / routings)\n");
+	fprintf(stderr, "          -f <filter>  (set CAN filter)\n");
+	fprintf(stderr, "          -m <mod>  (set Classic CAN frame modifications)\n");
+	fprintf(stderr, "          -M <MOD>  (set CAN FD frame modifications)\n");
+	fprintf(stderr, "          -x <from_idx>:<to_idx>:<result_idx>:<init_xor_val>  (XOR checksum)\n");
+	fprintf(stderr, "          -c <from>:<to>:<result>:<init_val>:<xor_val>:<crctab[256]>  (CRC8 cs)\n");
+	fprintf(stderr, "          -p <profile>:[<profile_data>]  (CRC8 checksum profile & parameters)\n");
 	fprintf(stderr, "\nValues are given and expected in hexadecimal values. Leading 0s can be omitted.\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "<filter> is a <value><mask> CAN identifier filter\n");
-	fprintf(stderr, "   <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
-	fprintf(stderr, "   <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
+	fprintf(stderr, "<filter> is a <value><mask> CAN identifier filter:\n");
+	fprintf(stderr, "  <can_id>:<can_mask>  (matches when <received_can_id> & mask == can_id & mask)\n");
+	fprintf(stderr, "  <can_id>~<can_mask>  (matches when <received_can_id> & mask != can_id & mask)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "<mod> is a CAN frame modification instruction consisting of\n");
 	fprintf(stderr, "<instruction>:<can_frame-elements>:<can_id>.<can_dlc>.<can_data>\n");
-	fprintf(stderr, " - <instruction> is one of 'AND' 'OR' 'XOR' 'SET'\n");
-	fprintf(stderr, " - <can_frame-elements> is _one_ or _more_ of 'I'dentifier 'L'ength 'D'ata\n");
-	fprintf(stderr, " - <can_id> is an u32 value containing the CAN Identifier\n");
-	fprintf(stderr, " - <can_dlc> is an u8 value containing the data length code (0 .. 8)\n");
-	fprintf(stderr, " - <can_data> is always eight(!) u8 values containing the CAN frames data\n");
+	fprintf(stderr, "  <instruction>  is one of 'AND' 'OR' 'XOR' 'SET'\n");
+	fprintf(stderr, "  <can_frame-elements>  is _one_ or _more_ of 'I'dentifier 'L'ength 'D'ata\n");
+	fprintf(stderr, "  <can_id>  is an u32 value containing the CAN Identifier\n");
+	fprintf(stderr, "  <can_dlc>  is an u8 value containing the data length code (0 .. 8)\n");
+	fprintf(stderr, "  <can_data>  is always eight(!) u8 values containing the CAN frames data\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "<MOD> is a CAN FD frame modification instruction consisting of\n");
+	fprintf(stderr, "<instruction>:<canfd_frame-elements>:<can_id>.<flags>.<len>.<can_data>\n");
+	fprintf(stderr, "  <instruction>  is one of 'AND' 'OR' 'XOR' 'SET'\n");
+	fprintf(stderr, "  <canfd_frame-elements>  is _one_ or _more_ of 'I'd 'F'lags 'L'ength 'D'ata\n");
+	fprintf(stderr, "  <can_id>  is an u32 value containing the CAN FD Identifier\n");
+	fprintf(stderr, "  <flags>  is an u8 value containing CAN FD flags (CANFD_BRS, CANFD_ESI)\n");
+	fprintf(stderr, "  <len>  is an u8 value containing the data length (0 .. 64)\n");
+	fprintf(stderr, "  <can_data>  is always 64(!) u8 values containing the CAN FD frames data\n");
 	fprintf(stderr, "The max. four modifications are performed in the order AND -> OR -> XOR -> SET\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "Example:\n");
-	fprintf(stderr, "%s -A -s can0 -d vcan3 -e -f 123:C00007FF -m SET:IL:333.4.1122334455667788\n", prg);
-	fprintf(stderr, "\n");
 	fprintf(stderr, "Supported CRC 8 profiles:\n");
-	fprintf(stderr, "Profile '%d' (1U8)       - add one additional u8 value\n", CGW_CRC8PRF_1U8);
-	fprintf(stderr, "Profile '%d' (16U8)      - add u8 value from table[16] indexed by (data[1] & 0xF)\n", CGW_CRC8PRF_16U8);
-	fprintf(stderr, "Profile '%d' (SFFID_XOR) - add u8 value (can_id & 0xFF) ^ (can_id >> 8 & 0xFF)\n", CGW_CRC8PRF_SFFID_XOR);
+	fprintf(stderr, " Profile '%d' (1U8)        add one additional u8 value\n", CGW_CRC8PRF_1U8);
+	fprintf(stderr, " Profile '%d' (16U8)       add u8 value from table[16] indexed by (data[1] & 0xF)\n", CGW_CRC8PRF_16U8);
+	fprintf(stderr, " Profile '%d' (SFFID_XOR)  add u8 value (can_id & 0xFF) ^ (can_id >> 8 & 0xFF)\n", CGW_CRC8PRF_SFFID_XOR);
+	fprintf(stderr, "\n");
+	fprintf(stderr, "Examples:\n");
+	fprintf(stderr, "%s -A -s can0 -d vcan3 -e -f 123:C00007FF -m SET:IL:333.4.1122334455667788\n", prg);
 	fprintf(stderr, "\n");
 }
 
@@ -244,14 +295,14 @@ int parse_crc8_profile(char *optarg, struct cgw_csum_crc8 *crc8)
 	int ret = 1;
 	char *ptr;
 
-	if (sscanf(optarg, "%hhd:", &crc8->profile) != 1)
+	if (sscanf(optarg, "%hhu:", &crc8->profile) != 1)
 		return ret;
 
 	switch (crc8->profile) {
 
 	case  CGW_CRC8PRF_1U8:
 
-		if (sscanf(optarg, "%hhd:%2hhx", &crc8->profile, &crc8->profile_data[0]) == 2)
+		if (sscanf(optarg, "%hhu:%2hhx", &crc8->profile, &crc8->profile_data[0]) == 2)
 			ret = 0;
 
 		break;
@@ -281,7 +332,8 @@ int parse_crc8_profile(char *optarg, struct cgw_csum_crc8 *crc8)
 int parse_mod(char *optarg, struct modattr *modmsg)
 {
 	char *ptr, *nptr;
-	char hexdata[17] = {0};
+	char hexdata[(CAN_MAX_DLEN * 2) + 1] = {0};
+	canid_t can_id;
 
 	ptr = optarg;
 	nptr = strchr(ptr, ':');
@@ -330,30 +382,97 @@ int parse_mod(char *optarg, struct modattr *modmsg)
 		ptr++;
 	}
 
-	if (sscanf(++ptr, "%x.%hhx.%16s", &modmsg->cf.can_id,
+	if (sscanf(++ptr, "%x.%hhx.%16s", &can_id,
 		   (unsigned char *)&modmsg->cf.can_dlc, hexdata) != 3)
 		return 5;
 
-	/* 4-bit masks can have values from 0 to 0xF */ 
-	if (modmsg->cf.can_dlc > 0xF)
+	modmsg->cf.can_id = can_id;
+
+	if (strlen(hexdata) != (CAN_MAX_DLEN * 2))
 		return 6;
 
-	/* but when setting CAN_DLC the value has to be limited to 8 */
-	if (modmsg->instruction == CGW_MOD_SET && modmsg->cf.can_dlc > 8)
+	if (b64hex(hexdata, &modmsg->cf.data[0], CAN_MAX_DLEN))
 		return 7;
 
-	if (strlen(hexdata) != 16)
-		return 8;
+	return 0; /* ok */
+}
 
-	if (b64hex(hexdata, &modmsg->cf.data[0], 8))
-		return 9;
+int parse_fdmod(char *optarg, struct fdmodattr *modmsg)
+{
+	char *ptr, *nptr;
+	char hexdata[(CANFD_MAX_DLEN * 2) + 1] = {0};
+	canid_t can_id;
+
+	ptr = optarg;
+	nptr = strchr(ptr, ':');
+
+	if ((nptr - ptr > 3) || (nptr - ptr == 0))
+		return 1;
+
+	if (!strncmp(ptr, "AND", 3))
+		modmsg->instruction = CGW_FDMOD_AND;
+	else if (!strncmp(ptr, "OR", 2))
+		modmsg->instruction = CGW_FDMOD_OR;
+	else if (!strncmp(ptr, "XOR", 3))
+		modmsg->instruction = CGW_FDMOD_XOR;
+	else if (!strncmp(ptr, "SET", 3))
+		modmsg->instruction = CGW_FDMOD_SET;
+	else
+		return 2;
+
+	ptr = nptr+1;
+	nptr = strchr(ptr, ':');
+
+	if ((nptr - ptr > 4) || (nptr - ptr == 0))
+		return 3;
+
+	modmsg->modtype = 0;
+
+	while (*ptr != ':') {
+
+		switch (*ptr) {
+
+		case 'I':
+			modmsg->modtype |= CGW_MOD_ID;
+			break;
+
+		case 'F':
+			modmsg->modtype |= CGW_MOD_FLAGS;
+			break;
+
+		case 'L':
+			modmsg->modtype |= CGW_MOD_LEN;
+			break;
+
+		case 'D':
+			modmsg->modtype |= CGW_MOD_DATA;
+			break;
+
+		default:
+			return 4;
+		}
+		ptr++;
+	}
+
+	if (sscanf(++ptr, "%x.%hhx.%hhx.%128s", &can_id,
+		   (unsigned char *)&modmsg->cf.flags,
+		   (unsigned char *)&modmsg->cf.len, hexdata) != 4)
+		return 5;
+
+	modmsg->cf.can_id = can_id;
+
+	if (strlen(hexdata) != (CANFD_MAX_DLEN * 2))
+		return 6;
+
+	if (b64hex(hexdata, &modmsg->cf.data[0], CANFD_MAX_DLEN))
+		return 7;
 
 	return 0; /* ok */
 }
 
 int parse_rtlist(char *prgname, unsigned char *rxbuf, int len)
 {
-	char ifname[IF_NAMESIZE]; /* internface name for if_indextoname() */
+	char ifname[IF_NAMESIZE]; /* interface name for if_indextoname() */
 	struct rtcanmsg *rtc;
 	struct rtattr *rta;
 	struct nlmsghdr *nlh;
@@ -419,6 +538,10 @@ int parse_rtlist(char *prgname, unsigned char *rxbuf, int len)
 			case CGW_MOD_OR:
 			case CGW_MOD_XOR:
 			case CGW_MOD_SET:
+			case CGW_FDMOD_AND:
+			case CGW_FDMOD_OR:
+			case CGW_FDMOD_XOR:
+			case CGW_FDMOD_SET:
 			case CGW_MOD_UID:
 			case CGW_LIM_HOPS:
 			case CGW_CS_XOR:
@@ -456,6 +579,9 @@ int parse_rtlist(char *prgname, unsigned char *rxbuf, int len)
 		printf("-s %s ", if_indextoname(src_ifindex, ifname));
 		printf("-d %s ", if_indextoname(dst_ifindex, ifname));
 
+		if (rtc->flags & CGW_FLAGS_CAN_FD)
+			printf("-X ");
+
 		if (rtc->flags & CGW_FLAGS_CAN_ECHO)
 			printf("-e ");
 
@@ -493,6 +619,22 @@ int parse_rtlist(char *prgname, unsigned char *rxbuf, int len)
 				printmod("SET", RTA_DATA(rta));
 				break;
 
+			case CGW_FDMOD_AND:
+				printfdmod("AND", RTA_DATA(rta));
+				break;
+
+			case CGW_FDMOD_OR:
+				printfdmod("OR", RTA_DATA(rta));
+				break;
+
+			case CGW_FDMOD_XOR:
+				printfdmod("XOR", RTA_DATA(rta));
+				break;
+
+			case CGW_FDMOD_SET:
+				printfdmod("SET", RTA_DATA(rta));
+				break;
+
 			case CGW_MOD_UID:
 				printf("-u %X ", *(__u32 *)RTA_DATA(rta));
 				break;
@@ -548,8 +690,7 @@ int main(int argc, char **argv)
 	struct {
 		struct nlmsghdr nh;
 		struct rtcanmsg rtcan;
-		char buf[600];
-
+		char buf[1500];
 	} req;
 
 	unsigned char rxbuf[8192]; /* netlink receive buffer */
@@ -565,19 +706,19 @@ int main(int argc, char **argv)
 	struct can_filter filter;
 	struct sockaddr_nl nladdr;
 
-	struct cgw_csum_xor cs_xor;
-	struct cgw_csum_crc8 cs_crc8;
+	struct cgw_csum_xor cs_xor = { 0 };
+	struct cgw_csum_crc8 cs_crc8 = { 0 };
 	char crc8tab[513] = {0};
 
 	struct modattr modmsg[CGW_MOD_FUNCS];
+	struct fdmodattr fdmodmsg[CGW_MOD_FUNCS];
 	int modidx = 0;
+	int fdmodidx = 0;
 	int i;
 
 	memset(&req, 0, sizeof(req));
-	memset(&cs_xor, 0, sizeof(cs_xor));
-	memset(&cs_crc8, 0, sizeof(cs_crc8));
 
-	while ((opt = getopt(argc, argv, "ADFLs:d:teiu:l:f:c:p:x:m:?")) != -1) {
+	while ((opt = getopt(argc, argv, "ADFLs:d:Xteiu:l:f:c:p:x:m:M:?")) != -1) {
 		switch (opt) {
 
 		case 'A':
@@ -608,6 +749,10 @@ int main(int argc, char **argv)
 			dst_ifindex = if_nametoindex(optarg);
 			break;
 
+		case 'X':
+			flags |= CGW_FLAGS_CAN_FD;
+			break;
+
 		case 't':
 			flags |= CGW_FLAGS_CAN_SRC_TSTAMP;
 			break;
@@ -625,7 +770,7 @@ int main(int argc, char **argv)
 			break;
 
 		case 'l':
-			if (sscanf(optarg, "%hhd", &limit_hops) != 1 || !(limit_hops)) {
+			if (sscanf(optarg, "%hhu", &limit_hops) != 1 || !(limit_hops)) {
 				printf("Bad hop limit definition '%s'.\n", optarg);
 				exit(1);
 			}
@@ -685,6 +830,14 @@ int main(int argc, char **argv)
 			}
 			break;
 
+		case 'M':
+			/* may be triggered by each of the CGW_FDMOD_FUNCS functions */
+			if ((fdmodidx < CGW_MOD_FUNCS) && (err = parse_fdmod(optarg, &fdmodmsg[fdmodidx++]))) {
+				printf("Problem %d with modification definition '%s'.\n", err, optarg);
+				exit(1);
+			}
+			break;
+
 		case '?':
 			print_usage(basename(argv[0]));
 			exit(0);
@@ -709,8 +862,20 @@ int main(int argc, char **argv)
 		exit(1);
 	}
 
-	if (!modidx && (have_cs_crc8 || have_cs_xor)) {
-		printf("-c or -x can only be used in conjunction with -m\n");
+	if (flags & CGW_FLAGS_CAN_FD) {
+		if (modidx) {
+			printf("No -m modifications allowed in CAN FD mode!\n");
+			exit(1);
+		}
+	} else {
+		if (fdmodidx) {
+			printf("No -M modifications allowed in Classic CAN mode!\n");
+			exit(1);
+		}
+	}
+
+	if ((!modidx && !fdmodidx) && (have_cs_crc8 || have_cs_xor)) {
+		printf("-c or -x can only be used in conjunction with -m/-M\n");
 		exit(1);
 	}
 
@@ -784,6 +949,10 @@ int main(int argc, char **argv)
 	for (i = 0; i < modidx; i++)
 		addattr_l(&req.nh, sizeof(req), modmsg[i].instruction, &modmsg[i], CGW_MODATTR_LEN);
 
+	/* add up to CGW_FDMOD_FUNCS modification definitions */
+	for (i = 0; i < fdmodidx; i++)
+		addattr_l(&req.nh, sizeof(req), fdmodmsg[i].instruction, &fdmodmsg[i], CGW_FDMODATTR_LEN);
+
 	memset(&nladdr, 0, sizeof(nladdr));
 	nladdr.nl_family = AF_NETLINK;
 	nladdr.nl_pid    = 0;

canlogserver.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * canlogserver.c
  *
@@ -41,28 +42,29 @@
  *
  */
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-#include <signal.h>
 #include <ctype.h>
 #include <libgen.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
 #include <time.h>
+#include <unistd.h>
 
-#include <sys/time.h>
-#include <sys/wait.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <sys/uio.h>
 #include <net/if.h>
 #include <netinet/in.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/uio.h>
+#include <sys/wait.h>
 
+#include <errno.h>
 #include <linux/can.h>
 #include <linux/can/raw.h>
+#include <linux/sockios.h>
 #include <signal.h>
-#include <errno.h>
 
 #include "lib.h"
 
@@ -87,7 +89,8 @@ void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 	fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
-	fprintf(stderr, "Options: -m <mask>   (ID filter mask.  Default 0x00000000) *\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -m <mask>   (ID filter mask.  Default 0x00000000) *\n");
 	fprintf(stderr, "         -v <value>  (ID filter value. Default 0x00000000) *\n");
 	fprintf(stderr, "         -i <0|1>    (invert the specified ID filter) *\n");
 	fprintf(stderr, "         -e <emask>  (mask for error frames)\n");
@@ -137,7 +140,7 @@ int idx2dindex(int ifidx, int socket)
 	if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 		perror("SIOCGIFNAME");
 
-	if (max_devname_len < strlen(ifr.ifr_name))
+	if (max_devname_len < (int)strlen(ifr.ifr_name))
 		max_devname_len = strlen(ifr.ifr_name);
 
 	strcpy(devname[i], ifr.ifr_name);
@@ -278,8 +281,12 @@ int main(int argc, char **argv)
 	inaddr.sin_port = htons(port);
 
 	while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
+		struct timespec f = {
+			.tv_nsec = 100 * 1000 * 1000,
+		};
+
 		printf(".");fflush(NULL);
-		usleep(100000);
+		nanosleep(&f, NULL);
 	}
 
 	if (listen(socki, 3) != 0) {
@@ -293,15 +300,14 @@ int main(int argc, char **argv)
 			//printf("accepted\n");
 			if (!fork())
 				break;
-			else
-				close(accsocket);
+			close(accsocket);
 		}
 		else if (errno != EINTR) {
 			perror("accept");
 			exit(1);
 		}
 	}
-  
+
 	for (i=0; i<currmax; i++) {
 
 #ifdef DEBUG
@@ -350,15 +356,14 @@ int main(int argc, char **argv)
 
 		addr.can_family = AF_CAN;
 
-		if (strcmp(ANYDEV, argv[optind+i])) {
+		if (strcmp(ANYDEV, argv[optind + i]) != 0) {
 			strcpy(ifr.ifr_name, argv[optind+i]);
 			if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 				perror("SIOCGIFINDEX");
 				exit(1);
 			}
 			addr.can_ifindex = ifr.ifr_ifindex;
-		}
-		else
+		} else
 			addr.can_ifindex = 0; /* any can interface */
 
 		if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
@@ -407,7 +412,7 @@ int main(int argc, char **argv)
 
 				idx = idx2dindex(addr.can_ifindex, s[i]);
 
-				sprintf(temp, "(%ld.%06ld) %*s ",
+				sprintf(temp, "(%lu.%06lu) %*s ",
 					tv.tv_sec, tv.tv_usec, max_devname_len, devname[idx]);
 				sprint_canframe(temp+strlen(temp), &frame, 0, maxdlen); 
 				strcat(temp, "\n");
@@ -419,7 +424,7 @@ int main(int argc, char **argv)
 		    
 #if 0
 				/* print CAN frame in log file style to stdout */
-				printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+				printf("(%lu.%06lu) ", tv.tv_sec, tv.tv_usec);
 				printf("%*s ", max_devname_len, devname[idx]);
 				fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
 #endif

canplayer.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * canplayer.c - replay a compact CAN frame logfile to CAN devices
  *
@@ -41,19 +42,19 @@
  *
  */
 
+#include <libgen.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 #include <time.h>
-#include <libgen.h>
-#include <stdlib.h>
 #include <unistd.h>
 
-#include <net/if.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <sys/time.h>
 #include <linux/can.h>
 #include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/time.h>
 
 #include "lib.h"
 
@@ -76,30 +77,32 @@ extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - replay a compact CAN frame logfile to CAN devices.\n", prg);
 	fprintf(stderr, "\nUsage: %s <options> [interface assignment]*\n\n", prg);
-	fprintf(stderr, "Options:              -I <infile>  (default stdin)\n");
-	fprintf(stderr, "                      -l <num>     "
-		"(process input file <num> times)\n"
-		"                                   "
-		"(Use 'i' for infinite loop - default: %d)\n", DEFAULT_LOOPS);
-	fprintf(stderr, "                      -t           (ignore timestamps: "
-		"send frames immediately)\n");
-	fprintf(stderr, "                      -g <ms>      (gap in milli "
-		"seconds - default: %d ms)\n", DEFAULT_GAP);
-	fprintf(stderr, "                      -s <s>       (skip gaps in "
-		"timestamps > 's' seconds)\n");
-	fprintf(stderr, "                      -x           (disable local "
-		"loopback of sent CAN frames)\n");
-	fprintf(stderr, "                      -v           (verbose: print "
-		"sent CAN frames)\n\n");
-	fprintf(stderr, "Interface assignment:  0..n assignments like "
-		"<write-if>=<log-if>\n");
-	fprintf(stderr, "e.g. vcan2=can0 ( send frames received from can0 on "
-		"vcan2 )\n");
-	fprintf(stderr, "extra hook: stdout=can0 ( print logfile line marked with can0 on "
-		"stdout )\n");
-	fprintf(stderr, "No assignments => send frames to the interface(s) they "
-		"had been received from.\n\n");
+        fprintf(stderr, "Options:\n");
+        fprintf(stderr, "         -I <infile>  (default stdin)\n");
+        fprintf(stderr, "         -l <num>     "
+                "(process input file <num> times)\n"
+                "                      "
+                "(Use 'i' for infinite loop - default: %d)\n", DEFAULT_LOOPS);
+        fprintf(stderr, "         -t           (ignore timestamps: "
+                "send frames immediately)\n");
+        fprintf(stderr, "         -g <ms>      (gap in milli "
+                "seconds - default: %d ms)\n", DEFAULT_GAP);
+        fprintf(stderr, "         -s <s>       (skip gaps in "
+                "timestamps > 's' seconds)\n");
+        fprintf(stderr, "         -x           (disable local "
+                "loopback of sent CAN frames)\n");
+        fprintf(stderr, "         -v           (verbose: print "
+                "sent CAN frames)\n\n");
+        fprintf(stderr, "Interface assignment:\n");
+	fprintf(stderr, " 0..n assignments like <write-if>=<log-if>\n\n");
+	fprintf(stderr, " e.g. vcan2=can0  (send frames received from can0 on "
+		"vcan2)\n");
+	fprintf(stderr, " extra hook: stdout=can0  (print logfile line marked with can0 on "
+		"stdout)\n");
+	fprintf(stderr, " No assignments  => send frames to the interface(s) they "
+		"had been received from\n\n");
 	fprintf(stderr, "Lines in the logfile not beginning with '(' (start of "
 		"timestamp) are ignored.\n\n");
 }
@@ -212,7 +215,7 @@ int add_assignment(char *mode, int socket, char *txname, char *rxname,
 	}
 	strcpy(asgn[i].rxif, rxname);
 
-	if (strcmp(txname, "stdout")) {
+	if (strcmp(txname, "stdout") != 0) {
 		strcpy(ifr.ifr_name, txname);
 		if (ioctl(socket, SIOCGIFINDEX, &ifr) < 0) {
 			perror("SIOCGIFINDEX");
@@ -348,7 +351,7 @@ int main(int argc, char **argv)
 	}
 
 	if (assignments) {
-		/* add & check user assginments from commandline */
+		/* add & check user assignments from commandline */
 		for (i=0; i<assignments; i++) {
 			if (strlen(argv[optind+i]) >= BUFSZ) {
 				fprintf(stderr, "Assignment too long!\n");
@@ -356,7 +359,7 @@ int main(int argc, char **argv)
 				return 1;
 			}
 			strcpy(buf, argv[optind+i]);
-			for (j=0; j<BUFSZ; j++) { /* find '=' in assignment */
+			for (j=0; j<(int)BUFSZ; j++) { /* find '=' in assignment */
 				if (buf[j] == '=')
 					break;
 			}
@@ -392,7 +395,7 @@ int main(int argc, char **argv)
 
 		eof = 0;
 
-		if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
+		if (sscanf(buf, "(%lu.%lu) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
 			   device, ascframe) != 4) {
 			fprintf(stderr, "incorrect line format in logfile\n");
 			return 1;
@@ -471,7 +474,7 @@ int main(int argc, char **argv)
 					break;
 				}
 
-				if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
+				if (sscanf(buf, "(%lu.%lu) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
 					   device, ascframe) != 4) {
 					fprintf(stderr, "incorrect line format in logfile\n");
 					return 1;
@@ -492,7 +495,7 @@ int main(int argc, char **argv)
 					/* test for logfile timestamps jumping backwards OR      */
 					/* if the user likes to skip long gaps in the timestamps */
 					if ((last_log_tv.tv_sec > log_tv.tv_sec) ||
-					    (skipgap && labs(last_log_tv.tv_sec - log_tv.tv_sec) > skipgap))
+					    (skipgap && labs(last_log_tv.tv_sec - log_tv.tv_sec) > (long)skipgap))
 						create_diff_tv(&today_tv, &diff_tv, &log_tv);
 
 					last_log_tv = log_tv;

cansend.c

@@ -1,5 +1,6 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
- * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
+ * cansend.c - send CAN-frames via CAN_RAW sockets
  *
  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
  * All rights reserved.
@@ -55,6 +56,29 @@
 
 #include "lib.h"
 
+void print_usage(char *prg)
+{
+	fprintf(stderr, "%s - send CAN-frames via CAN_RAW sockets.\n", prg);
+	fprintf(stderr, "\nUsage: %s <device> <can_frame>.\n", prg);
+	fprintf(stderr, "\n<can_frame>:\n");
+	fprintf(stderr, " <can_id>#{data}          for 'classic' CAN 2.0 data frames\n");
+	fprintf(stderr, " <can_id>#R{len}          for 'classic' CAN 2.0 data frames\n");
+	fprintf(stderr, " <can_id>##<flags>{data}  for CAN FD frames\n\n");
+	fprintf(stderr, "<can_id>:\n"
+	        " 3 (SFF) or 8 (EFF) hex chars\n");
+	fprintf(stderr, "{data}:\n"
+	        " 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')\n");
+	fprintf(stderr, "{len}:\n"
+		 " an optional 0..8 value as RTR frames can contain a valid dlc field\n");
+	fprintf(stderr, "<flags>:\n"
+	        " a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n\n");
+	fprintf(stderr, "Examples:\n");
+	fprintf(stderr, "  5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n"
+		 "  1F334455#1122334455667788 / 123#R / 00000123#R3\n\n");
+}
+
+
+
 int main(int argc, char **argv)
 {
 	int s; /* can raw socket */ 
@@ -67,24 +91,15 @@ int main(int argc, char **argv)
 
 	/* check command line options */
 	if (argc != 3) {
-		fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
+		print_usage(argv[0]);
 		return 1;
 	}
 
 	/* parse CAN frame */
 	required_mtu = parse_canframe(argv[2], &frame);
 	if (!required_mtu){
-		fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
-		fprintf(stderr, "    <can_id>#{R|data}          for CAN 2.0 frames\n");
-		fprintf(stderr, "    <can_id>##<flags>{data}    for CAN FD frames\n\n");
-		fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
-		fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
-		fprintf(stderr, " separated by '.')\n");
-		fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
-		fprintf(stderr, " canfd_frame.flags\n\n");
-		fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
-		fprintf(stderr, "123##1 / 213##311\n     1F334455#1122334455667788 / 123#R ");
-		fprintf(stderr, "for remote transmission request.\n\n");
+		fprintf(stderr, "\nWrong CAN-frame format!\n\n");
+		print_usage(argv[0]);
 		return 1;
 	}
 
@@ -102,10 +117,11 @@ int main(int argc, char **argv)
 		return 1;
 	}
 
+	memset(&addr, 0, sizeof(addr));
 	addr.can_family = AF_CAN;
 	addr.can_ifindex = ifr.ifr_ifindex;
 
-	if (required_mtu > CAN_MTU) {
+	if (required_mtu > (int)CAN_MTU) {
 
 		/* check if the frame fits into the CAN netdevice */
 		if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {

cansequence.c

@@ -0,0 +1,367 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+// Copyright (c) 2007, 2008, 2009, 2010, 2014, 2015, 2019 Pengutronix,
+//		 Marc Kleine-Budde <kernel@pengutronix.de>
+// Copyright (c) 2005 Pengutronix,
+//		 Sascha Hauer <kernel@pengutronix.de>
+
+#include <errno.h>
+#include <getopt.h>
+#include <libgen.h>
+#include <limits.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <net/if.h>
+
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/uio.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define CAN_ID_DEFAULT	(2)
+
+extern int optind, opterr, optopt;
+
+static int s = -1;
+static bool running = true;
+static bool infinite = true;
+static unsigned int drop_until_quit;
+static unsigned int drop_count;
+static bool use_poll = false;
+
+static unsigned int loopcount = 1;
+static int verbose;
+
+static struct can_frame frame = {
+	.can_dlc = 1,
+};
+static struct can_filter filter[] = {
+	{ .can_id = CAN_ID_DEFAULT, },
+};
+
+static void print_usage(char *prg)
+{
+	fprintf(stderr, "Usage: %s [<can-interface>] [Options]\n"
+		"\n"
+		"cansequence sends CAN messages with a rising sequence number as payload.\n"
+		"When the -r option is given, cansequence expects to receive these messages\n"
+		"and prints an error message if a wrong sequence number is encountered.\n"
+		"The main purpose of this program is to test the reliability of CAN links.\n"
+		"\n"
+		"Options:\n"
+		" -e, --extended		send extended frame\n"
+		" -i, --identifier=ID	CAN Identifier (default = %u)\n"
+		"     --loop=COUNT	send message COUNT times\n"
+		" -p, --poll		use poll(2) to wait for buffer space while sending\n"
+		" -q, --quit <num>	quit if <num> wrong sequences are encountered\n"
+		" -r, --receive		work as receiver\n"
+		" -v, --verbose		be verbose (twice to be even more verbose\n"
+		" -h, --help		this help\n"
+		"     --version		print version information and exit\n",
+		prg, CAN_ID_DEFAULT);
+}
+
+static void sig_handler(int signo)
+{
+	running = false;
+}
+
+
+static void do_receive()
+{
+	uint8_t ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
+	struct iovec iov = {
+		.iov_base = &frame,
+	};
+	struct msghdr msg = {
+		.msg_iov = &iov,
+		.msg_iovlen = 1,
+		.msg_control = &ctrlmsg,
+	};
+	const int dropmonitor_on = 1;
+	bool sequence_init = true;
+	unsigned int sequence_wrap = 0;
+	uint32_t sequence_mask = 0xff;
+	uint32_t sequence_rx = 0;
+	uint32_t sequence_delta = 0;
+	uint32_t sequence = 0;
+	unsigned int overflow_old = 0;
+	can_err_mask_t err_mask = CAN_ERR_MASK;
+
+	if (setsockopt(s, SOL_SOCKET, SO_RXQ_OVFL,
+		       &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
+		perror("setsockopt() SO_RXQ_OVFL not supported by your Linux Kernel");
+	}
+
+	/* enable recv. of error messages */
+	if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof(err_mask))) {
+		perror("setsockopt()");
+		exit(EXIT_FAILURE);
+	}
+
+	/* enable recv. now */
+	if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, filter, sizeof(filter))) {
+		perror("setsockopt()");
+		exit(EXIT_FAILURE);
+	}
+
+	while ((infinite || loopcount--) && running) {
+		ssize_t nbytes;
+
+		msg.msg_iov[0].iov_len = sizeof(frame);
+		msg.msg_controllen = sizeof(ctrlmsg);
+		msg.msg_flags = 0;
+
+		nbytes = recvmsg(s, &msg, 0);
+		if (nbytes < 0) {
+			perror("read()");
+			exit(EXIT_FAILURE);
+		}
+
+		if (frame.can_id & CAN_ERR_FLAG) {
+			fprintf(stderr,
+				"sequence CNT: %6u, ERRORFRAME %7x   %02x %02x %02x %02x %02x %02x %02x %02x\n",
+				sequence, frame.can_id,
+				frame.data[0], frame.data[1], frame.data[2], frame.data[3],
+				frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
+			continue;
+		}
+
+		sequence_rx = frame.data[0];
+
+		if (sequence_init) {
+			sequence_init = false;
+			sequence = sequence_rx;
+		}
+
+		sequence_delta = (sequence_rx - sequence) & sequence_mask;
+		if (sequence_delta) {
+			struct cmsghdr *cmsg;
+			uint32_t overflow = 0;
+			uint32_t overflow_delta;
+
+			drop_count++;
+
+			for (cmsg = CMSG_FIRSTHDR(&msg);
+			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
+			     cmsg = CMSG_NXTHDR(&msg,cmsg)) {
+				if (cmsg->cmsg_type == SO_RXQ_OVFL) {
+					memcpy(&overflow, CMSG_DATA(cmsg), sizeof(overflow));
+					break;
+				}
+			}
+
+			overflow_delta = overflow - overflow_old;
+
+			fprintf(stderr,
+				"sequence CNT: %6u, RX: %6u    expected: %3u    missing: %4u    skt overfl d: %4u a: %4u    delta: %3u    incident: %u\n",
+				sequence, sequence_rx,
+				sequence & sequence_mask, sequence_delta,
+				overflow_delta, overflow,
+				sequence_delta - overflow_delta,
+				drop_count);
+
+			if (drop_count == drop_until_quit)
+				exit(EXIT_FAILURE);
+
+			sequence = sequence_rx;
+			overflow_old = overflow;
+		} else 	if (verbose > 1) {
+			printf("sequence CNT: %6u, RX: %6u\n", sequence, sequence_rx);
+		}
+
+		sequence++;
+		if (verbose && !(sequence & sequence_mask))
+			printf("sequence wrap around (%d)\n", sequence_wrap++);
+
+	}
+}
+
+static void do_send()
+{
+	unsigned int seq_wrap = 0;
+	uint8_t sequence = 0;
+
+	while ((infinite || loopcount--) && running) {
+		ssize_t len;
+
+		if (verbose > 1)
+			printf("sending frame. sequence number: %d\n", sequence);
+
+	again:
+		len = write(s, &frame, sizeof(frame));
+		if (len == -1) {
+			switch (errno) {
+			case ENOBUFS: {
+				int err;
+				struct pollfd fds[] = {
+					{
+						.fd	= s,
+						.events	= POLLOUT,
+					},
+				};
+
+				if (!use_poll) {
+					perror("write");
+					exit(EXIT_FAILURE);
+				}
+
+				err = poll(fds, 1, 1000);
+				if (err == -1 && errno != -EINTR) {
+					perror("poll()");
+					exit(EXIT_FAILURE);
+				}
+			}
+			case EINTR:	/* fallthrough */
+				goto again;
+			default:
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
+		}
+
+		frame.data[0]++;
+		sequence++;
+
+		if (verbose && !sequence)
+			printf("sequence wrap around (%d)\n", seq_wrap++);
+	}
+}
+
+int main(int argc, char **argv)
+{
+	struct sigaction act = {
+		.sa_handler = sig_handler,
+	};
+	struct ifreq ifr;
+	struct sockaddr_can addr;
+	char *interface = "can0";
+	int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
+	int extended = 0;
+	int receive = 0;
+	int opt;
+
+	sigaction(SIGINT, &act, NULL);
+	sigaction(SIGTERM, &act, NULL);
+	sigaction(SIGHUP, &act, NULL);
+
+	struct option long_options[] = {
+		{ "extended",	no_argument,		0, 'e' },
+		{ "identifier",	required_argument,	0, 'i' },
+		{ "loop",	required_argument,	0, 'l' },
+		{ "poll",	no_argument,		0, 'p' },
+		{ "quit",	optional_argument,	0, 'q' },
+		{ "receive",	no_argument,		0, 'r' },
+		{ "verbose",	no_argument,		0, 'v' },
+		{ "help",	no_argument,		0, 'h' },
+		{ 0,		0,			0, 0},
+	};
+
+	while ((opt = getopt_long(argc, argv, "ei:pq::rvh", long_options, NULL)) != -1) {
+		switch (opt) {
+		case 'e':
+			extended = true;
+			break;
+
+		case 'i':
+			filter->can_id = strtoul(optarg, NULL, 0);
+			break;
+
+		case 'r':
+			receive = true;
+			break;
+
+		case 'l':
+			if (optarg) {
+				loopcount = strtoul(optarg, NULL, 0);
+				infinite = false;
+			} else {
+				infinite = true;
+			}
+			break;
+
+		case 'p':
+			use_poll = true;
+			break;
+
+		case 'q':
+			if (optarg)
+				drop_until_quit = strtoul(optarg, NULL, 0);
+			else
+				drop_until_quit = 1;
+			break;
+
+		case 'v':
+			verbose++;
+			break;
+
+		case 'h':
+			print_usage(basename(argv[0]));
+			exit(EXIT_SUCCESS);
+			break;
+
+		default:
+			print_usage(basename(argv[0]));
+			exit(EXIT_FAILURE);
+			break;
+		}
+	}
+
+	if (argv[optind] != NULL)
+		interface = argv[optind];
+
+	if (extended) {
+		filter->can_mask = CAN_EFF_MASK;
+		filter->can_id  &= CAN_EFF_MASK;
+		filter->can_id  |= CAN_EFF_FLAG;
+	} else {
+		filter->can_mask = CAN_SFF_MASK;
+		filter->can_id  &= CAN_SFF_MASK;
+	}
+	frame.can_id = filter->can_id;
+	filter->can_mask |= CAN_EFF_FLAG;
+
+	printf("interface = %s, family = %d, type = %d, proto = %d\n",
+	       interface, family, type, proto);
+
+	s = socket(family, type, proto);
+	if (s < 0) {
+		perror("socket()");
+		exit(EXIT_FAILURE);
+	}
+
+	addr.can_family = family;
+	strncpy(ifr.ifr_name, interface, sizeof(ifr.ifr_name));
+	if (ioctl(s, SIOCGIFINDEX, &ifr)) {
+		perror("ioctl()");
+		exit(EXIT_FAILURE);
+	}
+	addr.can_ifindex = ifr.ifr_ifindex;
+
+	/* first don't recv. any msgs */
+	if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0)) {
+		perror("setsockopt()");
+		exit(EXIT_FAILURE);
+	}
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind()");
+		exit(EXIT_FAILURE);
+	}
+
+	if (receive)
+		do_receive();
+	else
+		do_send();
+
+	exit(EXIT_SUCCESS);
+}

cmake/make_uninstall.cmake

@@ -0,0 +1,19 @@
+
+if(NOT EXISTS "${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt")
+    message(FATAL_ERROR "Cannot find install manifest: ${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt")
+endif()
+
+file(READ "${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt" files)
+string(REGEX REPLACE "[\r\n]" ";" files "${files}")
+
+foreach(file ${files})
+    message(STATUS "Uninstalling ${file}")
+    if(EXISTS "${file}")
+        file(REMOVE ${file})
+        if (EXISTS "${file}")
+            message(FATAL_ERROR "Problem when removing ${file}, please check your permissions")
+        endif()
+    else()
+        message(STATUS "File ${file} does not exist.")
+    endif()
+endforeach()

configure.ac

@@ -88,6 +88,9 @@ AC_CHECK_DECL(AF_CAN,,
 AC_CHECK_DECL(N_SLCAN,,
     [AC_DEFINE([N_SLCAN], [17], [N_SLCAN])]
 )
+AC_CHECK_DECL(SCM_TIMESTAMPING_OPT_STATS,,
+    [AC_DEFINE([SCM_TIMESTAMPING_OPT_STATS], [54], [SCM_TIMESTAMPING_OPT_STATS])]
+)
 AC_DEFINE(_GNU_SOURCE)
 
 

include/linux/can.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */
+/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
 /*
  * linux/can.h
  *
@@ -77,7 +77,7 @@ typedef __u32 canid_t;
 /*
  * Controller Area Network Error Message Frame Mask structure
  *
- * bit 0-28	: error class mask (see include/linux/can/error.h)
+ * bit 0-28	: error class mask (see include/uapi/linux/can/error.h)
  * bit 29-31	: set to zero
  */
 typedef __u32 can_err_mask_t;
@@ -181,10 +181,7 @@ struct sockaddr_can {
 	int         can_ifindex;
 	union {
 		/* transport protocol class address information (e.g. ISOTP) */
-		struct {
-			canid_t rx_id;
-			canid_t tx_id;
-		} tp;
+		struct { canid_t rx_id, tx_id; } tp;
 
 		/* J1939 address information */
 		struct {

include/linux/can/bcm.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */
+/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
 /*
  * linux/can/bcm.h
  *

include/linux/can/error.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */
+/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
 /*
  * linux/can/error.h
  *

include/linux/can/gw.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */
+/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
 /*
  * linux/can/gw.h
  *
@@ -80,6 +80,10 @@ enum {
 	CGW_DELETED,	/* number of deleted CAN frames (see max_hops param) */
 	CGW_LIM_HOPS,	/* limit the number of hops of this specific rule */
 	CGW_MOD_UID,	/* user defined identifier for modification updates */
+	CGW_FDMOD_AND,	/* CAN FD frame modification binary AND */
+	CGW_FDMOD_OR,	/* CAN FD frame modification binary OR */
+	CGW_FDMOD_XOR,	/* CAN FD frame modification binary XOR */
+	CGW_FDMOD_SET,	/* CAN FD frame modification set alternate values */
 	__CGW_MAX
 };
 
@@ -88,15 +92,18 @@ enum {
 #define CGW_FLAGS_CAN_ECHO 0x01
 #define CGW_FLAGS_CAN_SRC_TSTAMP 0x02
 #define CGW_FLAGS_CAN_IIF_TX_OK 0x04
+#define CGW_FLAGS_CAN_FD 0x08
 
 #define CGW_MOD_FUNCS 4 /* AND OR XOR SET */
 
 /* CAN frame elements that are affected by curr. 3 CAN frame modifications */
 #define CGW_MOD_ID	0x01
-#define CGW_MOD_DLC	0x02
+#define CGW_MOD_DLC	0x02		/* contains the data length in bytes */
+#define CGW_MOD_LEN	CGW_MOD_DLC	/* CAN FD length representation */
 #define CGW_MOD_DATA	0x04
+#define CGW_MOD_FLAGS	0x08		/* CAN FD flags */
 
-#define CGW_FRAME_MODS 3 /* ID DLC DATA */
+#define CGW_FRAME_MODS 4 /* ID DLC/LEN DATA FLAGS */
 
 #define MAX_MODFUNCTIONS (CGW_MOD_FUNCS * CGW_FRAME_MODS)
 
@@ -105,7 +112,13 @@ struct cgw_frame_mod {
 	__u8 modtype;
 } __attribute__((packed));
 
+struct cgw_fdframe_mod {
+	struct canfd_frame cf;
+	__u8 modtype;
+} __attribute__((packed));
+
 #define CGW_MODATTR_LEN sizeof(struct cgw_frame_mod)
+#define CGW_FDMODATTR_LEN sizeof(struct cgw_fdframe_mod)
 
 struct cgw_csum_xor {
 	__s8 from_idx;

include/linux/can/isotp.h

@@ -1,10 +1,10 @@
+/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
 /*
  * linux/can/isotp.h
  *
- * Definitions for isotp CAN sockets
+ * Definitions for isotp CAN sockets (ISO 15765-2:2016)
  *
- * Author: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
- * Copyright (c) 2008 Volkswagen Group Electronic Research
+ * Copyright (c) 2020 Volkswagen Group Electronic Research
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -39,13 +39,12 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
  * DAMAGE.
- *
- * Send feedback to <linux-can@vger.kernel.org>
  */
 
-#ifndef CAN_ISOTP_H
-#define CAN_ISOTP_H
+#ifndef _UAPI_CAN_ISOTP_H
+#define _UAPI_CAN_ISOTP_H
 
+#include <linux/types.h>
 #include <linux/can.h>
 
 #define SOL_CAN_ISOTP (SOL_CAN_BASE + CAN_ISOTP)
@@ -123,7 +122,6 @@ struct can_isotp_ll_options {
 				/* by the CAN netdriver configuration	*/
 };
 
-
 /* flags for isotp behaviour */
 
 #define CAN_ISOTP_LISTEN_MODE	0x001	/* listen only (do not send FC) */
@@ -136,6 +134,7 @@ struct can_isotp_ll_options {
 #define CAN_ISOTP_FORCE_TXSTMIN	0x080	/* ignore stmin from received FC */
 #define CAN_ISOTP_FORCE_RXSTMIN	0x100	/* ignore CFs depending on rx stmin */
 #define CAN_ISOTP_RX_EXT_ADDR	0x200	/* different rx extended addressing */
+#define CAN_ISOTP_WAIT_TX_DONE	0x400	/* wait for tx completion */
 
 
 /* default values */
@@ -161,7 +160,6 @@ struct can_isotp_ll_options {
  * these default settings can be changed via sockopts.
  * For that reason the STmin value is intentionally _not_ checked for
  * consistency and copied directly into the flow control (FC) frame.
- *
  */
 
-#endif
+#endif /* !_UAPI_CAN_ISOTP_H */

include/linux/can/j1939.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
+/* SPDX-License-Identifier: GPL-2.0-only WITH Linux-syscall-note */
 /*
  * j1939.h
  *
@@ -16,9 +16,15 @@
 #include <linux/socket.h>
 #include <linux/can.h>
 
-#define J1939_IDLE_ADDR	0xfe
-#define J1939_NO_ADDR 0xff
+#define J1939_MAX_UNICAST_ADDR 0xfd
+#define J1939_IDLE_ADDR 0xfe
+#define J1939_NO_ADDR 0xff		/* == broadcast or no addr */
 #define J1939_NO_NAME 0
+#define J1939_PGN_REQUEST 0x0ea00		/* Request PG */
+#define J1939_PGN_ADDRESS_CLAIMED 0x0ee00	/* Address Claimed */
+#define J1939_PGN_ADDRESS_COMMANDED 0x0fed8	/* Commanded Address */
+#define J1939_PGN_PDU1_MAX 0x3ff00
+#define J1939_PGN_MAX 0x3ffff
 #define J1939_NO_PGN 0x40000
 
 /* J1939 Parameter Group Number
@@ -58,23 +64,34 @@ typedef __u64 name_t;
 enum {
 	SO_J1939_FILTER = 1,	/* set filters */
 	SO_J1939_PROMISC = 2,	/* set/clr promiscuous mode */
-	SO_J1939_RECV_OWN = 3,
-	SO_J1939_SEND_PRIO = 4,
+	SO_J1939_SEND_PRIO = 3,
+	SO_J1939_ERRQUEUE = 4,
 };
 
 enum {
 	SCM_J1939_DEST_ADDR = 1,
 	SCM_J1939_DEST_NAME = 2,
 	SCM_J1939_PRIO = 3,
+	SCM_J1939_ERRQUEUE = 4,
+};
+
+enum {
+	J1939_NLA_PAD,
+	J1939_NLA_BYTES_ACKED,
+};
+
+enum {
+	J1939_EE_INFO_NONE,
+	J1939_EE_INFO_TX_ABORT,
 };
 
 struct j1939_filter {
 	name_t name;
 	name_t name_mask;
-	__u8 addr;
-	__u8 addr_mask;
 	pgn_t pgn;
 	pgn_t pgn_mask;
+	__u8 addr;
+	__u8 addr_mask;
 };
 
 #define J1939_FILTER_MAX 512 /* maximum number of j1939_filter set via setsockopt() */

include/linux/can/netlink.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
+/* SPDX-License-Identifier: GPL-2.0-only WITH Linux-syscall-note */
 /*
  * linux/can/netlink.h
  *
@@ -40,15 +40,15 @@ struct can_bittiming {
 };
 
 /*
- * CAN harware-dependent bit-timing constant
+ * CAN hardware-dependent bit-timing constant
  *
  * Used for calculating and checking bit-timing parameters
  */
 struct can_bittiming_const {
 	char name[16];		/* Name of the CAN controller hardware */
-	__u32 tseg1_min;	/* Time segement 1 = prop_seg + phase_seg1 */
+	__u32 tseg1_min;	/* Time segment 1 = prop_seg + phase_seg1 */
 	__u32 tseg1_max;
-	__u32 tseg2_min;	/* Time segement 2 = phase_seg2 */
+	__u32 tseg2_min;	/* Time segment 2 = phase_seg2 */
 	__u32 tseg2_max;
 	__u32 sjw_max;		/* Synchronisation jump width */
 	__u32 brp_min;		/* Bit-rate prescaler */

include/linux/can/raw.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: ((GPL-2.0 WITH Linux-syscall-note) OR BSD-3-Clause) */
+/* SPDX-License-Identifier: ((GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause) */
 /*
  * linux/can/raw.h
  *
@@ -49,6 +49,9 @@
 #include <linux/can.h>
 
 #define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW)
+enum {
+	SCM_CAN_RAW_ERRQUEUE = 1,
+};
 
 /* for socket options affecting the socket (not the global system) */
 

include/linux/can/vxcan.h

@@ -1,4 +1,4 @@
-/* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
+/* SPDX-License-Identifier: GPL-2.0-only WITH Linux-syscall-note */
 #ifndef _UAPI_CAN_VXCAN_H
 #define _UAPI_CAN_VXCAN_H
 

include/linux/errqueue.h

@@ -0,0 +1,54 @@
+/* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
+#ifndef _UAPI_LINUX_ERRQUEUE_H
+#define _UAPI_LINUX_ERRQUEUE_H
+
+#include <linux/types.h>
+
+struct sock_extended_err {
+	__u32	ee_errno;	
+	__u8	ee_origin;
+	__u8	ee_type;
+	__u8	ee_code;
+	__u8	ee_pad;
+	__u32   ee_info;
+	__u32   ee_data;
+};
+
+#define SO_EE_ORIGIN_NONE	0
+#define SO_EE_ORIGIN_LOCAL	1
+#define SO_EE_ORIGIN_ICMP	2
+#define SO_EE_ORIGIN_ICMP6	3
+#define SO_EE_ORIGIN_TXSTATUS	4
+#define SO_EE_ORIGIN_ZEROCOPY	5
+#define SO_EE_ORIGIN_TXTIME	6
+#define SO_EE_ORIGIN_TIMESTAMPING SO_EE_ORIGIN_TXSTATUS
+
+#define SO_EE_OFFENDER(ee)	((struct sockaddr*)((ee)+1))
+
+#define SO_EE_CODE_ZEROCOPY_COPIED	1
+
+#define SO_EE_CODE_TXTIME_INVALID_PARAM	1
+#define SO_EE_CODE_TXTIME_MISSED	2
+
+/**
+ *	struct scm_timestamping - timestamps exposed through cmsg
+ *
+ *	The timestamping interfaces SO_TIMESTAMPING, MSG_TSTAMP_*
+ *	communicate network timestamps by passing this struct in a cmsg with
+ *	recvmsg(). See Documentation/networking/timestamping.txt for details.
+ */
+struct scm_timestamping {
+	struct timespec ts[3];
+};
+
+/* The type of scm_timestamping, passed in sock_extended_err ee_info.
+ * This defines the type of ts[0]. For SCM_TSTAMP_SND only, if ts[0]
+ * is zero, then this is a hardware timestamp and recorded in ts[2].
+ */
+enum {
+	SCM_TSTAMP_SND,		/* driver passed skb to NIC, or HW */
+	SCM_TSTAMP_SCHED,	/* data entered the packet scheduler */
+	SCM_TSTAMP_ACK,		/* data acknowledged by peer */
+};
+
+#endif /* _UAPI_LINUX_ERRQUEUE_H */

include/linux/net_tstamp.h

@@ -0,0 +1,162 @@
+/* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
+/*
+ * Userspace API for hardware time stamping of network packets
+ *
+ * Copyright (C) 2008,2009 Intel Corporation
+ * Author: Patrick Ohly <patrick.ohly@intel.com>
+ *
+ */
+
+#ifndef _NET_TIMESTAMPING_H
+#define _NET_TIMESTAMPING_H
+
+#include <linux/types.h>
+#include <linux/socket.h>   /* for SO_TIMESTAMPING */
+
+/* SO_TIMESTAMPING gets an integer bit field comprised of these values */
+enum {
+	SOF_TIMESTAMPING_TX_HARDWARE = (1<<0),
+	SOF_TIMESTAMPING_TX_SOFTWARE = (1<<1),
+	SOF_TIMESTAMPING_RX_HARDWARE = (1<<2),
+	SOF_TIMESTAMPING_RX_SOFTWARE = (1<<3),
+	SOF_TIMESTAMPING_SOFTWARE = (1<<4),
+	SOF_TIMESTAMPING_SYS_HARDWARE = (1<<5),
+	SOF_TIMESTAMPING_RAW_HARDWARE = (1<<6),
+	SOF_TIMESTAMPING_OPT_ID = (1<<7),
+	SOF_TIMESTAMPING_TX_SCHED = (1<<8),
+	SOF_TIMESTAMPING_TX_ACK = (1<<9),
+	SOF_TIMESTAMPING_OPT_CMSG = (1<<10),
+	SOF_TIMESTAMPING_OPT_TSONLY = (1<<11),
+	SOF_TIMESTAMPING_OPT_STATS = (1<<12),
+	SOF_TIMESTAMPING_OPT_PKTINFO = (1<<13),
+	SOF_TIMESTAMPING_OPT_TX_SWHW = (1<<14),
+
+	SOF_TIMESTAMPING_LAST = SOF_TIMESTAMPING_OPT_TX_SWHW,
+	SOF_TIMESTAMPING_MASK = (SOF_TIMESTAMPING_LAST - 1) |
+				 SOF_TIMESTAMPING_LAST
+};
+
+/*
+ * SO_TIMESTAMPING flags are either for recording a packet timestamp or for
+ * reporting the timestamp to user space.
+ * Recording flags can be set both via socket options and control messages.
+ */
+#define SOF_TIMESTAMPING_TX_RECORD_MASK	(SOF_TIMESTAMPING_TX_HARDWARE | \
+					 SOF_TIMESTAMPING_TX_SOFTWARE | \
+					 SOF_TIMESTAMPING_TX_SCHED | \
+					 SOF_TIMESTAMPING_TX_ACK)
+
+/**
+ * struct hwtstamp_config - %SIOCGHWTSTAMP and %SIOCSHWTSTAMP parameter
+ *
+ * @flags:	no flags defined right now, must be zero for %SIOCSHWTSTAMP
+ * @tx_type:	one of HWTSTAMP_TX_*
+ * @rx_filter:	one of HWTSTAMP_FILTER_*
+ *
+ * %SIOCGHWTSTAMP and %SIOCSHWTSTAMP expect a &struct ifreq with a
+ * ifr_data pointer to this structure.  For %SIOCSHWTSTAMP, if the
+ * driver or hardware does not support the requested @rx_filter value,
+ * the driver may use a more general filter mode.  In this case
+ * @rx_filter will indicate the actual mode on return.
+ */
+struct hwtstamp_config {
+	int flags;
+	int tx_type;
+	int rx_filter;
+};
+
+/* possible values for hwtstamp_config->tx_type */
+enum hwtstamp_tx_types {
+	/*
+	 * No outgoing packet will need hardware time stamping;
+	 * should a packet arrive which asks for it, no hardware
+	 * time stamping will be done.
+	 */
+	HWTSTAMP_TX_OFF,
+
+	/*
+	 * Enables hardware time stamping for outgoing packets;
+	 * the sender of the packet decides which are to be
+	 * time stamped by setting %SOF_TIMESTAMPING_TX_SOFTWARE
+	 * before sending the packet.
+	 */
+	HWTSTAMP_TX_ON,
+
+	/*
+	 * Enables time stamping for outgoing packets just as
+	 * HWTSTAMP_TX_ON does, but also enables time stamp insertion
+	 * directly into Sync packets. In this case, transmitted Sync
+	 * packets will not received a time stamp via the socket error
+	 * queue.
+	 */
+	HWTSTAMP_TX_ONESTEP_SYNC,
+};
+
+/* possible values for hwtstamp_config->rx_filter */
+enum hwtstamp_rx_filters {
+	/* time stamp no incoming packet at all */
+	HWTSTAMP_FILTER_NONE,
+
+	/* time stamp any incoming packet */
+	HWTSTAMP_FILTER_ALL,
+
+	/* return value: time stamp all packets requested plus some others */
+	HWTSTAMP_FILTER_SOME,
+
+	/* PTP v1, UDP, any kind of event packet */
+	HWTSTAMP_FILTER_PTP_V1_L4_EVENT,
+	/* PTP v1, UDP, Sync packet */
+	HWTSTAMP_FILTER_PTP_V1_L4_SYNC,
+	/* PTP v1, UDP, Delay_req packet */
+	HWTSTAMP_FILTER_PTP_V1_L4_DELAY_REQ,
+	/* PTP v2, UDP, any kind of event packet */
+	HWTSTAMP_FILTER_PTP_V2_L4_EVENT,
+	/* PTP v2, UDP, Sync packet */
+	HWTSTAMP_FILTER_PTP_V2_L4_SYNC,
+	/* PTP v2, UDP, Delay_req packet */
+	HWTSTAMP_FILTER_PTP_V2_L4_DELAY_REQ,
+
+	/* 802.AS1, Ethernet, any kind of event packet */
+	HWTSTAMP_FILTER_PTP_V2_L2_EVENT,
+	/* 802.AS1, Ethernet, Sync packet */
+	HWTSTAMP_FILTER_PTP_V2_L2_SYNC,
+	/* 802.AS1, Ethernet, Delay_req packet */
+	HWTSTAMP_FILTER_PTP_V2_L2_DELAY_REQ,
+
+	/* PTP v2/802.AS1, any layer, any kind of event packet */
+	HWTSTAMP_FILTER_PTP_V2_EVENT,
+	/* PTP v2/802.AS1, any layer, Sync packet */
+	HWTSTAMP_FILTER_PTP_V2_SYNC,
+	/* PTP v2/802.AS1, any layer, Delay_req packet */
+	HWTSTAMP_FILTER_PTP_V2_DELAY_REQ,
+
+	/* NTP, UDP, all versions and packet modes */
+	HWTSTAMP_FILTER_NTP_ALL,
+};
+
+/* SCM_TIMESTAMPING_PKTINFO control message */
+struct scm_ts_pktinfo {
+	__u32 if_index;
+	__u32 pkt_length;
+	__u32 reserved[2];
+};
+
+/*
+ * SO_TXTIME gets a struct sock_txtime with flags being an integer bit
+ * field comprised of these values.
+ */
+enum txtime_flags {
+	SOF_TXTIME_DEADLINE_MODE = (1 << 0),
+	SOF_TXTIME_REPORT_ERRORS = (1 << 1),
+
+	SOF_TXTIME_FLAGS_LAST = SOF_TXTIME_REPORT_ERRORS,
+	SOF_TXTIME_FLAGS_MASK = (SOF_TXTIME_FLAGS_LAST - 1) |
+				 SOF_TXTIME_FLAGS_LAST
+};
+
+struct sock_txtime {
+	__kernel_clockid_t	clockid;/* reference clockid */
+	__u32			flags;	/* as defined by enum txtime_flags */
+};
+
+#endif /* _NET_TIMESTAMPING_H */

include/linux/netlink.h

@@ -0,0 +1,252 @@
+/* SPDX-License-Identifier: GPL-2.0 WITH Linux-syscall-note */
+#ifndef _UAPI__LINUX_NETLINK_H
+#define _UAPI__LINUX_NETLINK_H
+
+#include <linux/kernel.h>
+#include <linux/socket.h> /* for __kernel_sa_family_t */
+#include <linux/types.h>
+
+#define NETLINK_ROUTE		0	/* Routing/device hook				*/
+#define NETLINK_UNUSED		1	/* Unused number				*/
+#define NETLINK_USERSOCK	2	/* Reserved for user mode socket protocols 	*/
+#define NETLINK_FIREWALL	3	/* Unused number, formerly ip_queue		*/
+#define NETLINK_SOCK_DIAG	4	/* socket monitoring				*/
+#define NETLINK_NFLOG		5	/* netfilter/iptables ULOG */
+#define NETLINK_XFRM		6	/* ipsec */
+#define NETLINK_SELINUX		7	/* SELinux event notifications */
+#define NETLINK_ISCSI		8	/* Open-iSCSI */
+#define NETLINK_AUDIT		9	/* auditing */
+#define NETLINK_FIB_LOOKUP	10	
+#define NETLINK_CONNECTOR	11
+#define NETLINK_NETFILTER	12	/* netfilter subsystem */
+#define NETLINK_IP6_FW		13
+#define NETLINK_DNRTMSG		14	/* DECnet routing messages */
+#define NETLINK_KOBJECT_UEVENT	15	/* Kernel messages to userspace */
+#define NETLINK_GENERIC		16
+/* leave room for NETLINK_DM (DM Events) */
+#define NETLINK_SCSITRANSPORT	18	/* SCSI Transports */
+#define NETLINK_ECRYPTFS	19
+#define NETLINK_RDMA		20
+#define NETLINK_CRYPTO		21	/* Crypto layer */
+#define NETLINK_SMC		22	/* SMC monitoring */
+
+#define NETLINK_INET_DIAG	NETLINK_SOCK_DIAG
+
+#define MAX_LINKS 32		
+
+struct sockaddr_nl {
+	__kernel_sa_family_t	nl_family;	/* AF_NETLINK	*/
+	unsigned short	nl_pad;		/* zero		*/
+	__u32		nl_pid;		/* port ID	*/
+       	__u32		nl_groups;	/* multicast groups mask */
+};
+
+struct nlmsghdr {
+	__u32		nlmsg_len;	/* Length of message including header */
+	__u16		nlmsg_type;	/* Message content */
+	__u16		nlmsg_flags;	/* Additional flags */
+	__u32		nlmsg_seq;	/* Sequence number */
+	__u32		nlmsg_pid;	/* Sending process port ID */
+};
+
+/* Flags values */
+
+#define NLM_F_REQUEST		0x01	/* It is request message. 	*/
+#define NLM_F_MULTI		0x02	/* Multipart message, terminated by NLMSG_DONE */
+#define NLM_F_ACK		0x04	/* Reply with ack, with zero or error code */
+#define NLM_F_ECHO		0x08	/* Echo this request 		*/
+#define NLM_F_DUMP_INTR		0x10	/* Dump was inconsistent due to sequence change */
+#define NLM_F_DUMP_FILTERED	0x20	/* Dump was filtered as requested */
+
+/* Modifiers to GET request */
+#define NLM_F_ROOT	0x100	/* specify tree	root	*/
+#define NLM_F_MATCH	0x200	/* return all matching	*/
+#define NLM_F_ATOMIC	0x400	/* atomic GET		*/
+#define NLM_F_DUMP	(NLM_F_ROOT|NLM_F_MATCH)
+
+/* Modifiers to NEW request */
+#define NLM_F_REPLACE	0x100	/* Override existing		*/
+#define NLM_F_EXCL	0x200	/* Do not touch, if it exists	*/
+#define NLM_F_CREATE	0x400	/* Create, if it does not exist	*/
+#define NLM_F_APPEND	0x800	/* Add to end of list		*/
+
+/* Modifiers to DELETE request */
+#define NLM_F_NONREC	0x100	/* Do not delete recursively	*/
+
+/* Flags for ACK message */
+#define NLM_F_CAPPED	0x100	/* request was capped */
+#define NLM_F_ACK_TLVS	0x200	/* extended ACK TVLs were included */
+
+/*
+   4.4BSD ADD		NLM_F_CREATE|NLM_F_EXCL
+   4.4BSD CHANGE	NLM_F_REPLACE
+
+   True CHANGE		NLM_F_CREATE|NLM_F_REPLACE
+   Append		NLM_F_CREATE
+   Check		NLM_F_EXCL
+ */
+
+#define NLMSG_ALIGNTO	4U
+#define NLMSG_ALIGN(len) ( ((len)+NLMSG_ALIGNTO-1) & ~(NLMSG_ALIGNTO-1) )
+#define NLMSG_HDRLEN	 ((int) NLMSG_ALIGN(sizeof(struct nlmsghdr)))
+#define NLMSG_LENGTH(len) ((len) + NLMSG_HDRLEN)
+#define NLMSG_SPACE(len) NLMSG_ALIGN(NLMSG_LENGTH(len))
+#define NLMSG_DATA(nlh)  ((void*)(((char*)nlh) + NLMSG_LENGTH(0)))
+#define NLMSG_NEXT(nlh,len)	 ((len) -= NLMSG_ALIGN((nlh)->nlmsg_len), \
+				  (struct nlmsghdr*)(((char*)(nlh)) + NLMSG_ALIGN((nlh)->nlmsg_len)))
+#define NLMSG_OK(nlh,len) ((len) >= (int)sizeof(struct nlmsghdr) && \
+			   (nlh)->nlmsg_len >= sizeof(struct nlmsghdr) && \
+			   (int)((nlh)->nlmsg_len) <= (len))
+#define NLMSG_PAYLOAD(nlh,len) ((nlh)->nlmsg_len - NLMSG_SPACE((len)))
+
+#define NLMSG_NOOP		0x1	/* Nothing.		*/
+#define NLMSG_ERROR		0x2	/* Error		*/
+#define NLMSG_DONE		0x3	/* End of a dump	*/
+#define NLMSG_OVERRUN		0x4	/* Data lost		*/
+
+#define NLMSG_MIN_TYPE		0x10	/* < 0x10: reserved control messages */
+
+struct nlmsgerr {
+	int		error;
+	struct nlmsghdr msg;
+	/*
+	 * followed by the message contents unless NETLINK_CAP_ACK was set
+	 * or the ACK indicates success (error == 0)
+	 * message length is aligned with NLMSG_ALIGN()
+	 */
+	/*
+	 * followed by TLVs defined in enum nlmsgerr_attrs
+	 * if NETLINK_EXT_ACK was set
+	 */
+};
+
+/**
+ * enum nlmsgerr_attrs - nlmsgerr attributes
+ * @NLMSGERR_ATTR_UNUSED: unused
+ * @NLMSGERR_ATTR_MSG: error message string (string)
+ * @NLMSGERR_ATTR_OFFS: offset of the invalid attribute in the original
+ *	 message, counting from the beginning of the header (u32)
+ * @NLMSGERR_ATTR_COOKIE: arbitrary subsystem specific cookie to
+ *	be used - in the success case - to identify a created
+ *	object or operation or similar (binary)
+ * @__NLMSGERR_ATTR_MAX: number of attributes
+ * @NLMSGERR_ATTR_MAX: highest attribute number
+ */
+enum nlmsgerr_attrs {
+	NLMSGERR_ATTR_UNUSED,
+	NLMSGERR_ATTR_MSG,
+	NLMSGERR_ATTR_OFFS,
+	NLMSGERR_ATTR_COOKIE,
+
+	__NLMSGERR_ATTR_MAX,
+	NLMSGERR_ATTR_MAX = __NLMSGERR_ATTR_MAX - 1
+};
+
+#define NETLINK_ADD_MEMBERSHIP		1
+#define NETLINK_DROP_MEMBERSHIP		2
+#define NETLINK_PKTINFO			3
+#define NETLINK_BROADCAST_ERROR		4
+#define NETLINK_NO_ENOBUFS		5
+#ifndef __KERNEL__
+#define NETLINK_RX_RING			6
+#define NETLINK_TX_RING			7
+#endif
+#define NETLINK_LISTEN_ALL_NSID		8
+#define NETLINK_LIST_MEMBERSHIPS	9
+#define NETLINK_CAP_ACK			10
+#define NETLINK_EXT_ACK			11
+#define NETLINK_GET_STRICT_CHK		12
+
+struct nl_pktinfo {
+	__u32	group;
+};
+
+struct nl_mmap_req {
+	unsigned int	nm_block_size;
+	unsigned int	nm_block_nr;
+	unsigned int	nm_frame_size;
+	unsigned int	nm_frame_nr;
+};
+
+struct nl_mmap_hdr {
+	unsigned int	nm_status;
+	unsigned int	nm_len;
+	__u32		nm_group;
+	/* credentials */
+	__u32		nm_pid;
+	__u32		nm_uid;
+	__u32		nm_gid;
+};
+
+#ifndef __KERNEL__
+enum nl_mmap_status {
+	NL_MMAP_STATUS_UNUSED,
+	NL_MMAP_STATUS_RESERVED,
+	NL_MMAP_STATUS_VALID,
+	NL_MMAP_STATUS_COPY,
+	NL_MMAP_STATUS_SKIP,
+};
+
+#define NL_MMAP_MSG_ALIGNMENT		NLMSG_ALIGNTO
+#define NL_MMAP_MSG_ALIGN(sz)		__ALIGN_KERNEL(sz, NL_MMAP_MSG_ALIGNMENT)
+#define NL_MMAP_HDRLEN			NL_MMAP_MSG_ALIGN(sizeof(struct nl_mmap_hdr))
+#endif
+
+#define NET_MAJOR 36		/* Major 36 is reserved for networking 						*/
+
+enum {
+	NETLINK_UNCONNECTED = 0,
+	NETLINK_CONNECTED,
+};
+
+/*
+ *  <------- NLA_HDRLEN ------> <-- NLA_ALIGN(payload)-->
+ * +---------------------+- - -+- - - - - - - - - -+- - -+
+ * |        Header       | Pad |     Payload       | Pad |
+ * |   (struct nlattr)   | ing |                   | ing |
+ * +---------------------+- - -+- - - - - - - - - -+- - -+
+ *  <-------------- nlattr->nla_len -------------->
+ */
+
+struct nlattr {
+	__u16           nla_len;
+	__u16           nla_type;
+};
+
+/*
+ * nla_type (16 bits)
+ * +---+---+-------------------------------+
+ * | N | O | Attribute Type                |
+ * +---+---+-------------------------------+
+ * N := Carries nested attributes
+ * O := Payload stored in network byte order
+ *
+ * Note: The N and O flag are mutually exclusive.
+ */
+#define NLA_F_NESTED		(1 << 15)
+#define NLA_F_NET_BYTEORDER	(1 << 14)
+#define NLA_TYPE_MASK		~(NLA_F_NESTED | NLA_F_NET_BYTEORDER)
+
+#define NLA_ALIGNTO		4
+#define NLA_ALIGN(len)		(((len) + NLA_ALIGNTO - 1) & ~(NLA_ALIGNTO - 1))
+#define NLA_HDRLEN		((int) NLA_ALIGN(sizeof(struct nlattr)))
+
+/* Generic 32 bitflags attribute content sent to the kernel.
+ *
+ * The value is a bitmap that defines the values being set
+ * The selector is a bitmask that defines which value is legit
+ *
+ * Examples:
+ *  value = 0x0, and selector = 0x1
+ *  implies we are selecting bit 1 and we want to set its value to 0.
+ *
+ *  value = 0x2, and selector = 0x2
+ *  implies we are selecting bit 2 and we want to set its value to 1.
+ *
+ */
+struct nla_bitfield32 {
+	__u32 value;
+	__u32 selector;
+};
+
+#endif /* _UAPI__LINUX_NETLINK_H */

isotpdump.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
  *
@@ -41,20 +42,23 @@
  *
  */
 
+#include <libgen.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <unistd.h>
 #include <string.h>
-#include <libgen.h>
+#include <strings.h>
 #include <time.h>
+#include <unistd.h>
 
 #include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
+#include <linux/sockios.h>
+
 #include "terminal.h"
 
 #define NO_CAN_ID 0xFFFFFFFFU
@@ -65,17 +69,130 @@ const int canfd_on = 1;
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -x <addr>   (extended addressing mode. Use 'any' for all addresses)\n");
-	fprintf(stderr, "         -X <addr>   (extended addressing mode (rx addr). Use 'any' for all)\n");
-	fprintf(stderr, "         -c          (color mode)\n");
-	fprintf(stderr, "         -a          (print data also in ASCII-chars)\n");
-	fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -x <addr>    (extended addressing mode. Use 'any' for all addresses)\n");
+	fprintf(stderr, "         -X <addr>    (extended addressing mode (rx addr). Use 'any' for all)\n");
+	fprintf(stderr, "         -c           (color mode)\n");
+	fprintf(stderr, "         -a           (print data also in ASCII-chars)\n");
+	fprintf(stderr, "         -t <type>    (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+	fprintf(stderr, "         -u           (print uds messages)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
+	fprintf(stderr, "\nUDS output contains a flag which provides information about the type of the \n");
+	fprintf(stderr, "message.\n\n");
+	fprintf(stderr, "Flags:\n");
+	fprintf(stderr, "       [SRQ]  = Service Request\n");
+	fprintf(stderr, "       [PSR]  = Positive Service Response\n");
+	fprintf(stderr, "       [NRC]  = Negative Response Code\n");
+	fprintf(stderr, "       [???]  = Unknown (not specified)\n");
 	fprintf(stderr, "\n");
 }
 
+void print_uds_message(int service, int nrc)
+{
+	char *service_name;
+	char *flag = "[???]";
+
+	if ((service >= 0x50 && service <= 0x7E) || (service >= 0xC3 && service <= 0xC8)) {
+		flag = "[PSR]";
+		service = service - 0x40;
+	} else if ((service >= 0x10 && service <= 0x3E) ||
+		   (service >= 0x83 && service <= 0x88) ||
+		   (service >= 0xBA && service <= 0xBE))
+		flag = "[SRQ]";
+	
+	switch(service) {
+	case 0x10: service_name = "DiagnosticSessionControl"; break;
+	case 0x11: service_name = "ECUReset"; break;
+	case 0x14: service_name = "ClearDiagnosticInformation"; break;
+	case 0x19: service_name = "ReadDTCInformation"; break;
+	case 0x22: service_name = "ReadDataByIdentifier"; break;
+	case 0x23: service_name = "ReadMemoryByAddress"; break;
+	case 0x24: service_name = "ReadScalingDataByIdentifier"; break;
+	case 0x27: service_name = "SecurityAccess"; break;
+	case 0x28: service_name = "CommunicationControl"; break;
+	case 0x2A: service_name = "ReadDataByPeriodicIdentifier"; break;
+	case 0x2C: service_name = "DynamicallyDefineDataIdentifier"; break;
+	case 0x2E: service_name = "WriteDataByIdentifier"; break;
+	case 0x2F: service_name = "InputOutputControlByIdentifier"; break;
+	case 0x31: service_name = "RoutineControl"; break;
+	case 0x34: service_name = "RequestDownload"; break;
+	case 0x35: service_name = "RequestUpload"; break;
+	case 0x36: service_name = "TransferData"; break;
+	case 0x37: service_name = "RequestTransferExit"; break;
+	case 0x38: service_name = "RequestFileTransfer"; break;
+	case 0x3D: service_name = "WriteMemoryByAddress"; break;
+	case 0x3E: service_name = "TesterPresent"; break;
+	case 0x83: service_name = "AccessTimingParameter"; break;
+	case 0x84: service_name = "SecuredDataTransmision"; break;
+	case 0x85: service_name = "ControlDTCSetting"; break;
+	case 0x86: service_name = "ResponseOnEvent"; break;
+	case 0x87: service_name = "LinkControl"; break;
+	case 0x7F: flag = "[NRC]";
+		switch (nrc) {
+		case 0x00: service_name = "positiveResponse"; break;
+		case 0x10: service_name = "generalReject"; break;
+		case 0x11: service_name = "serviceNotSupported"; break;
+		case 0x12: service_name = "sub-functionNotSupported"; break;
+		case 0x13: service_name = "incorrectMessageLengthOrInvalidFormat"; break;
+		case 0x14: service_name = "responseTooLong"; break;
+		case 0x21: service_name = "busyRepeatRequest"; break;
+		case 0x22: service_name = "conditionsNotCorrect"; break;
+		case 0x24: service_name = "requestSequenceError"; break;
+		case 0x25: service_name = "noResponseFromSubnetComponent"; break;
+		case 0x26: service_name = "FailurePreventsExecutionOfRequestedAction"; break;
+		case 0x31: service_name = "requestOutOfRange"; break;
+		case 0x33: service_name = "securityAccessDenied"; break;
+		case 0x35: service_name = "invalidKey"; break;
+		case 0x36: service_name = "exceedNumberOfAttempts"; break;
+		case 0x37: service_name = "requiredTimeDelayNotExpired"; break;
+		case 0x70: service_name = "uploadDownloadNotAccepted"; break;
+		case 0x71: service_name = "transferDataSuspended"; break;
+		case 0x72: service_name = "generalProgrammingFailure"; break;
+		case 0x73: service_name = "wrongBlockSequenceCounter"; break;
+		case 0x78: service_name = "requestCorrectlyReceived-ResponsePending"; break;
+		case 0x7E: service_name = "sub-functionNotSupportedInActiveSession"; break;
+		case 0x7F: service_name = "serviceNotSupportedInActiveSession"; break;
+		case 0x81: service_name = "rpmTooHigh"; break;
+		case 0x82: service_name = "rpmTooLow"; break;
+		case 0x83: service_name = "engineIsRunning"; break;
+		case 0x84: service_name = "engineIsNotRunning"; break;
+		case 0x85: service_name = "engineRunTimeTooLow"; break;
+		case 0x86: service_name = "temperatureTooHigh"; break;
+		case 0x87: service_name = "temperatureTooLow"; break;
+		case 0x88: service_name = "vehicleSpeedTooHigh"; break;
+		case 0x89: service_name = "vehicleSpeedTooLow"; break;
+		case 0x8A: service_name = "throttle/PedalTooHigh"; break;
+		case 0x8B: service_name = "throttle/PedalTooLow"; break;
+		case 0x8C: service_name = "transmissionRangeNotInNeutral"; break;
+		case 0x8D: service_name = "transmissionRangeNotInGear"; break;
+		case 0x8F: service_name = "brakeSwitch(es)NotClosed (Brake Pedal not pressed or not applied)"; break;
+		case 0x90: service_name = "shifterLeverNotInPark"; break;
+		case 0x91: service_name = "torqueConverterClutchLocked"; break;
+		case 0x92: service_name = "voltageTooHigh"; break;
+		case 0x93: service_name = "voltageTooLow"; break;
+
+		default:
+			if (nrc > 0x37 && nrc < 0x50) {
+				service_name = "reservedByExtendedDataLinkSecurityDocument"; break;
+			}
+			else if (nrc > 0x93 && nrc < 0xF0) {
+				service_name = "reservedForSpecificConditionsNotCorrect"; break;
+			}
+			else if (nrc > 0xEF && nrc < 0xFE) {
+				service_name = "vehicleManufacturerSpecificConditionsNotCorrect"; break;
+			}
+			else {
+				service_name = "ISOSAEReserved"; break;
+			}
+		}
+		break;
+	default: service_name = "Unknown";
+	}
+	printf("%s %s", flag, service_name);
+}
+
 int main(int argc, char **argv)
 {
 	int s;
@@ -93,6 +210,8 @@ int main(int argc, char **argv)
 	int rx_extany = 0;
 	int asc = 0;
 	int color = 0;
+	int uds_output = 0;
+	int is_ff = 0;
 	int timestamp = 0;
 	int datidx = 0;
 	unsigned long fflen = 0;
@@ -103,7 +222,7 @@ int main(int argc, char **argv)
 	last_tv.tv_sec  = 0;
 	last_tv.tv_usec = 0;
 
-	while ((opt = getopt(argc, argv, "s:d:ax:X:ct:?")) != -1) {
+	while ((opt = getopt(argc, argv, "s:d:ax:X:ct:u?")) != -1) {
 		switch (opt) {
 		case 's':
 			src = strtoul(optarg, (char **)NULL, 16);
@@ -151,6 +270,10 @@ int main(int argc, char **argv)
 			}
 			break;
 
+		case 'u':
+		        uds_output = 1;
+			break;
+
 		case '?':
 			print_usage(basename(argv[0]));
 			exit(0);
@@ -213,65 +336,66 @@ int main(int argc, char **argv)
 		if (nbytes < 0) {
 			perror("read");
 			return 1;
-		} else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
+		}
+		if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
 			fprintf(stderr, "read: incomplete CAN frame %zu %d\n", sizeof(frame), nbytes);
 			return 1;
-		} else {
+		}
+		if (frame.can_id == src && ext && !extany &&
+		    extaddr != frame.data[0])
+			continue;
 
-			if (frame.can_id == src && ext && !extany && extaddr != frame.data[0])
-				continue;
+		if (frame.can_id == dst && rx_ext && !rx_extany &&
+		    rx_extaddr != frame.data[0])
+			continue;
 
-			if (frame.can_id == dst && rx_ext && !rx_extany && rx_extaddr != frame.data[0])
-				continue;
+		if (color)
+			printf("%s", (frame.can_id == src) ? FGRED : FGBLUE);
 
-			if (color)
-				printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
+		if (timestamp) {
+			ioctl(s, SIOCGSTAMP, &tv);
 
-			if (timestamp) {
-				ioctl(s, SIOCGSTAMP, &tv);
-
-
-				switch (timestamp) {
-
-				case 'a': /* absolute with timestamp */
-					printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
-					break;
-
-				case 'A': /* absolute with date */
-				{
-					struct tm tm;
-					char timestring[25];
-
-					tm = *localtime(&tv.tv_sec);
-					strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
-					printf("(%s.%06ld) ", timestring, tv.tv_usec);
-				}
+			switch (timestamp) {
+			case 'a': /* absolute with timestamp */
+				printf("(%lu.%06lu) ", tv.tv_sec, tv.tv_usec);
 				break;
 
-				case 'd': /* delta */
-				case 'z': /* starting with zero */
-				{
-					struct timeval diff;
+			case 'A': /* absolute with date */
+			{
+				struct tm tm;
+				char timestring[25];
 
-					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_usec = 0;
-					printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
+				tm = *localtime(&tv.tv_sec);
+				strftime(timestring, 24, "%Y-%m-%d %H:%M:%S",
+					 &tm);
+				printf("(%s.%06lu) ", timestring, tv.tv_usec);
+			} break;
 
-					if (timestamp == 'd')
-						last_tv = tv; /* update for delta calculation */
-				}
+			case 'd': /* delta */
+			case 'z': /* starting with zero */
+			{
+				struct timeval diff;
+
+				if (last_tv.tv_sec == 0) /* first init */
+					last_tv = tv;
+				diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
+				diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
+				if (diff.tv_usec < 0)
+					diff.tv_sec--, diff.tv_usec += 1000000;
+				if (diff.tv_sec < 0)
+					diff.tv_sec = diff.tv_usec = 0;
+				printf("(%lu.%06lu) ", diff.tv_sec,
+				       diff.tv_usec);
+
+				if (timestamp == 'd')
+					last_tv =
+						tv; /* update for delta calculation */
+			} break;
+
+			default: /* no timestamp output */
 				break;
-
-				default: /* no timestamp output */
-					break;
-				}
 			}
+		}
 
 			if (frame.can_id & CAN_EFF_FLAG)
 				printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
@@ -288,9 +412,10 @@ int main(int argc, char **argv)
 
 			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;
@@ -301,6 +426,7 @@ int main(int argc, char **argv)
 				break;
 
 			case 0x10:
+			        is_ff = 1;
 				fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
 				if (fflen)
 					datidx = ext+2;
@@ -362,13 +488,21 @@ int main(int argc, char **argv)
 					}
 					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

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * isotpperf.c - ISO15765-2 protocol performance visualisation
  *
@@ -41,21 +42,22 @@
  *
  */
 
+#include <libgen.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdint.h>
-#include <unistd.h>
 #include <string.h>
-#include <libgen.h>
 #include <time.h>
+#include <unistd.h>
 
 #include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
+#include <linux/sockios.h>
 
 #define NO_CAN_ID 0xFFFFFFFFU
 #define PERCENTRES 2 /* resolution in percent for bargraph */
@@ -63,11 +65,13 @@
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - ISO15765-2 protocol performance visualisation.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -x <addr>   (extended addressing mode)\n");
-	fprintf(stderr, "         -X <addr>   (extended addressing mode (rx addr))\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -x <addr>    (extended addressing mode)\n");
+	fprintf(stderr, "         -X <addr>    (extended addressing mode (rx addr))\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
 }
@@ -219,19 +223,21 @@ int main(int argc, char **argv)
 			ret = nbytes;
 			running = 0;
 			continue;
-		} else if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
+		}
+		if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
 			fprintf(stderr, "read: incomplete CAN frame %zu %d\n", sizeof(frame), nbytes);
 			ret = nbytes;
 			running = 0;
 			continue;
-		} else {
-			if (rcvlen) {
-				/* make sure to process only the detected PDU CAN frame type */
-				if (canfd_on && (nbytes != CANFD_MTU))
-					continue;
-				if (!canfd_on && (nbytes != CAN_MTU))
-					continue;
-			}
+		}
+
+		if (rcvlen) {
+			/* make sure to process only the detected PDU CAN frame type */
+			if (canfd_on && (nbytes != CANFD_MTU))
+				continue;
+			if (!canfd_on && (nbytes != CAN_MTU))
+				continue;
+		}
 
 			/* check extended address if provided */
 			if (ext && extaddr != frame.data[0])
@@ -245,13 +251,13 @@ int main(int argc, char **argv)
 
 				n_pci = frame.data[rx_ext];
 				/* check flow control PCI only */
-				if ((n_pci & 0xF0) == 0x30) {
-					bs = frame.data[rx_ext+1];
-					stmin = frame.data[rx_ext+2];
-				} else
+				if ((n_pci & 0xF0) != 0x30)
 					continue;
+
+				bs = frame.data[rx_ext + 1];
+				stmin = frame.data[rx_ext + 2];
 			}
-			
+
 			/* data content starts and index datidx */
 			datidx = 0;
 
@@ -351,7 +357,7 @@ int main(int argc, char **argv)
 			if (rcvlen) {
 				if (rcvlen > fflen)
 					rcvlen = fflen;
-				
+
 				percent = (rcvlen * 100 / fflen);
 				printf("\r %3lu%% ", percent);
 
@@ -361,7 +367,7 @@ int main(int argc, char **argv)
 					percent = 100;
 
 				for (i=0; i < NUMBAR; i++){
-					if (i < percent/PERCENTRES)
+					if (i < (int)(percent/PERCENTRES))
 						printf("X");
 					else
 						printf(".");
@@ -393,7 +399,7 @@ int main(int argc, char **argv)
 
 				/* check devisor to be not zero */
 				if (diff_tv.tv_sec * 1000 + diff_tv.tv_usec / 1000){
-					printf("%ld.%06lds ", diff_tv.tv_sec, diff_tv.tv_usec);
+					printf("%lu.%06lus ", diff_tv.tv_sec, diff_tv.tv_usec);
 					printf("=> %lu byte/s", (fflen * 1000) /
 					       (diff_tv.tv_sec * 1000 + diff_tv.tv_usec / 1000));
 				} else
@@ -404,7 +410,6 @@ int main(int argc, char **argv)
 				fflen = rcvlen = 0;
 			}
 			fflush(stdout);
-		}
 	}
 
 	close(s);

isotprecv.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * isotprecv.c
  *
@@ -41,16 +42,16 @@
  *
  */
 
+#include <libgen.h>
 #include <stdio.h>
-#include <unistd.h>
 #include <stdlib.h>
 #include <string.h>
-#include <libgen.h>
+#include <unistd.h>
 
 #include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
 #include <linux/can.h>
 #include <linux/can/isotp.h>
@@ -61,17 +62,18 @@
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -x <addr>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
-	fprintf(stderr, "         -b <bs>      (blocksize. 0 = off)\n");
-	fprintf(stderr, "         -m <val>     (STmin in ms/ns. See spec.)\n");
-	fprintf(stderr, "         -f <time ns> (force rx stmin value in nanosecs)\n");
-	fprintf(stderr, "         -w <num>     (max. wait frame transmissions.)\n");
-	fprintf(stderr, "         -l           (loop: do not exit after pdu receiption.)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -s <can_id>   (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -d <can_id>   (destination can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -b <bs>       (blocksize. 0 = off)\n");
+	fprintf(stderr, "         -m <val>      (STmin in ms/ns. See spec.)\n");
+	fprintf(stderr, "         -f <time ns>  (force rx stmin value in nanosecs)\n");
+	fprintf(stderr, "         -w <num>      (max. wait frame transmissions.)\n");
+	fprintf(stderr, "         -l            (loop: do not exit after pdu reception.)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "The pdu data is written on STDOUT in space separated ASCII hex values.\n");
 	fprintf(stderr, "\n");

isotpsend.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * isotpsend.c
  *
@@ -41,16 +42,16 @@
  *
  */
 
+#include <libgen.h>
 #include <stdio.h>
-#include <unistd.h>
 #include <stdlib.h>
 #include <string.h>
-#include <libgen.h>
+#include <unistd.h>
 
 #include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
 #include <linux/can.h>
 #include <linux/can/isotp.h>
@@ -61,15 +62,17 @@
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
 	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -x <addr>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
-	fprintf(stderr, "         -t <time ns> (frame transmit time (N_As) in nanosecs)\n");
-	fprintf(stderr, "         -f <time ns> (ignore FC and force local tx stmin value in nanosecs)\n");
-	fprintf(stderr, "         -D <len>     (send a fixed PDU with len bytes - no STDIN data)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -t <time ns>  (frame transmit time (N_As) in nanosecs)\n");
+	fprintf(stderr, "         -f <time ns>  (ignore FC and force local tx stmin value in nanosecs)\n");
+	fprintf(stderr, "         -D <len>      (send a fixed PDU with len bytes - no STDIN data)\n");
+	fprintf(stderr, "         -b            (block until the PDU transmission is completed)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
 	fprintf(stderr, "\n");
@@ -91,7 +94,7 @@ int main(int argc, char **argv)
 
     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:?")) != -1) {
+    while ((opt = getopt(argc, argv, "s:d:x:p:P:t:f:D:bL:?")) != -1) {
 	    switch (opt) {
 	    case 's':
 		    addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
@@ -174,6 +177,10 @@ int main(int argc, char **argv)
 		    }
 		    break;
 
+	    case 'b':
+		    opts.flags |= CAN_ISOTP_WAIT_TX_DONE;
+		    break;
+
 	    case 'L':
 		    if (sscanf(optarg, "%hhu:%hhu:%hhu",
 			       &llopts.mtu,

isotpserver.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * isotpserver.c
  *
@@ -56,21 +57,22 @@
  *
  */
 
+#include <errno.h>
+#include <libgen.h>
+#include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <libgen.h>
-#include <unistd.h>
 #include <string.h>
-#include <signal.h>
-#include <errno.h>
+#include <time.h>
+#include <unistd.h>
 
-#include <sys/types.h>
-#include <sys/wait.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <sys/uio.h>
 #include <net/if.h>
 #include <netinet/in.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <sys/uio.h>
+#include <sys/wait.h>
 
 #include <linux/can.h>
 #include <linux/can/isotp.h>
@@ -99,28 +101,29 @@ void childdied(int i)
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s -l <port> -s <can_id> -d <can_id> [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: (* = mandatory)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "ip addressing:\n");
+	fprintf(stderr, "         -l <port>    * (local port for the server)\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "ip adressing:\n");
-	fprintf(stderr, " *       -l <port>    (local port for the server)\n");
-	fprintf(stderr, "\n");
-	fprintf(stderr, "isotp adressing:\n");
-	fprintf(stderr, " *       -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, " *       -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -x <addr>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
+	fprintf(stderr, "isotp addressing:\n");
+	fprintf(stderr, "         -s <can_id>  * (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -d <can_id>  * (destination can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "padding:\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "rx path: (config, which is sent to the sender / data source)\n");
-	fprintf(stderr, "         -b <bs>      (blocksize. 0 = off)\n");
-	fprintf(stderr, "         -m <val>     (STmin in ms/ns. See spec.)\n");
-	fprintf(stderr, "         -w <num>     (max. wait frame transmissions)\n");
+	fprintf(stderr, "rx path:\n (config, which is sent to the sender / data source)\n");
+	fprintf(stderr, "         -b <bs>       (blocksize. 0 = off)\n");
+	fprintf(stderr, "         -m <val>      (STmin in ms/ns. See spec.)\n");
+	fprintf(stderr, "         -w <num>      (max. wait frame transmissions)\n");
 	fprintf(stderr, "\n");
-	fprintf(stderr, "tx path: (config, which changes local tx settings)\n");
-	fprintf(stderr, "         -t <time ns> (transmit time in nanosecs)\n");
+	fprintf(stderr, "tx path:\n (config, which changes local tx settings)\n");
+	fprintf(stderr, "         -t <time ns>  (transmit time in nanosecs)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "(* = mandatory option)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "All values except for '-l' and '-t' are expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
@@ -297,9 +300,13 @@ int main(int argc, char **argv)
 	saddr.sin_port = htons(local_port);
 
 	while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
+		struct timespec f = {
+			.tv_nsec = 100 * 1000 * 1000,
+		};
+
 		printf(".");
 		fflush(NULL);
-		usleep(100000);
+		nanosleep(&f, NULL);
 	}
 
 	if (listen(sl, 3) != 0) {
@@ -310,11 +317,9 @@ int main(int argc, char **argv)
 	while (1) { 
 		sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
 		if (sa > 0 ){
-
-			if (fork())
-				close(sa);
-			else
+			if (!fork())
 				break;
+			close(sa);
 		}
 		else {
 			if (errno != EINTR) {

isotpsniffer.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * isotpsniffer.c - dump ISO15765-2 datagrams using PF_CAN isotp protocol 
  *
@@ -41,21 +42,23 @@
  *
  */
 
+#include <ctype.h>
+#include <libgen.h>
 #include <stdio.h>
-#include <unistd.h>
 #include <stdlib.h>
 #include <string.h>
-#include <libgen.h>
 #include <time.h>
+#include <unistd.h>
 
 #include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
+#include "terminal.h"
 #include <linux/can.h>
 #include <linux/can/isotp.h>
-#include "terminal.h"
+#include <linux/sockios.h>
 
 #define NO_CAN_ID 0xFFFFFFFFU
 
@@ -66,13 +69,15 @@
 void print_usage(char *prg)
 {
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
-	fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -x <addr>   (extended addressing mode)\n");
-	fprintf(stderr, "         -X <addr>   (extended addressing mode - rx addr)\n");
-	fprintf(stderr, "         -c          (color mode)\n");
-	fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
-	fprintf(stderr, "         -f <format> (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -x <addr>    (extended addressing mode)\n");
+	fprintf(stderr, "         -X <addr>    (extended addressing mode - rx addr)\n");
+	fprintf(stderr, "         -c           (color mode)\n");
+	fprintf(stderr, "         -t <type>    (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+	fprintf(stderr, "         -f <format>  (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
 	fprintf(stderr, "         -h <len>    (head: print only first <len> bytes)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "\n");
@@ -96,7 +101,7 @@ void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
 		switch (timestamp) {
 
 		case 'a': /* absolute with timestamp */
-			printf("(%ld.%06ld) ", tv->tv_sec, tv->tv_usec);
+			printf("(%lu.%06lu) ", tv->tv_sec, tv->tv_usec);
 			break;
 
 		case 'A': /* absolute with date */
@@ -106,7 +111,7 @@ void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
 
 			tm = *localtime(&tv->tv_sec);
 			strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
-			printf("(%s.%06ld) ", timestring, tv->tv_usec);
+			printf("(%s.%06lu) ", timestring, tv->tv_usec);
 		}
 		break;
 
@@ -123,7 +128,7 @@ void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
 				diff.tv_sec--, diff.tv_usec += 1000000;
 			if (diff.tv_sec < 0)
 				diff.tv_sec = diff.tv_usec = 0;
-			printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
+			printf("(%lu.%06lu) ", diff.tv_sec, diff.tv_usec);
 
 			if (timestamp == 'd')
 				*last_tv = *tv; /* update for delta calculation */
@@ -135,7 +140,7 @@ void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
 		}
 	}
 
-	/* the source socket gets pdu data from the detination id */
+	/* the source socket gets pdu data from the destination id */
 	printf(" %s  %03X  [%d]  ", candevice, src & CAN_EFF_MASK, nbytes);
 	if (format & FORMAT_HEX) {
 		for (i=0; i<nbytes; i++) {
@@ -151,7 +156,7 @@ void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
 	if (format & FORMAT_ASCII) {
 		printf("'");
 		for (i=0; i<nbytes; i++) {
-			if ((buffer[i] > 0x1F) && (buffer[i] < 0x7F))
+			if (isprint(buffer[i]))
 				printf("%c", buffer[i]);
 			else
 				printf(".");
@@ -173,10 +178,12 @@ void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
 int main(int argc, char **argv)
 {
 	fd_set rdfs;
-	int s, t;
+	int s = -1, t = -1;
 	struct sockaddr_can addr;
 	char if_name[IFNAMSIZ];
 	static struct can_isotp_options opts;
+	static struct can_isotp_ll_options llopts;
+	int r = 0;
 	int opt, quit = 0;
 	int color = 0;
 	int head = 0;
@@ -190,7 +197,7 @@ int main(int argc, char **argv)
 	unsigned char buffer[4096];
 	int nbytes;
 
-	while ((opt = getopt(argc, argv, "s:d:x:X:h:ct:f:?")) != -1) {
+	while ((opt = getopt(argc, argv, "s:d:x:X:h:ct:f:L:?")) != -1) {
 		switch (opt) {
 		case 's':
 			src = strtoul(optarg, (char **)NULL, 16);
@@ -218,6 +225,17 @@ int main(int argc, char **argv)
 			format = (atoi(optarg) & (FORMAT_ASCII | FORMAT_HEX));
 			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(1);
+			}
+			break;
+
 		case 'h':
 			head = atoi(optarg);
 			break;
@@ -238,35 +256,37 @@ int main(int argc, char **argv)
 
 		case '?':
 			print_usage(basename(argv[0]));
-			exit(0);
-			break;
+			goto out;
 
 		default:
 			fprintf(stderr, "Unknown option %c\n", opt);
 			print_usage(basename(argv[0]));
-			exit(1);
-			break;
+			goto out;
 		}
 	}
 
 	if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
 		print_usage(basename(argv[0]));
-		exit(1);
+		r = 1;
+		goto out;
 	}
   
 	if ((opts.flags & CAN_ISOTP_RX_EXT_ADDR) && (!(opts.flags & CAN_ISOTP_EXTEND_ADDR))) {
 		print_usage(basename(argv[0]));
-		exit(1);
+		r = 1;
+		goto out;
 	}
 
 	if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
 		perror("socket");
-		exit(1);
+		r = 1;
+		goto out;
 	}
 
 	if ((t = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
 		perror("socket");
-		exit(1);
+		r = 1;
+		goto out;
 	}
 
 	opts.flags |= CAN_ISOTP_LISTEN_MODE;
@@ -284,8 +304,8 @@ int main(int argc, char **argv)
 
 	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 		perror("bind");
-		close(s);
-		exit(1);
+		r = 1;
+		goto out;
 	}
 
 	if (opts.flags & CAN_ISOTP_RX_EXT_ADDR) {
@@ -297,15 +317,25 @@ int main(int argc, char **argv)
 		opts.rx_ext_address = tmpext;
 	}
 
-	setsockopt(t, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+	if ((setsockopt(t, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts))) < 0) {
+		perror("setsockopt");
+		r = 1;
+		goto out;
+	}
+
+	if ((llopts.mtu) && (setsockopt(t, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts))) < 0) {
+		perror("setsockopt");
+		r = 1;
+		goto out;
+	}
 
 	addr.can_addr.tp.tx_id = dst;
 	addr.can_addr.tp.rx_id = src;
 
 	if (bind(t, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 		perror("bind");
-		close(s);
-		exit(1);
+		r = 1;
+		goto out;
 	}
 
 	while (!quit) {
@@ -330,10 +360,13 @@ int main(int argc, char **argv)
 			nbytes = read(s, buffer, 4096);
 			if (nbytes < 0) {
 				perror("read socket s");
-				return -1;
+				r = 1;
+				goto out;
+			}
+			if (nbytes > 4095) {
+				r = 1;
+				goto out;
 			}
-			if (nbytes > 4095)
-				return -1;
 			printbuf(buffer, nbytes, color?2:0, timestamp, format,
 				 &tv, &last_tv, dst, s, if_name, head);
 		}
@@ -342,16 +375,23 @@ int main(int argc, char **argv)
 			nbytes = read(t, buffer, 4096);
 			if (nbytes < 0) {
 				perror("read socket t");
-				return -1;
+				r = 1;
+				goto out;
+			}
+			if (nbytes > 4095) {
+				r = 1;
+				goto out;
 			}
-			if (nbytes > 4095)
-				return -1;
 			printbuf(buffer, nbytes, color?1:0, timestamp, format,
 				 &tv, &last_tv, src, t, if_name, head);
 		}
 	}
 
-	close(s);
+out:
+	if (s != -1)
+		close(s);
+	if (t != -1)
+		close(t);
 
-	return 0;
+	return r;
 }

isotptun.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * isotptun.c - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept
  *
@@ -47,21 +48,21 @@
  *
  */
 
-#include <stdio.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <string.h>
-#include <libgen.h>
 #include <errno.h>
+#include <fcntl.h>
+#include <libgen.h>
 #include <signal.h>
 #include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
 #include <syslog.h>
+#include <unistd.h>
 
 #include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/types.h>
 
 #include <linux/can.h>
 #include <linux/can/isotp.h>
@@ -101,23 +102,25 @@ void perror_syslog(const char *s)
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n\n", prg);
 	fprintf(stderr, "This program creates a Linux tunnel netdevice 'ctunX' and transfers the\n");
 	fprintf(stderr, "ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.\n\n");
-	fprintf(stderr, "Options: -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
-	fprintf(stderr, "         -n <name>    (name of created IP netdevice. Default: '%s')\n", DEFAULT_NAME);
-	fprintf(stderr, "         -x <addr>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n");
-	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\n");
-	fprintf(stderr, "         -p [tx]:[rx] (set and enable tx/rx padding bytes)\n");
-	fprintf(stderr, "         -P <mode>    (check rx padding for (l)ength (c)ontent (a)ll)\n");
-	fprintf(stderr, "         -t <time ns> (transmit time in nanosecs)\n");
-	fprintf(stderr, "         -b <bs>      (blocksize. 0 = off)\n");
-	fprintf(stderr, "         -m <val>     (STmin in ms/ns. See spec.)\n");
-	fprintf(stderr, "         -w <num>     (max. wait frame transmissions.)\n");
-	fprintf(stderr, "         -D           (daemonize to background when tun device created)\n");
-	fprintf(stderr, "         -h           (half duplex mode.)\n");
-	fprintf(stderr, "         -v           (verbose mode. Print symbols for tunneled msgs.)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -s <can_id>   (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -d <can_id>   (destination can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -n <name>     (name of created IP netdevice. Default: '%s')\n", DEFAULT_NAME);
+	fprintf(stderr, "         -x <addr>[:<rxaddr>]  (extended addressing / opt. separate rxaddr)\n");
+	fprintf(stderr, "         -L <mtu>:<tx_dl>:<tx_flags>  (link layer options for CAN FD)\n");
+	fprintf(stderr, "         -p [tx]:[rx]  (set and enable tx/rx padding bytes)\n");
+	fprintf(stderr, "         -P <mode>     (check rx padding for (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "         -t <time ns>  (transmit time in nanosecs)\n");
+	fprintf(stderr, "         -b <bs>       (blocksize. 0 = off)\n");
+	fprintf(stderr, "         -m <val>      (STmin in ms/ns. See spec.)\n");
+	fprintf(stderr, "         -w <num>      (max. wait frame transmissions.)\n");
+	fprintf(stderr, "         -D            (daemonize to background when tun device created)\n");
+	fprintf(stderr, "         -h            (half duplex mode.)\n");
+	fprintf(stderr, "         -v            (verbose mode. Print symbols for tunneled msgs.)\n");
 	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
 	fprintf(stderr, "Use e.g. 'ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up'\n");
 	fprintf(stderr, "to create a point-to-point IP connection on CAN.\n");
@@ -142,7 +145,7 @@ int main(int argc, char **argv)
 	extern int optind, opterr, optopt;
 	static int verbose;
 	unsigned char buffer[BUF_LEN];
-	static char name[IFNAMSIZ] = DEFAULT_NAME;
+	static char name[sizeof(ifr.ifr_name)] = DEFAULT_NAME;
 	int nbytes;
 	int run_as_daemon = 0;
 
@@ -163,7 +166,13 @@ int main(int argc, char **argv)
 			break;
 
 		case 'n':
-			strncpy(name, optarg, IFNAMSIZ-1);
+			if (strlen(optarg) > sizeof(name) - 1) {
+				print_usage(basename(argv[0]));
+				exit(EXIT_FAILURE);
+			}
+			/* ensure string termination */
+			memset(name, 0, sizeof(name));
+			strncpy(name, optarg, sizeof(name) - 1);
 			break;
 
 		case 'x':
@@ -298,17 +307,14 @@ int main(int argc, char **argv)
 		}
 	}
 
-	strncpy(ifr.ifr_name, argv[optind], IFNAMSIZ);
-	ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
-	if (!ifr.ifr_ifindex) {
+	addr.can_family = AF_CAN;
+	addr.can_ifindex = if_nametoindex(argv[optind]);
+	if (!addr.can_ifindex) {
 		perror_syslog("if_nametoindex");
 		close(s);
 		exit(EXIT_FAILURE);
 	}
 
-	addr.can_family = AF_CAN;
-	addr.can_ifindex = ifr.ifr_ifindex;
-
 	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 		perror_syslog("bind");
 		close(s);
@@ -324,8 +330,8 @@ int main(int argc, char **argv)
 
 	memset(&ifr, 0, sizeof(ifr));
 	ifr.ifr_flags = IFF_TUN | IFF_NO_PI;
-	strncpy(ifr.ifr_name, name, IFNAMSIZ - 1);
-	ifr.ifr_name[IFNAMSIZ - 1] = '\0';
+	/* string termination is ensured at commandline option handling */
+	strncpy(ifr.ifr_name, name, sizeof(ifr.ifr_name));
 
 	if (ioctl(t, TUNSETIFF, (void *) &ifr) < 0) {
 		perror_syslog("ioctl tunfd");

j1939acd.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
  * Copyright (c) 2011 EIA Electronics
  *
@@ -9,29 +10,29 @@
  * as published by the Free Software Foundation
  */
 
-#include <signal.h>
-#include <time.h>
-#include <inttypes.h>
 #include <errno.h>
-#include <string.h>
-#include <stdlib.h>
+#include <inttypes.h>
+#include <signal.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
 
-#include <unistd.h>
+#include <err.h>
 #include <getopt.h>
-#include <error.h>
-#include <sys/time.h>
-#include <sys/socket.h>
-#include <net/if.h>
 #include <linux/can.h>
 #include <linux/can/j1939.h>
+#include <net/if.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <unistd.h>
 
 #include "libj1939.h"
 
 static const char help_msg[] =
-	"jacd: An SAE J1939 address claiming daemon" "\n"
-	"Usage: jacd [options] NAME [INTF]" "\n"
-	"\n"
+	"j1939acd: An SAE J1939 address claiming daemon" "\n"
+	"Usage: j1939acd [options] NAME [INTF]" "\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -r, --range=RANGE	Ranges of source addresses" "\n"
 	"			e.g. 80,50-100,200-210 (defaults to 0-253)" "\n"
@@ -41,8 +42,9 @@ static const char help_msg[] =
 	"\n"
 	"NAME is the 64bit nodename" "\n"
 	"\n"
-	"Example:" "\n"
-	"jacd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788" "\n"
+	"Examples:" "\n"
+	"j1939acd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788" "\n"
+	"j1939acd -r 100,80-120 -c /tmp/1122334455667788.jacd 1122334455667788 vcan0" "\n"
 	;
 
 #ifdef _GNU_SOURCE
@@ -154,12 +156,12 @@ static int parse_range(char *str)
 	for (tok = strtok(str, ",;"); tok; tok = strtok(NULL, ",;")) {
 		a0 = ae = strtoul(tok, &endp, 0);
 		if (endp <= tok)
-			error(1, 0, "parsing range '%s'", tok);
+			err(1, "parsing range '%s'", tok);
 		if (*endp == '-') {
 			tok = endp+1;
 			ae = strtoul(tok, &endp, 0);
 			if (endp <= tok)
-				error(1, 0, "parsing addr '%s'", tok);
+				err(1, "parsing addr '%s'", tok);
 			if (ae < a0)
 				ae = a0;
 		}
@@ -175,14 +177,14 @@ static int parse_range(char *str)
 /* j1939 socket */
 static const struct j1939_filter filt[] = {
 	{
-		.pgn = 0x0ee00,
-		.pgn_mask = 0x3ff00,
+		.pgn = J1939_PGN_ADDRESS_CLAIMED,
+		.pgn_mask = J1939_PGN_PDU1_MAX,
 	}, {
-		.pgn = 0x0ea00,
-		.pgn_mask = 0x3ff00,
+		.pgn = J1939_PGN_REQUEST,
+		.pgn_mask = J1939_PGN_PDU1_MAX,
 	}, {
-		.pgn = 0x0fed8,
-		.pgn_mask = 0x3ffff,
+		.pgn = J1939_PGN_ADDRESS_COMMANDED,
+		.pgn_mask = J1939_PGN_MAX,
 	},
 };
 
@@ -195,44 +197,37 @@ static int open_socket(const char *device, uint64_t name)
 		.can_addr.j1939 = {
 			.name = name,
 			.addr = J1939_IDLE_ADDR,
-			.pgn = 0x0ee00,
+			.pgn = J1939_NO_PGN,
 		},
-		.can_ifindex = if_nametoindex(s.intf),
+		.can_ifindex = if_nametoindex(device),
 	};
 
 	if (s.verbose)
 		fprintf(stderr, "- socket(PF_CAN, SOCK_DGRAM, CAN_J1939);\n");
 	sock = ret = socket(PF_CAN, SOCK_DGRAM, CAN_J1939);
 	if (ret < 0)
-		error(1, errno, "socket(j1939)");
-
-	if (s.verbose)
-		fprintf(stderr, "- setsockopt(, SOL_SOCKET, SO_BINDTODEVICE, %s, %zd);\n", device, strlen(device));
-	ret = setsockopt(sock, SOL_SOCKET, SO_BINDTODEVICE,
-			device, strlen(device));
-	if (ret < 0)
-		error(1, errno, "bindtodevice %s", device);
+		err(1, "socket(j1939)");
 
 	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));
 	if (ret < 0)
-		error(1, errno, "setsockopt filter");
+		err(1, "setsockopt filter");
 
 	value = 1;
 	if (s.verbose)
-		fprintf(stderr, "- setsockopt(, SOL_CAN_J1939, SO_J1939_RECV_OWN, %d, %zd);\n", value, sizeof(value));
-	ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_RECV_OWN,
+		fprintf(stderr, "- setsockopt(, SOL_SOCKET, SO_BROADCAST, %d, %zd);\n", value, sizeof(value));
+	ret = setsockopt(sock, SOL_SOCKET, SO_BROADCAST,
 			&value, sizeof(value));
 	if (ret < 0)
-		error(1, errno, "setsockopt receive own msgs");
+		err(1, "setsockopt set broadcast");
 
 	if (s.verbose)
 		fprintf(stderr, "- bind(, %s, %zi);\n", libj1939_addr2str(&saddr), sizeof(saddr));
 	ret = bind(sock, (void *)&saddr, sizeof(saddr));
 	if (ret < 0)
-		error(1, errno, "bind()");
+		err(1, "bind()");
 	return sock;
 }
 
@@ -241,15 +236,23 @@ static int repeat_address(int sock, uint64_t name)
 {
 	int ret;
 	uint8_t dat[8];
+	static const struct sockaddr_can saddr = {
+		.can_family = AF_CAN,
+		.can_addr.j1939 = {
+			.pgn = J1939_PGN_ADDRESS_CLAIMED,
+			.addr = J1939_NO_ADDR,
+		},
+	};
 
 	memcpy(dat, &name, 8);
 	if (!host_is_little_endian())
 		bswap(dat, 8);
 	if (s.verbose)
 		fprintf(stderr, "- send(, %" PRId64 ", 8, 0);\n", name);
-	ret = send(sock, dat, 8, 0);
+	ret = sendto(sock, dat, sizeof(dat), 0, (const struct sockaddr *)&saddr,
+		     sizeof(saddr));
 	if (must_warn(ret))
-		error(1, errno, "send address claim for 0x%02x", s.last_sa);
+		fprintf(stderr, "send address claim for 0x%02x\n", s.last_sa);
 	return ret;
 }
 static int claim_address(int sock, uint64_t name, int sa)
@@ -260,7 +263,7 @@ static int claim_address(int sock, uint64_t name, int sa)
 		.can_addr.j1939 = {
 			.name = name,
 			.addr = sa,
-			.pgn = 0x0ee00,
+			.pgn = J1939_NO_PGN,
 		},
 		.can_ifindex = if_nametoindex(s.intf),
 	};
@@ -269,7 +272,7 @@ static int claim_address(int sock, uint64_t name, int sa)
 		fprintf(stderr, "- bind(, %s, %zi);\n", libj1939_addr2str(&saddr), sizeof(saddr));
 	ret = bind(sock, (void *)&saddr, sizeof(saddr));
 	if (ret < 0)
-		error(1, errno, "rebind with sa 0x%02x", sa);
+		err(1, "rebind with sa 0x%02x", sa);
 	s.last_sa = sa;
 	return repeat_address(sock, name);
 }
@@ -280,7 +283,7 @@ static int request_addresses(int sock)
 	int ret;
 	static const struct sockaddr_can saddr = {
 		.can_family = AF_CAN,
-		.can_addr.j1939.pgn = 0x0ea00,
+		.can_addr.j1939.pgn = J1939_PGN_REQUEST,
 		.can_addr.j1939.addr = J1939_NO_ADDR,
 	};
 
@@ -288,7 +291,7 @@ static int request_addresses(int sock)
 		fprintf(stderr, "- sendto(, { 0, 0xee, 0, }, %zi, 0, %s, %zi);\n", sizeof(dat), libj1939_addr2str(&saddr), sizeof(saddr));
 	ret = sendto(sock, dat, sizeof(dat), 0, (void *)&saddr, sizeof(saddr));
 	if (must_warn(ret))
-		error(1, errno, "send request for address claims");
+		fprintf(stdout, "send request for address claims");
 	return ret;
 }
 
@@ -356,13 +359,13 @@ static void install_signal(int sig)
 	sigfillset(&sigact.sa_mask);
 	ret = sigaction(sig, &sigact, NULL);
 	if (ret < 0)
-		error(1, errno, "sigaction for signal %i", sig);
+		err(1, "sigaction for signal %i", sig);
 }
 
 static void schedule_itimer(int msec)
 {
 	int ret;
-	struct itimerval val = {};
+	struct itimerval val = { 0 };
 
 	val.it_value.tv_sec = msec / 1000;
 	val.it_value.tv_usec = (msec % 1000) * 1000;
@@ -372,7 +375,7 @@ static void schedule_itimer(int msec)
 		ret = setitimer(ITIMER_REAL, &val, NULL);
 	} while ((ret < 0) && (errno == EINTR));
 	if (ret < 0)
-		error(1, errno, "setitimer %i msec", msec);
+		err(1, "setitimer %i msec", msec);
 }
 
 /* dump status */
@@ -380,10 +383,9 @@ static inline int addr_status_mine(int sa)
 {
 	if (sa == s.current_sa)
 		return '*';
-	else if (addr[sa].flags & F_USE)
+	if (addr[sa].flags & F_USE)
 		return '+';
-	else
-		return '-';
+	return '-';
 }
 
 static void dump_status(void)
@@ -413,7 +415,7 @@ static void save_cache(void)
 		return;
 	fp = fopen(s.cachefile, "w");
 	if (!fp)
-		error(1, errno, "fopen %s, w", s.cachefile);
+		err(1, "fopen %s, w", s.cachefile);
 
 	time(&t);
 	fprintf(fp, "# saved on %s\n", ctime(&t));
@@ -436,7 +438,7 @@ static void restore_cache(void)
 	if (!fp) {
 		if (ENOENT == errno)
 			return;
-		error(1, errno, "fopen %s, r", s.cachefile);
+		err(1, "fopen %s, r", s.cachefile);
 	}
 	while (!feof(fp)) {
 		ret = getline(&line, &sz, fp);
@@ -458,7 +460,7 @@ static void restore_cache(void)
 /* main */
 int main(int argc, char *argv[])
 {
-	int ret, sock, pgn, sa, opt;
+	int ret, sock, sock_rx, pgn, sa, opt;
 	socklen_t slen;
 	uint8_t dat[9];
 	struct sockaddr_can saddr;
@@ -469,31 +471,34 @@ int main(int argc, char *argv[])
 #endif
 	/* argument parsing */
 	while ((opt = getopt_long(argc, argv, optstring, long_opts, NULL)) != -1)
-	switch (opt) {
-	case 'v':
-		++s.verbose;
-		break;
-	case 'c':
-		s.cachefile = optarg;
-		break;
-	case 'r':
-		s.ranges = optarg;
-		break;
-	case 'a':
-		s.current_sa = strtoul(optarg, 0, 0);
-		break;
-	case 'p':
+		switch (opt) {
+		case 'v':
+			++s.verbose;
+			break;
+		case 'c':
+			s.cachefile = optarg;
+			break;
+		case 'r':
+			s.ranges = optarg;
+			break;
+		case 'a':
+			s.current_sa = strtoul(optarg, 0, 0);
+			break;
+		case 'p':
 #ifdef _GNU_SOURCE
-		asprintf(&program_invocation_name, "%s.%s", program_invocation_short_name, optarg);
+			if (asprintf(&program_invocation_name, "%s.%s",
+				     program_invocation_short_name, optarg) < 0)
+				err(1, "asprintf(program invocation name)");
 #else
-		error(0, 0, "compile with -D_GNU_SOURCE to use -p");
+			err(0, "compile with -D_GNU_SOURCE to use -p");
 #endif
-		break;
-	default:
-		fputs(help_msg, stderr);
-		exit(1);
-		break;
-	}
+			break;
+		default:
+			fputs(help_msg, stderr);
+			exit(1);
+			break;
+		}
+
 	if (argv[optind])
 		s.name = strtoull(argv[optind++], 0, 16);
 	if (argv[optind])
@@ -505,19 +510,20 @@ int main(int argc, char *argv[])
 
 	ret = parse_range(s.ranges);
 	if (!ret)
-		error(1, 0, "no addresses in range");
+		err(1, "no addresses in range");
 
 	if ((s.current_sa < J1939_IDLE_ADDR) && !(addr[s.current_sa].flags & F_USE)) {
 		if (s.verbose)
-			error(0, 0, "forget saved address 0x%02x", s.current_sa);
+			fprintf(stderr, "- forget saved address 0x%02x\n", s.current_sa);
 		s.current_sa = J1939_IDLE_ADDR;
 	}
 
 	if (s.verbose)
-		error(0, 0, "ready for %s:%016llx", s.intf, (long long)s.name);
+		fprintf(stderr, "- ready for %s:%016llx\n", s.intf, (long long)s.name);
 	if (!s.intf || !s.name)
-		error(1, 0, "bad arguments");
+		err(1, "bad arguments");
 	ret = sock = open_socket(s.intf, s.name);
+	sock_rx = open_socket(s.intf, s.name);
 
 	install_signal(SIGTERM);
 	install_signal(SIGINT);
@@ -534,7 +540,7 @@ int main(int argc, char *argv[])
 		case STATE_INITIAL:
 			ret = request_addresses(sock);
 			if (ret < 0)
-				error(1, errno, "could not sent initial request");
+				err(1, "could not sent initial request");
 			s.state = STATE_REQ_SENT;
 			break;
 		case STATE_REQ_PENDING:
@@ -544,7 +550,7 @@ int main(int argc, char *argv[])
 			/* claim addr */
 			sa = choose_new_sa(s.name, s.current_sa);
 			if (sa == J1939_IDLE_ADDR)
-				error(1, 0, "no free address to use");
+				err(1, "no free address to use");
 			ret = claim_address(sock, s.name, sa);
 			if (ret < 0)
 				schedule_itimer(50);
@@ -561,23 +567,23 @@ int main(int argc, char *argv[])
 		}
 
 		slen = sizeof(saddr);
-		ret = recvfrom(sock, dat, sizeof(dat), 0, (void *)&saddr, &slen);
+		ret = recvfrom(sock_rx, dat, sizeof(dat), 0, (void *)&saddr, &slen);
 		if (ret < 0) {
 			if (EINTR == errno)
 				continue;
-			error(1, errno, "recvfrom()");
+			err(1, "recvfrom()");
 		}
 		switch (saddr.can_addr.j1939.pgn) {
-		case 0x0ea00:
+		case J1939_PGN_REQUEST:
 			if (ret < 3)
 				break;
 			pgn = dat[0] + (dat[1] << 8) + ((dat[2] & 0x03) << 16);
-			if (pgn != 0x0ee00)
+			if (pgn != J1939_PGN_ADDRESS_CLAIMED)
 				/* not interested */
 				break;
 			if (s.state == STATE_REQ_SENT) {
 				if (s.verbose)
-					error(0, 0, "request sent, pending for 1250 ms");
+					fprintf(stderr, "- request sent, pending for 1250 ms\n");
 				schedule_itimer(1250);
 				s.state = STATE_REQ_PENDING;
 			} else if (s.state == STATE_OPERATIONAL) {
@@ -586,7 +592,7 @@ int main(int argc, char *argv[])
 					schedule_itimer(50);
 			}
 			break;
-		case 0x0ee00:
+		case J1939_PGN_ADDRESS_CLAIMED:
 			if (saddr.can_addr.j1939.addr >= J1939_IDLE_ADDR) {
 				sa = lookup_name(saddr.can_addr.j1939.name);
 				if (sa < J1939_IDLE_ADDR)
@@ -604,17 +610,17 @@ int main(int argc, char *argv[])
 			addr[sa].flags |= F_SEEN;
 
 			if (s.name == saddr.can_addr.j1939.name) {
-				/* ourselve, disable itimer */
+				/* ourselves, disable itimer */
 				s.current_sa = sa;
 				if (s.verbose)
-					error(0, 0, "claimed 0x%02x", sa);
+					fprintf(stderr, "- claimed 0x%02x\n", sa);
 			} else if (sa == s.current_sa) {
 				if (s.verbose)
-					error(0, 0, "address collision for 0x%02x", sa);
+					fprintf(stderr, "- address collision for 0x%02x\n", sa);
 				if (s.name > saddr.can_addr.j1939.name) {
 					sa = choose_new_sa(s.name, sa);
 					if (sa == J1939_IDLE_ADDR) {
-						error(0, 0, "no address left");
+						fprintf(stdout, "no address left");
 						/* put J1939_IDLE_ADDR in cache file */
 						s.current_sa = sa;
 						goto done;
@@ -625,7 +631,7 @@ int main(int argc, char *argv[])
 					schedule_itimer(50);
 			}
 			break;
-		case 0x0fed8:
+		case J1939_PGN_ADDRESS_COMMANDED:
 			if (!host_is_little_endian())
 				bswap(dat, 8);
 			memcpy(&cmd_name, dat, 8);
@@ -639,7 +645,7 @@ int main(int argc, char *argv[])
 	}
 done:
 	if (s.verbose)
-		error(0, 0, "shutdown");
+		fprintf(stderr, "- shutdown\n");
 	claim_address(sock, s.name, J1939_IDLE_ADDR);
 	save_cache();
 	return 0;

j1939cat.c

@@ -0,0 +1,698 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+/*
+ * Copyright (c) 2018 Pengutronix, Oleksij Rempel <o.rempel@pengutronix.de>
+ */
+
+#include <err.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <inttypes.h>
+#include <net/if.h>
+#include <poll.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <linux/errqueue.h>
+#include <linux/net_tstamp.h>
+#include <linux/netlink.h>
+#include <linux/socket.h>
+
+#include "libj1939.h"
+
+#define J1939_MAX_ETP_PACKET_SIZE (7 * 0x00ffffff)
+#define JCAT_BUF_SIZE (1000 * 1024)
+
+/*
+ * min()/max()/clamp() macros that also do
+ * 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; })
+
+
+struct j1939cat_stats {
+	int err;
+	uint32_t tskey;
+	uint32_t send;
+};
+
+struct j1939cat_priv {
+	int sock;
+	int infile;
+	int outfile;
+	size_t max_transfer;
+	unsigned long repeat;
+	unsigned long round;
+	int todo_prio;
+
+	bool valid_peername;
+	bool todo_recv;
+	bool todo_filesize;
+	bool todo_connect;
+	int todo_broadcast;
+
+	unsigned long polltimeout;
+
+	struct sockaddr_can sockname;
+	struct sockaddr_can peername;
+
+	struct sock_extended_err *serr;
+	struct scm_timestamping *tss;
+	struct j1939cat_stats stats;
+};
+
+static const char help_msg[] =
+	"j1939cat: netcat-like tool for j1939\n"
+	"Usage: j1939cat [options] FROM TO\n"
+	" FROM / TO	- or [IFACE][:[SA][,[PGN][,NAME]]]\n"
+	"Options:\n"
+	" -i <infile>	(default stdin)\n"
+	" -s <size>	Set maximal transfer size. Default: 117440505 byte\n"
+	" -r		Receive data\n"
+	" -P <timeout>  poll timeout in milliseconds before sending data.\n"
+	"		With this option send() will be used with MSG_DONTWAIT flag.\n"
+	" -R <count>	Set send repeat count. Default: 1\n"
+	" -B		Allow to send and receive broadcast packets.\n"
+	"\n"
+	"Example:\n"
+	"j1939cat -i some_file_to_send  can0:0x80 :0x90,0x12300\n"
+	"j1939cat can0:0x90 -r > /tmp/some_file_to_receive\n"
+	"\n"
+	;
+
+static const char optstring[] = "?hi:vs:rp:P:R:B";
+
+
+static void j1939cat_init_sockaddr_can(struct sockaddr_can *sac)
+{
+	sac->can_family = AF_CAN;
+	sac->can_addr.j1939.addr = J1939_NO_ADDR;
+	sac->can_addr.j1939.name = J1939_NO_NAME;
+	sac->can_addr.j1939.pgn = J1939_NO_PGN;
+}
+
+static ssize_t j1939cat_send_one(struct j1939cat_priv *priv, int out_fd,
+			     const void *buf, size_t buf_size)
+{
+	ssize_t num_sent;
+	int flags = 0;
+
+	if (priv->polltimeout)
+		flags |= MSG_DONTWAIT;
+
+	if (priv->valid_peername && !priv->todo_connect)
+		num_sent = sendto(out_fd, buf, buf_size, flags,
+				  (struct sockaddr *)&priv->peername,
+				  sizeof(priv->peername));
+	else
+		num_sent = send(out_fd, buf, buf_size, flags);
+
+	if (num_sent == -1) {
+		warn("%s: transfer error: %i", __func__, -errno);
+		return -errno;
+	}
+
+	if (num_sent == 0) /* Should never happen */ {
+		warn("%s: transferred 0 bytes", __func__);
+		return -EINVAL;
+	}
+
+	if (num_sent > (ssize_t)buf_size) /* Should never happen */ {
+		warn("%s: send more then read", __func__);
+		return -EINVAL;
+	}
+
+	return num_sent;
+}
+
+static void j1939cat_print_timestamp(struct j1939cat_priv *priv, const char *name,
+			      struct timespec *cur)
+{
+	struct j1939cat_stats *stats = &priv->stats;
+
+	if (!(cur->tv_sec | cur->tv_nsec))
+		return;
+
+	fprintf(stderr, "  %s: %lu s %lu us (seq=%u, send=%u)",
+			name, cur->tv_sec, cur->tv_nsec / 1000,
+			stats->tskey, stats->send);
+
+	fprintf(stderr, "\n");
+}
+
+static const char *j1939cat_tstype_to_str(int tstype)
+{
+	switch (tstype) {
+	case SCM_TSTAMP_SCHED:
+		return "  ENQ";
+	case SCM_TSTAMP_SND:
+		return "  SND";
+	case SCM_TSTAMP_ACK:
+		return "  ACK";
+	default:
+		return "  unk";
+	}
+}
+
+/* Check the stats of SCM_TIMESTAMPING_OPT_STATS */
+static void j1939cat_scm_opt_stats(struct j1939cat_priv *priv, void *buf, int len)
+{
+	struct j1939cat_stats *stats = &priv->stats;
+	int offset = 0;
+
+	while (offset < len) {
+		struct nlattr *nla = (struct nlattr *) ((char *)buf + offset);
+
+		switch (nla->nla_type) {
+		case J1939_NLA_BYTES_ACKED:
+			stats->send = *(uint32_t *)((char *)nla + NLA_HDRLEN);
+			break;
+		default:
+			warnx("not supported J1939_NLA field\n");
+		}
+
+		offset += NLA_ALIGN(nla->nla_len);
+	}
+}
+
+static int j1939cat_extract_serr(struct j1939cat_priv *priv)
+{
+	struct j1939cat_stats *stats = &priv->stats;
+	struct sock_extended_err *serr = priv->serr;
+	struct scm_timestamping *tss = priv->tss;
+
+	switch (serr->ee_origin) {
+	case SO_EE_ORIGIN_TIMESTAMPING:
+		/*
+		 * We expect here following patterns:
+		 *   serr->ee_info == SCM_TSTAMP_ACK
+		 *     Activated with SOF_TIMESTAMPING_TX_ACK
+		 * or
+		 *   serr->ee_info == SCM_TSTAMP_SCHED
+		 *     Activated with SOF_TIMESTAMPING_SCHED
+		 * and
+		 *   serr->ee_data == tskey
+		 *     session message counter which is activate
+		 *     with SOF_TIMESTAMPING_OPT_ID
+		 * the serr->ee_errno should be ENOMSG
+		 */
+		if (serr->ee_errno != ENOMSG)
+			warnx("serr: expected ENOMSG, got: %i",
+			      serr->ee_errno);
+		stats->tskey = serr->ee_data;
+
+		j1939cat_print_timestamp(priv, j1939cat_tstype_to_str(serr->ee_info),
+				     &tss->ts[0]);
+
+		if (serr->ee_info == SCM_TSTAMP_SCHED)
+			return -EINTR;
+		return 0;
+	case SO_EE_ORIGIN_LOCAL:
+		/*
+		 * The serr->ee_origin == SO_EE_ORIGIN_LOCAL is
+		 * currently used to notify about locally
+		 * detected protocol/stack errors.
+		 * Following patterns are expected:
+		 *   serr->ee_info == J1939_EE_INFO_TX_ABORT
+		 *     is used to notify about session TX
+		 *     abort.
+		 *   serr->ee_data == tskey
+		 *     session message counter which is activate
+		 *     with SOF_TIMESTAMPING_OPT_ID
+		 *   serr->ee_errno == actual error reason
+		 *     error reason is converted from J1939
+		 *     abort to linux error name space.
+		 */
+		if (serr->ee_info != J1939_EE_INFO_TX_ABORT)
+			warnx("serr: unknown ee_info: %i",
+			      serr->ee_info);
+
+		j1939cat_print_timestamp(priv, "  ABT", &tss->ts[0]);
+		warnx("serr: tx error: %i, %s", serr->ee_errno, strerror(serr->ee_errno));
+
+		return serr->ee_errno;
+	default:
+		warnx("serr: wrong origin: %u", serr->ee_origin);
+	}
+
+	return 0;
+}
+
+static int j1939cat_parse_cm(struct j1939cat_priv *priv, struct cmsghdr *cm)
+{
+	const size_t hdr_len = CMSG_ALIGN(sizeof(struct cmsghdr));
+
+	if (cm->cmsg_level == SOL_SOCKET && cm->cmsg_type == SCM_TIMESTAMPING) {
+		priv->tss = (void *)CMSG_DATA(cm);
+	} else if (cm->cmsg_level == SOL_SOCKET && cm->cmsg_type == SCM_TIMESTAMPING_OPT_STATS) {
+		void *jstats = (void *)CMSG_DATA(cm);
+
+		/* Activated with SOF_TIMESTAMPING_OPT_STATS */
+		j1939cat_scm_opt_stats(priv, jstats, cm->cmsg_len - hdr_len);
+	} else if (cm->cmsg_level == SOL_CAN_J1939 &&
+		   cm->cmsg_type == SCM_J1939_ERRQUEUE) {
+		priv->serr = (void *)CMSG_DATA(cm);
+	} else
+		warnx("serr: not supported type: %d.%d",
+		      cm->cmsg_level, cm->cmsg_type);
+
+	return 0;
+}
+
+static int j1939cat_recv_err(struct j1939cat_priv *priv)
+{
+	char control[100];
+	struct cmsghdr *cm;
+	int ret;
+	struct msghdr msg = {
+		.msg_control = control,
+		.msg_controllen = sizeof(control),
+	};
+
+	ret = recvmsg(priv->sock, &msg, MSG_ERRQUEUE);
+	if (ret == -1)
+		err(EXIT_FAILURE, "recvmsg error notification: %i", errno);
+	if (msg.msg_flags & MSG_CTRUNC)
+		err(EXIT_FAILURE, "recvmsg error notification: truncated");
+
+	priv->serr = NULL;
+	priv->tss = NULL;
+
+	for (cm = CMSG_FIRSTHDR(&msg); cm && cm->cmsg_len;
+	     cm = CMSG_NXTHDR(&msg, cm)) {
+		j1939cat_parse_cm(priv, cm);
+		if (priv->serr && priv->tss)
+			return j1939cat_extract_serr(priv);
+	}
+
+	return 0;
+}
+
+static int j1939cat_send_loop(struct j1939cat_priv *priv, int out_fd, char *buf,
+			  size_t buf_size)
+{
+	struct j1939cat_stats *stats = &priv->stats;
+	ssize_t count;
+	char *tmp_buf = buf;
+	unsigned int events = POLLOUT | POLLERR;
+	bool tx_done = false;
+
+	count = buf_size;
+
+	while (!tx_done) {
+		ssize_t num_sent = 0;
+
+		if (priv->polltimeout) {
+			struct pollfd fds = {
+				.fd = priv->sock,
+				.events = events,
+			};
+			int ret;
+
+			ret = poll(&fds, 1, priv->polltimeout);
+			if (ret == -EINTR)
+				continue;
+			if (ret < 0)
+				return -errno;
+			if (!ret)
+				return -ETIME;
+			if (!(fds.revents & events)) {
+				warn("%s: something else is wrong", __func__);
+				return -EIO;
+			}
+
+			if (fds.revents & POLLERR) {
+				ret = j1939cat_recv_err(priv);
+				if (ret == -EINTR)
+					continue;
+				if (ret)
+					return ret;
+				if ((priv->repeat - 1) == stats->tskey)
+					tx_done = true;
+			}
+
+			if (fds.revents & POLLOUT) {
+				num_sent = j1939cat_send_one(priv, out_fd, tmp_buf, count);
+				if (num_sent < 0)
+					return num_sent;
+			}
+		} else {
+			num_sent = j1939cat_send_one(priv, out_fd, tmp_buf, count);
+			if (num_sent < 0)
+				return num_sent;
+		}
+
+		count -= num_sent;
+		tmp_buf += num_sent;
+		if (buf + buf_size < tmp_buf + count) {
+			warn("%s: send buffer is bigger than the read buffer",
+			     __func__);
+			return -EINVAL;
+		}
+		if (!count) {
+			if (priv->repeat == priv->round)
+				events = POLLERR;
+			else
+				tx_done = true;
+		}
+	}
+	return 0;
+}
+
+static int j1939cat_sendfile(struct j1939cat_priv *priv, int out_fd, int in_fd,
+			 off_t *offset, size_t count)
+{
+	int ret = EXIT_SUCCESS;
+	off_t orig = 0;
+	char *buf;
+	ssize_t num_read;
+	size_t to_read, buf_size;
+
+	buf_size = min(priv->max_transfer, count);
+	buf = malloc(buf_size);
+	if (!buf) {
+		warn("can't allocate buf");
+		ret = EXIT_FAILURE;
+		goto do_nofree;
+	}
+
+	if (offset) {
+
+		/* Save current file offset and set offset to value in '*offset' */
+
+		orig = lseek(in_fd, 0, SEEK_CUR);
+		if (orig == -1) {
+			ret = EXIT_FAILURE;
+			goto do_free;
+		}
+		if (lseek(in_fd, *offset, SEEK_SET) == -1) {
+			ret = EXIT_FAILURE;
+			goto do_free;
+		}
+	}
+
+	while (count > 0) {
+		to_read = min(buf_size, count);
+
+		num_read = read(in_fd, buf, to_read);
+		if (num_read == -1) {
+			ret = EXIT_FAILURE;
+			goto do_free;
+		}
+		if (num_read == 0)
+			break; /* EOF */
+
+		ret = j1939cat_send_loop(priv, out_fd, buf, num_read);
+		if (ret)
+			goto do_free;
+
+		count -= num_read;
+	}
+
+	if (offset) {
+		/* Return updated file offset in '*offset', and reset the file offset
+		   to the value it had when we were called. */
+
+		*offset = lseek(in_fd, 0, SEEK_CUR);
+		if (*offset == -1) {
+			ret = EXIT_FAILURE;
+			goto do_free;
+		}
+
+		if (lseek(in_fd, orig, SEEK_SET) == -1) {
+			ret = EXIT_FAILURE;
+			goto do_free;
+		}
+	}
+
+do_free:
+	free(buf);
+do_nofree:
+	return ret;
+}
+
+static size_t j1939cat_get_file_size(int fd)
+{
+	off_t offset;
+
+	offset = lseek(fd, 0, SEEK_END);
+	if (offset == -1)
+		err(1, "%s lseek()\n", __func__);
+
+	if (lseek(fd, 0, SEEK_SET) == -1)
+		err(1, "%s lseek() start\n", __func__);
+
+	return offset;
+}
+
+static int j1939cat_send(struct j1939cat_priv *priv)
+{
+	unsigned int size = 0;
+	unsigned int i;
+	int ret;
+
+	if (priv->todo_filesize)
+		size = j1939cat_get_file_size(priv->infile);
+
+	if (!size)
+		return EXIT_FAILURE;
+
+	for (i = 0; i < priv->repeat; i++) {
+		priv->round++;
+		ret = j1939cat_sendfile(priv, priv->sock, priv->infile, NULL, size);
+		if (ret)
+			break;
+
+		if (lseek(priv->infile, 0, SEEK_SET) == -1)
+			err(1, "%s lseek() start\n", __func__);
+	}
+
+	return ret;
+}
+
+static int j1939cat_recv_one(struct j1939cat_priv *priv, uint8_t *buf, size_t buf_size)
+{
+	int ret;
+
+	ret = recv(priv->sock, buf, buf_size, 0);
+	if (ret < 0) {
+		warn("recvf()");
+		return EXIT_FAILURE;
+	}
+
+	ret = write(priv->outfile, buf, ret);
+	if (ret < 0) {
+		warn("write stdout()");
+		return EXIT_FAILURE;
+	}
+
+	return EXIT_SUCCESS;
+}
+
+static int j1939cat_recv(struct j1939cat_priv *priv)
+{
+	int ret = EXIT_SUCCESS;
+	size_t buf_size;
+	uint8_t *buf;
+
+	buf_size = priv->max_transfer;
+	buf = malloc(buf_size);
+	if (!buf) {
+		warn("can't allocate rx buf");
+		return EXIT_FAILURE;;
+	}
+
+	while (priv->todo_recv) {
+		ret = j1939cat_recv_one(priv, buf, buf_size);
+		if (ret)
+			break;
+	}
+
+	free(buf);
+	return ret;
+}
+
+static int j1939cat_sock_prepare(struct j1939cat_priv *priv)
+{
+	unsigned int sock_opt;
+	int value;
+	int ret;
+
+	/* open socket */
+	priv->sock = socket(PF_CAN, SOCK_DGRAM, CAN_J1939);
+	if (priv->sock < 0) {
+		warn("socket(j1939)");
+		return EXIT_FAILURE;
+	}
+
+	if (priv->todo_prio >= 0) {
+		ret = setsockopt(priv->sock, SOL_CAN_J1939, SO_J1939_SEND_PRIO,
+				&priv->todo_prio, sizeof(priv->todo_prio));
+		if (ret < 0) {
+			warn("set priority %i", priv->todo_prio);
+			return EXIT_FAILURE;
+		}
+	}
+
+	value = 1;
+	ret = setsockopt(priv->sock, SOL_CAN_J1939, SO_J1939_ERRQUEUE, &value,
+			 sizeof(value));
+	if (ret < 0) {
+		warn("set recverr");
+		return EXIT_FAILURE;
+	}
+
+	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;
+
+	if (setsockopt(priv->sock, SOL_SOCKET, SO_TIMESTAMPING,
+		       (char *) &sock_opt, sizeof(sock_opt)))
+		err(1, "setsockopt timestamping");
+
+	if (priv->todo_broadcast) {
+		ret = setsockopt(priv->sock, SOL_SOCKET, SO_BROADCAST,
+				 &priv->todo_broadcast,
+				 sizeof(priv->todo_broadcast));
+		if (ret < 0) {
+			warn("setsockopt: filed to set broadcast");
+			return EXIT_FAILURE;
+		}
+	}
+
+	ret = bind(priv->sock, (void *)&priv->sockname, sizeof(priv->sockname));
+	if (ret < 0) {
+		warn("bind()");
+		return EXIT_FAILURE;
+	}
+
+	if (!priv->todo_connect)
+		return EXIT_SUCCESS;
+
+	if (!priv->valid_peername) {
+		warn("no peername supplied");
+		return EXIT_FAILURE;
+	}
+	ret = connect(priv->sock, (void *)&priv->peername,
+		      sizeof(priv->peername));
+	if (ret < 0) {
+		warn("connect()");
+		return EXIT_FAILURE;
+	}
+
+	return EXIT_SUCCESS;
+}
+
+static int j1939cat_parse_args(struct j1939cat_priv *priv, int argc, char *argv[])
+{
+	int opt;
+
+	/* argument parsing */
+	while ((opt = getopt(argc, argv, optstring)) != -1)
+		switch (opt) {
+		case 'i':
+			priv->infile = open(optarg, O_RDONLY);
+			if (priv->infile == -1)
+				err(EXIT_FAILURE, "can't open input file");
+			priv->todo_filesize = 1;
+			break;
+		case 's':
+			priv->max_transfer = strtoul(optarg, NULL, 0);
+			if (priv->max_transfer > J1939_MAX_ETP_PACKET_SIZE)
+				err(EXIT_FAILURE,
+				    "used value (%zu) is bigger then allowed maximal size: %u.\n",
+				    priv->max_transfer,
+				    J1939_MAX_ETP_PACKET_SIZE);
+			break;
+		case 'r':
+			priv->todo_recv = 1;
+			break;
+		case 'p':
+			priv->todo_prio = strtoul(optarg, NULL, 0);
+			break;
+		case 'P':
+			priv->polltimeout = strtoul(optarg, NULL, 0);
+			break;
+		case 'c':
+			priv->todo_connect = 1;
+			break;
+		case 'R':
+			priv->repeat = strtoul(optarg, NULL, 0);
+			if (priv->repeat < 1)
+				err(EXIT_FAILURE,
+				    "send/repeat count can't be less then 1\n");
+			break;
+		case 'B':
+			priv->todo_broadcast = 1;
+			break;
+		case 'h': /*fallthrough*/
+		default:
+			fputs(help_msg, stderr);
+			return EXIT_FAILURE;
+		}
+
+	if (argv[optind]) {
+		if (strcmp("-", argv[optind]) != 0)
+			libj1939_parse_canaddr(argv[optind], &priv->sockname);
+		optind++;
+	}
+
+	if (argv[optind]) {
+		if (strcmp("-", argv[optind]) != 0) {
+			libj1939_parse_canaddr(argv[optind], &priv->peername);
+			priv->valid_peername = 1;
+		}
+		optind++;
+	}
+
+	return EXIT_SUCCESS;
+}
+
+int main(int argc, char *argv[])
+{
+	struct j1939cat_priv *priv;
+	int ret = 0;
+
+	priv = calloc(1, sizeof(*priv));
+	if (!priv)
+		err(EXIT_FAILURE, "can't allocate priv");
+
+	priv->todo_prio = -1;
+	priv->infile = STDIN_FILENO;
+	priv->outfile = STDOUT_FILENO;
+	priv->max_transfer = J1939_MAX_ETP_PACKET_SIZE;
+	priv->polltimeout = 100000;
+	priv->repeat = 1;
+
+	j1939cat_init_sockaddr_can(&priv->sockname);
+	j1939cat_init_sockaddr_can(&priv->peername);
+
+	ret = j1939cat_parse_args(priv, argc, argv);
+	if (ret)
+		return ret;
+
+	ret = j1939cat_sock_prepare(priv);
+	if (ret)
+		return ret;
+
+	if (priv->todo_recv)
+		ret = j1939cat_recv(priv);
+	else
+		ret = j1939cat_send(priv);
+
+	close(priv->infile);
+	close(priv->outfile);
+	close(priv->sock);
+
+	return ret;
+}

j1939spy.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
  * Copyright (c) 2011 EIA Electronics
  *
@@ -9,19 +10,19 @@
  * as published by the Free Software Foundation
  */
 
-#include <string.h>
-#include <time.h>
-#include <stdlib.h>
-#include <stdio.h>
 #include <errno.h>
 #include <inttypes.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
 
-#include <unistd.h>
+#include <err.h>
 #include <getopt.h>
-#include <error.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
 #include <sys/time.h>
+#include <unistd.h>
 
 #include "libj1939.h"
 
@@ -29,9 +30,9 @@
  * getopt
  */
 static const char help_msg[] =
-	"jspy: An SAE J1939 spy utility" "\n"
-	"Usage: jspy [OPTION...] [[IFACE:][NAME|SA][,PGN]]" "\n"
-	"\n"
+	"j1939spy: An SAE J1939 spy utility" "\n"
+	"Usage: j1939spy [OPTION...] [[IFACE:][NAME|SA][,PGN]]" "\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -P, --promisc		Run in promiscuous mode" "\n"
 	"			(= receive traffic not for this ECU)" "\n"
@@ -74,7 +75,7 @@ static struct {
 };
 
 /*
- * usefull buffers
+ * useful buffers
  */
 static const int ival_1 = 1;
 
@@ -94,8 +95,8 @@ static uint8_t *buf;
  */
 int main(int argc, char **argv)
 {
-	int ret, sock, j, opt;
-	unsigned int len;
+	int ret, sock, opt;
+	unsigned int j, len;
 	struct timeval tref, tdut, ttmp;
 	struct sockaddr_can src;
 	struct j1939_filter filt;
@@ -104,52 +105,51 @@ int main(int argc, char **argv)
 	uint64_t dst_name;
 	long recvflags;
 
-#ifdef _GNU_SOURCE
-	program_invocation_name = program_invocation_short_name;
-#endif
 	/* argument parsing */
 	while ((opt = getopt_long(argc, argv, optstring, long_opts, NULL)) != -1)
-	switch (opt) {
-	case 'v':
-		++s.verbose;
-		break;
-	case 'b':
-		s.pkt_len = strtoul(optarg, 0, 0);
-		break;
-	case 'P':
-		++s.promisc;
-		break;
-	case 't':
-		if (optarg) {
-			if (!strchr("adzA", optarg[0]))
-				error(1, 0, "unknown time option '%c'", optarg[0]);
-			s.time = optarg[0];
-		} else {
-			s.time = 'z';
+		switch (opt) {
+		case 'v':
+			++s.verbose;
+			break;
+		case 'b':
+			s.pkt_len = strtoul(optarg, 0, 0);
+			break;
+		case 'P':
+			++s.promisc;
+			break;
+		case 't':
+			if (optarg) {
+				if (!strchr("adzA", optarg[0]))
+					err(1, "unknown time option '%c'",
+					    optarg[0]);
+				s.time = optarg[0];
+			} else {
+				s.time = 'z';
+			}
+			break;
+		default:
+			fputs(help_msg, stderr);
+			exit(1);
+			break;
 		}
-		break;
-	default:
-		fputs(help_msg, stderr);
-		exit(1);
-		break;
-	}
+
 	if (argv[optind]) {
 		optarg = argv[optind];
 		ret = libj1939_str2addr(optarg, 0, &s.addr);
 		if (ret < 0) {
-			error(0, 0, "bad URI %s", optarg);
+			err(0, "bad URI %s", optarg);
 			return 1;
 		}
 	}
 
 	buf = malloc(s.pkt_len);
 	if (!buf)
-		error(1, errno, "malloc %u", s.pkt_len);
+		err(1, "malloc %u", s.pkt_len);
 
 	/* setup socket */
 	sock = socket(PF_CAN, SOCK_DGRAM, CAN_J1939);
 	if (sock < 0)
-		error(1, errno, "socket(can, dgram, j1939)");
+		err(1, "socket(can, dgram, j1939)");
 
 	memset(&filt, 0, sizeof(filt));
 	if (s.addr.can_addr.j1939.name) {
@@ -162,7 +162,7 @@ int main(int argc, char **argv)
 		filt.addr_mask = ~0;
 		++filter;
 	}
-	if (s.addr.can_addr.j1939.pgn <= 0x3ffff) {
+	if (s.addr.can_addr.j1939.pgn <= J1939_PGN_MAX) {
 		filt.pgn = s.addr.can_addr.j1939.pgn;
 		filt.pgn_mask = ~0;
 		++filter;
@@ -170,23 +170,23 @@ int main(int argc, char **argv)
 	if (filter) {
 		ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_FILTER, &filt, sizeof(filt));
 		if (ret < 0)
-			error(1, errno, "setsockopt filter");
+			err(1, "setsockopt filter");
 	}
 
 	if (s.promisc) {
 		ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_PROMISC, &ival_1, sizeof(ival_1));
 		if (ret < 0)
-			error(1, errno, "setsockopt promisc");
+			err(1, "setsockopt promisc");
 	}
 
 	if (s.time) {
 		ret = setsockopt(sock, SOL_SOCKET, SO_TIMESTAMP, &ival_1, sizeof(ival_1));
 		if (ret < 0)
-			error(1, errno, "setsockopt timestamp");
+			err(1, "setsockopt timestamp");
 	}
 	ret = setsockopt(sock, SOL_SOCKET, SO_RCVBUF, &s.pkt_len, sizeof(s.pkt_len));
 		if (ret < 0)
-			error(1, errno, "setsockopt rcvbuf %u", s.pkt_len);
+			err(1, "setsockopt rcvbuf %u", s.pkt_len);
 
 	/* bind(): to default, only ifindex is used. */
 	memset(&src, 0, sizeof(src));
@@ -197,7 +197,7 @@ int main(int argc, char **argv)
 	src.can_addr.j1939.pgn = J1939_NO_PGN;
 	ret = bind(sock, (void *)&src, sizeof(src));
 	if (ret < 0)
-		error(1, errno, "bind(%s)", argv[1]);
+		err(1, "bind(%s)", argv[1]);
 
 	/* these settings are static and can be held out of the hot path */
 	iov.iov_base = &buf[0];
@@ -208,7 +208,7 @@ int main(int argc, char **argv)
 
 	memset(&tref, 0, sizeof(tref));
 	if (s.verbose)
-		error(0, 0, "listening");
+		err(0, "listening");
 	while (1) {
 		/* these settings may be modified by recvmsg() */
 		iov.iov_len = s.pkt_len;
@@ -221,12 +221,12 @@ int main(int argc, char **argv)
 		if (ret < 0) {
 			switch (errno) {
 			case ENETDOWN:
-				error(0, errno, "ifindex %i", s.addr.can_ifindex);
+				err(0, "ifindex %i", s.addr.can_ifindex);
 				continue;
 			case EINTR:
 				continue;
 			default:
-				error(1, errno, "recvmsg(ifindex %i)", s.addr.can_ifindex);
+				err(1, "recvmsg(ifindex %i)", s.addr.can_ifindex);
 				break;
 			}
 		}
@@ -289,7 +289,7 @@ int main(int argc, char **argv)
 
 		printf("[%i%s]", len, (msg.msg_flags & MSG_TRUNC) ? "..." : "");
 		for (j = 0; j < len; ) {
-			int end = j + 4;
+			unsigned int end = j + 4;
 			if (end > len)
 				end = len;
 			printf(" ");

j1939sr.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
  * Copyright (c) 2011 EIA Electronics
  *
@@ -9,20 +10,20 @@
  * as published by the Free Software Foundation
  */
 
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
 #include <errno.h>
 #include <inttypes.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
 
-#include <unistd.h>
+#include <err.h>
 #include <getopt.h>
-#include <error.h>
 #include <poll.h>
-#include <sys/types.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
 #include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
 
 #include "libj1939.h"
 
@@ -30,9 +31,9 @@
  * getopt
  */
 static const char help_msg[] =
-	"jsr: An SAE J1939 send/recv utility" "\n"
-	"Usage: jsr [OPTION...] SOURCE [DEST]" "\n"
-	"\n"
+	"j1939sr: An SAE J1939 send/recv utility" "\n"
+	"Usage: j1939sr [OPTION...] SOURCE [DEST]" "\n"
+	"Options:\n"
 	"  -v, --verbose		Increase verbosity" "\n"
 	"  -p, --priority=VAL	J1939 priority (0..7, default 6)" "\n"
 	"  -S, --serialize	Strictly serialize outgoing packets" "\n"
@@ -98,40 +99,40 @@ int main(int argc, char **argv)
 #endif
 	/* argument parsing */
 	while ((opt = getopt_long(argc, argv, optstring, long_opts, NULL)) != -1)
-	switch (opt) {
-	case 'v':
-		++s.verbose;
-		break;
-	case 's':
-		s.pkt_len = strtoul(optarg, 0, 0);
-		if (!s.pkt_len)
-			error(1, EINVAL, "packet size of %s", optarg);
-		break;
-	case 'p':
-		s.priority = strtoul(optarg, 0, 0);
-		s.defined |= DEF_PRIO;
-		break;
-	case 'S':
-		s.sendflags |= MSG_SYN;
-		break;
-	default:
-		fputs(help_msg, stderr);
-		exit(1);
-		break;
-	}
+		switch (opt) {
+		case 'v':
+			++s.verbose;
+			break;
+		case 's':
+			s.pkt_len = strtoul(optarg, 0, 0);
+			if (!s.pkt_len)
+				err(1, "packet size of %s", optarg);
+			break;
+		case 'p':
+			s.priority = strtoul(optarg, 0, 0);
+			s.defined |= DEF_PRIO;
+			break;
+		case 'S':
+			s.sendflags |= MSG_SYN;
+			break;
+		default:
+			fputs(help_msg, stderr);
+			exit(1);
+			break;
+		}
 
 	if (argv[optind]) {
 		optarg = argv[optind++];
 		ret = libj1939_str2addr(optarg, 0, &s.src);
 		if (ret < 0)
-			error(1, 0, "bad address spec [%s]", optarg);
+			err(1, "bad address spec [%s]", optarg);
 		s.defined |= DEF_SRC;
 	}
 	if (argv[optind]) {
 		optarg = argv[optind++];
 		ret = libj1939_str2addr(optarg, 0, &s.dst);
 		if (ret < 0)
-			error(1, 0, "bad address spec [%s]", optarg);
+			err(1, "bad address spec [%s]", optarg);
 		s.defined |= DEF_DST;
 	}
 
@@ -139,36 +140,36 @@ int main(int argc, char **argv)
 		struct stat st;
 
 		if (fstat(STDIN_FILENO, &st) < 0)
-			error(1, errno, "stat stdin, could not determine buffer size");
+			err(1, "stat stdin, could not determine buffer size");
 		s.pkt_len = st.st_size ?: 1024;
 	}
 
 	/* prepare */
 	buf = malloc(s.pkt_len);
 	if (!buf)
-		error(1, errno, "malloc %u", s.pkt_len);
+		err(1, "malloc %u", s.pkt_len);
 
 	sock = socket(PF_CAN, SOCK_DGRAM, CAN_J1939);
 	if (sock < 0)
-		error(1, errno, "socket(can, dgram, j1939)");
+		err(1, "socket(can, dgram, j1939)");
 
 	if (s.defined & DEF_PRIO) {
 		ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_SEND_PRIO, &s.priority, sizeof(s.priority));
 		if (ret < 0)
-			error(1, errno, "setsockopt priority");
+			err(1, "setsockopt priority");
 	}
 	if (s.defined & DEF_SRC) {
 		s.src.can_family = AF_CAN;
 		ret = bind(sock, (void *)&s.src, sizeof(s.src));
 		if (ret < 0)
-			error(1, errno, "bind(%s), %i", libj1939_addr2str(&s.src), -errno);
+			err(1, "bind(%s), %i", libj1939_addr2str(&s.src), -errno);
 	}
 
 	if (s.defined & DEF_DST) {
 		s.dst.can_family = AF_CAN;
 		ret = connect(sock, (void *)&s.dst, sizeof(s.dst));
 		if (ret < 0)
-			error(1, errno, "connect(%s), %i", libj1939_addr2str(&s.dst), -errno);
+			err(1, "connect(%s), %i", libj1939_addr2str(&s.dst), -errno);
 	}
 
 	pfd[0].fd = STDIN_FILENO;
@@ -182,27 +183,26 @@ int main(int argc, char **argv)
 		if (ret < 0) {
 			if (errno == EINTR)
 				continue;
-			error(1, errno, "poll()");
+			err(1, "poll()");
 		}
 		if (pfd[0].revents) {
 			ret = read(pfd[0].fd, buf, s.pkt_len);
 			if (ret < 0)
-				error(1, errno, "read(stdin)");
+				err(1, "read(stdin)");
 			if (!ret)
 				break;
 			len = ret;
 			do {
 				ret = send(pfd[1].fd, buf, len, s.sendflags);
-				if (ret < 0)
-					error(errno != ENOBUFS, errno, "write(%s)",
-							libj1939_addr2str(&s.src));
+				if (ret < 0 && errno != ENOBUFS)
+					err(1, "write(%s)", libj1939_addr2str(&s.src));
 			} while (ret < 0);
 		}
 		if (pfd[1].revents) {
 			ret = read(pfd[1].fd, buf, s.pkt_len);
 			if (ret < 0) {
 				ret = errno;
-				error(0, errno, "read(%s)", libj1939_addr2str(&s.dst));
+				err(0, "read(%s)", libj1939_addr2str(&s.dst));
 				switch (ret) {
 				case EHOSTDOWN:
 					break;
@@ -210,7 +210,8 @@ int main(int argc, char **argv)
 					exit(1);
 				}
 			} else {
-				write(STDOUT_FILENO, buf, ret);
+				if (write(STDOUT_FILENO, buf, ret) < 0)
+					err(1, "write(stdout)");
 			}
 		}
 	}

lib.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * lib.c - library for command line tools
  *
@@ -41,13 +42,13 @@
  *
  */
 
+#include <stdint.h>
 #include <stdio.h>
 #include <string.h>
-#include <stdint.h>
 
-#include <sys/socket.h> /* for sa_family_t */
 #include <linux/can.h>
 #include <linux/can/error.h>
+#include <sys/socket.h> /* for sa_family_t */
 
 #include "lib.h"
 
@@ -582,12 +583,12 @@ void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *c
 	if (!sep)
 		sep = defsep;
 
-	for (i = 0; i < ARRAY_SIZE(error_classes); i++) {
+	for (i = 0; i < (int)ARRAY_SIZE(error_classes); i++) {
 		mask = 1 << i;
 		if (class & mask) {
 			if (classes)
 				n += snprintf(buf + n, len - n, "%s", sep);
- 			n += snprintf(buf + n, len - n, "%s", error_classes[i]);
+			n += snprintf(buf + n, len - n, "%s", error_classes[i]);
 			if (mask == CAN_ERR_LOSTARB)
 				n += snprintf_error_lostarb(buf + n, len - n,
 							   cf);

lib.h

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * lib.h - library include for command line tools
  *
@@ -96,7 +97,7 @@ int hexstring2data(char *arg, unsigned char *data, int maxdlen);
 
 int parse_canframe(char *cs, struct canfd_frame *cf);
 /*
- * Transfers a valid ASCII string decribing a CAN frame into struct canfd_frame.
+ * Transfers a valid ASCII string describing a CAN frame into struct canfd_frame.
  *
  * CAN 2.0 frames
  * - string layout <can_id>#{R{len}|data}

libj1939.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
  * Copyright (c) 2011 EIA Electronics
  *
@@ -9,17 +10,16 @@
  * as published by the Free Software Foundation
  */
 
-#include <string.h>
+#include <err.h>
+#include <inttypes.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <errno.h>
-#include <inttypes.h>
+#include <string.h>
 
-#include <error.h>
-#include <unistd.h>
 #include <fcntl.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <net/if.h>
 
@@ -41,7 +41,7 @@ static inline void fetch_names(void)
 	if (!saved) {
 		saved = if_nameindex();
 		if (!saved)
-			error(1, errno, "if_nameindex()");
+			err(1, "if_nameindex()");
 	}
 }
 
@@ -53,7 +53,7 @@ static const char *libj1939_ifnam(int ifindex)
 	fetch_names();
 
 	for (lp = saved; lp->if_index; ++lp) {
-		if (lp->if_index == ifindex)
+		if (lp->if_index == (unsigned int)ifindex)
 			return lp->if_name;
 	}
 	if (cached) {
@@ -64,8 +64,8 @@ static const char *libj1939_ifnam(int ifindex)
 		 */
 		libj1939_cleanup();
 		return libj1939_ifnam(ifindex);
-	} else
-		return NULL;
+	}
+	return NULL;
 }
 
 /* retrieve index */
@@ -88,8 +88,29 @@ static int libj1939_ifindex(const char *str)
 	if (cached) {
 		libj1939_cleanup();
 		return libj1939_ifindex(str);
-	} else
-		return 0;
+	}
+	return 0;
+}
+
+void libj1939_parse_canaddr(char *spec, struct sockaddr_can *paddr)
+{
+	char *str;
+
+	str = strsep(&spec, ":");
+	if (strlen(str))
+		paddr->can_ifindex = if_nametoindex(str);
+
+	str = strsep(&spec, ",");
+	if (str && strlen(str))
+		paddr->can_addr.j1939.addr = strtoul(str, NULL, 0);
+
+	str = strsep(&spec, ",");
+	if (str && strlen(str))
+		paddr->can_addr.j1939.pgn = strtoul(str, NULL, 0);
+
+	str = strsep(&spec, ",");
+	if (str && strlen(str))
+		paddr->can_addr.j1939.name = strtoull(str, NULL, 0);
 }
 
 int libj1939_str2addr(const char *str, char **endp, struct sockaddr_can *can)
@@ -162,13 +183,13 @@ const char *libj1939_addr2str(const struct sockaddr_can *can)
 	}
 	if (can->can_addr.j1939.name) {
 		str += sprintf(str, "%016llx", (unsigned long long)can->can_addr.j1939.name);
-		if (can->can_addr.j1939.pgn == 0x0ee00)
+		if (can->can_addr.j1939.pgn == J1939_PGN_ADDRESS_CLAIMED)
 			str += sprintf(str, ".%02x", can->can_addr.j1939.addr);
 	} else if (can->can_addr.j1939.addr <= 0xfe)
 		str += sprintf(str, "%02x", can->can_addr.j1939.addr);
 	else
 		str += sprintf(str, "-");
-	if (can->can_addr.j1939.pgn <= 0x3ffff)
+	if (can->can_addr.j1939.pgn <= J1939_PGN_MAX)
 		str += sprintf(str, ",%05x", can->can_addr.j1939.pgn);
 
 	return buf;

libj1939.h

@@ -1,3 +1,15 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+/*
+ * Copyright (c) 2011 EIA Electronics
+ *
+ * Authors:
+ * Kurt Van Dijck <kurt.van.dijck@eia.be>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
+ */
+
 #include <sys/socket.h>
 #include <linux/can.h>
 #include <linux/can/j1939.h>
@@ -9,6 +21,7 @@
 extern "C" {
 #endif
 
+void libj1939_parse_canaddr(char *spec, struct sockaddr_can *paddr);
 extern int libj1939_str2addr(const char *str, char **endp, struct sockaddr_can *can);
 extern const char *libj1939_addr2str(const struct sockaddr_can *can);
 

log2asc.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * log2asc.c - convert compact CAN frame logfile to ASC logfile
  *
@@ -41,15 +42,15 @@
  *
  */
 
+#include <libgen.h>
 #include <stdio.h>
 #include <string.h>
 #include <time.h>
-#include <libgen.h>
 #include <unistd.h>
 
+#include <linux/can.h>
 #include <net/if.h>
 #include <sys/time.h>
-#include <linux/can.h>
 
 #include "lib.h"
 
@@ -59,24 +60,119 @@ extern int optind, opterr, optopt;
 
 void print_usage(char *prg)
 {
-	fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
-	fprintf(stderr, "Options: -I <infile>  (default stdin)\n");
-	fprintf(stderr, "         -O <outfile> (default stdout)\n");
-	fprintf(stderr, "         -4 (reduce decimal place to 4 digits)\n");
-	fprintf(stderr, "         -n (set newline to cr/lf - default lf)\n");
+	fprintf(stderr, "%s - convert compact CAN frame logfile to ASC logfile.\n", prg);
+	fprintf(stderr, "Usage: %s <options> [can-interfaces]\n", prg);
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -I <infile>   (default stdin)\n");
+	fprintf(stderr, "         -O <outfile>  (default stdout)\n");
+	fprintf(stderr, "         -4  (reduce decimal place to 4 digits)\n");
+	fprintf(stderr, "         -n  (set newline to cr/lf - default lf)\n");
+	fprintf(stderr, "         -f  (use CANFD format also for Classic CAN)\n");
+	fprintf(stderr, "         -r  (suppress dlc for RTR frames - pre v8.5 tools)\n");
+}
+
+void can_asc(struct canfd_frame *cf, int devno, int nortrdlc, char *extra_info, FILE *outfile)
+{
+	int i;
+	char id[10];
+	char *dir = "Rx";
+
+	fprintf(outfile, "%-2d ", devno); /* channel number left aligned */
+
+	if (cf->can_id & CAN_ERR_FLAG)
+		fprintf(outfile, "ErrorFrame");
+	else {
+		sprintf(id, "%X%c", cf->can_id & CAN_EFF_MASK,
+			(cf->can_id & CAN_EFF_FLAG)?'x':' ');
+
+		/* check for extra info */
+		if (strlen(extra_info) > 0) {
+			/* only the first char is defined so far */
+			if (extra_info[0] == 'T')
+				dir = "Tx";
+		}
+
+		fprintf(outfile, "%-15s %s   ", id, dir);
+
+		if (cf->can_id & CAN_RTR_FLAG) {
+			if (nortrdlc)
+				fprintf(outfile, "r"); /* RTR frame */
+			else
+				fprintf(outfile, "r %d", cf->len); /* RTR frame */
+		} else {
+			fprintf(outfile, "d %d", cf->len); /* data frame */
+
+			for (i = 0; i < cf->len; i++) {
+				fprintf(outfile, " %02X", cf->data[i]);
+			}
+		}
+	}
+}
+
+void canfd_asc(struct canfd_frame *cf, int devno, int mtu, char *extra_info, FILE *outfile)
+{
+	int i;
+	char id[10];
+	char *dir = "Rx";
+	unsigned int flags = 0;
+	unsigned int dlen = cf->len;
+
+	/* relevant flags in Flags field */
+#define ASC_F_RTR 0x00000010
+#define ASC_F_FDF 0x00001000
+#define ASC_F_BRS 0x00002000
+#define ASC_F_ESI 0x00004000
+
+	/* check for extra info */
+	if (strlen(extra_info) > 0) {
+		/* only the first char is defined so far */
+		if (extra_info[0] == 'T')
+			dir = "Tx";
+	}
+
+	fprintf(outfile, "CANFD %3d %s ", devno, dir); /* 3 column channel number right aligned */
+
+	sprintf(id, "%X%c", cf->can_id & CAN_EFF_MASK,
+		(cf->can_id & CAN_EFF_FLAG)?'x':' ');
+	fprintf(outfile, "%11s                                  ", id);
+	fprintf(outfile, "%c ", (cf->flags & CANFD_BRS)?'1':'0');
+	fprintf(outfile, "%c ", (cf->flags & CANFD_ESI)?'1':'0');
+	fprintf(outfile, "%x ", can_len2dlc(dlen));
+
+	if (mtu == CAN_MTU) {
+		if (cf->can_id & CAN_RTR_FLAG) {
+			/* no data length but dlc for RTR frames */
+			dlen = 0;
+			flags = ASC_F_RTR;
+		}
+	} else {
+		flags = ASC_F_FDF;
+		if (cf->flags & CANFD_BRS)
+			flags |= ASC_F_BRS;
+		if (cf->flags & CANFD_ESI)
+			flags |= ASC_F_ESI;
+	}
+
+	fprintf(outfile, "%2d", dlen);
+
+	for (i = 0; i < (int)dlen; i++) {
+		fprintf(outfile, " %02X", cf->data[i]);
+	}
+
+	fprintf(outfile, " %8d %4d %8X 0 0 0 0 0", 130000, 130, flags);
 }
 
 int main(int argc, char **argv)
 {
-	static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ], id[10];
+	static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ], extra_info[BUFSZ];
 
 	struct canfd_frame cf;
 	static struct timeval tv, start_tv;
 	FILE *infile = stdin;
 	FILE *outfile = stdout;
-	static int maxdev, devno, i, crlf, d4, opt;
+	static int maxdev, devno, i, crlf, fdfmt, nortrdlc, d4, opt, mtu;
 
-	while ((opt = getopt(argc, argv, "I:O:4n?")) != -1) {
+	while ((opt = getopt(argc, argv, "I:O:4nfr?")) != -1) {
 		switch (opt) {
 		case 'I':
 			infile = fopen(optarg, "r");
@@ -98,6 +194,14 @@ int main(int argc, char **argv)
 			crlf = 1;
 			break;
 
+		case 'f':
+			fdfmt = 1;
+			break;
+
+		case 'r':
+			nortrdlc = 1;
+			break;
+
 		case '4':
 			d4 = 1;
 			break;
@@ -136,10 +240,17 @@ int main(int argc, char **argv)
 		if (buf[0] != '(')
 			continue;
 
-		if (sscanf(buf, "(%ld.%ld) %s %s", &tv.tv_sec, &tv.tv_usec,
-			   device, ascframe) != 4) {
-			fprintf(stderr, "incorrect line format in logfile\n");
-			return 1;
+		if (sscanf(buf, "(%lu.%lu) %s %s %s", &tv.tv_sec, &tv.tv_usec,
+			   device, ascframe, extra_info) != 5) {
+
+			/* do not evaluate the extra info */
+			extra_info[0] = 0;
+
+			if (sscanf(buf, "(%lu.%lu) %s %s", &tv.tv_sec, &tv.tv_usec,
+				   device, ascframe) != 4) {
+				fprintf(stderr, "incorrect line format in logfile\n");
+				return 1;
+			}
 		}
 
 		if (!start_tv.tv_sec) { /* print banner */
@@ -159,9 +270,14 @@ int main(int argc, char **argv)
 		}
 
 		if (devno) { /* only convert for selected CAN devices */
-			if (parse_canframe(ascframe, &cf) != CAN_MTU) /* no CAN FD support so far */
+			mtu = parse_canframe(ascframe, &cf);
+			if ((mtu != CAN_MTU) && (mtu != CANFD_MTU))
 				return 1;
 
+			/* we don't support error message frames in CAN FD */
+			if ((mtu == CANFD_MTU) && (cf.can_id & CAN_ERR_FLAG))
+				continue;
+
 			tv.tv_sec  = tv.tv_sec - start_tv.tv_sec;
 			tv.tv_usec = tv.tv_usec - start_tv.tv_usec;
 			if (tv.tv_usec < 0)
@@ -170,29 +286,15 @@ int main(int argc, char **argv)
 				tv.tv_sec = tv.tv_usec = 0;
 
 			if (d4)
-				fprintf(outfile, "%4ld.%04ld ", tv.tv_sec, tv.tv_usec/100);
+				fprintf(outfile, "%4lu.%04lu ", tv.tv_sec, tv.tv_usec/100);
 			else
-				fprintf(outfile, "%4ld.%06ld ", tv.tv_sec, tv.tv_usec);
+				fprintf(outfile, "%4lu.%06lu ", tv.tv_sec, tv.tv_usec);
 
-			fprintf(outfile, "%-2d ", devno); /* channel number left aligned */
+			if ((mtu == CAN_MTU) && (fdfmt == 0))
+				can_asc(&cf, devno, nortrdlc, extra_info, outfile);
+			else
+				canfd_asc(&cf, devno, mtu, extra_info, outfile);
 
-			if (cf.can_id & CAN_ERR_FLAG)
-				fprintf(outfile, "ErrorFrame");
-			else {
-				sprintf(id, "%X%c", cf.can_id & CAN_EFF_MASK,
-					(cf.can_id & CAN_EFF_FLAG)?'x':' ');
-				fprintf(outfile, "%-15s Rx   ", id);
-		
-				if (cf.can_id & CAN_RTR_FLAG)
-					fprintf(outfile, "r"); /* RTR frame */
-				else {
-					fprintf(outfile, "d %d", cf.len); /* data frame */
-		    
-					for (i = 0; i < cf.len; i++) {
-						fprintf(outfile, " %02X", cf.data[i]);
-					}
-				}
-			}
 			if (crlf)
 				fprintf(outfile, "\r");
 			fprintf(outfile, "\n");

log2long.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * log2long.c - convert compact CAN frame representation into user readable
  *
@@ -43,15 +44,15 @@
 
 #include <stdio.h>
 
-#include <net/if.h>
 #include <linux/can.h>
+#include <net/if.h>
 
 #include "lib.h"
 
 #define COMMENTSZ 200
 #define BUFSZ (sizeof("(1345212884.318850)") + IFNAMSIZ + 4 + CL_CFSZ + COMMENTSZ) /* for one line in the logfile */
 
-int main(int argc, char **argv)
+int main(void)
 {
 	char buf[BUFSZ], timestamp[BUFSZ], device[BUFSZ], ascframe[BUFSZ];
 	struct canfd_frame cf;

slcan_attach.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * slcan_attach.c - userspace tool for serial line CAN interface driver SLCAN
  *
@@ -41,37 +42,38 @@
  *
  */
 
+#include <fcntl.h>
+#include <getopt.h>
+#include <linux/sockios.h>
+#include <linux/tty.h>
+#include <net/if.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <getopt.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
-#include <net/if.h>
+#include <sys/socket.h>
 #include <termios.h>
-#include <linux/tty.h>
-#include <linux/sockios.h>
+#include <unistd.h>
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - userspace tool for serial line CAN interface driver SLCAN.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] tty\n\n", prg);
-	fprintf(stderr, "Options: -o         (send open command 'O\\r')\n");
-	fprintf(stderr, "         -l         (send listen only command 'L\\r', overrides -o)\n");
-	fprintf(stderr, "         -c         (send close command 'C\\r')\n");
-	fprintf(stderr, "         -f         (read status flags with 'F\\r' to reset error states)\n");
-	fprintf(stderr, "         -s <speed> (set CAN speed 0..8)\n");
-	fprintf(stderr, "         -b <btr>   (set bit time register value)\n");
-	fprintf(stderr, "         -d         (only detach line discipline)\n");
-	fprintf(stderr, "         -w         (attach - wait for keypess - detach)\n");
-	fprintf(stderr, "         -n <name>  (assign created netdevice name)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -o          (send open command 'O\\r')\n");
+	fprintf(stderr, "         -l          (send listen only command 'L\\r', overrides -o)\n");
+	fprintf(stderr, "         -c          (send close command 'C\\r')\n");
+	fprintf(stderr, "         -f          (read status flags with 'F\\r' to reset error states)\n");
+	fprintf(stderr, "         -s <speed>  (set CAN speed 0..8)\n");
+	fprintf(stderr, "         -b <btr>    (set bit time register value)\n");
+	fprintf(stderr, "         -d          (only detach line discipline)\n");
+	fprintf(stderr, "         -w          (attach - wait for keypess - detach)\n");
+	fprintf(stderr, "         -n <name>   (assign created netdevice name)\n");
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "slcan_attach -w -o -f -s6 -c /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach -d /dev/ttyS1\n");
-	fprintf(stderr, "slcan_attach -w -n can15 /dev/ttyS1\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "slcan_attach -w -o -f -s6 -c /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach -d /dev/ttyS1\n\n");
+	fprintf(stderr, "slcan_attach -w -n can15 /dev/ttyS1\n\n");
 	exit(1);
 }
 
@@ -87,7 +89,8 @@ int main(int argc, char **argv)
 	int send_read_status_flags = 0;
 	char *speed = NULL;
 	char *btr = NULL;
-	char buf[IFNAMSIZ+1];
+	char buf[20];
+	static struct ifreq ifr;
 	char *tty;
 	char *name = NULL;
 	int opt;
@@ -132,7 +135,7 @@ int main(int argc, char **argv)
 
 		case 'n':
 			name = optarg;
-			if (strlen(name) > IFNAMSIZ-1)
+			if (strlen(name) > sizeof(ifr.ifr_newname) - 1)
 				print_usage(argv[0]);
 			break;
 
@@ -157,25 +160,40 @@ int main(int argc, char **argv)
 
 		if (speed) {
 			sprintf(buf, "C\rS%s\r", speed);
-			write(fd, buf, strlen(buf));
+			if (write(fd, buf, strlen(buf)) <= 0) {
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
 		}
 
 		if (btr) {
 			sprintf(buf, "C\rs%s\r", btr);
-			write(fd, buf, strlen(buf));
+			if (write(fd, buf, strlen(buf)) <= 0) {
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
 		}
 
 		if (send_read_status_flags) {
 			sprintf(buf, "F\r");
-			write(fd, buf, strlen(buf));
+			if (write(fd, buf, strlen(buf)) <= 0) {
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
 		}
 
 		if (send_listen) {
 			sprintf(buf, "L\r");
-			write(fd, buf, strlen(buf));
+			if (write(fd, buf, strlen(buf)) <= 0) {
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
 		} else if (send_open) {
 			sprintf(buf, "O\r");
-			write(fd, buf, strlen(buf));
+			if (write(fd, buf, strlen(buf)) <= 0) {
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
 		}
 
 		/* set slcan line discipline on given tty */
@@ -185,16 +203,15 @@ int main(int argc, char **argv)
 		}
 
 		/* retrieve the name of the created CAN netdevice */
-		if (ioctl (fd, SIOCGIFNAME, buf) < 0) {
+		if (ioctl (fd, SIOCGIFNAME, ifr.ifr_name) < 0) {
 			perror("ioctl SIOCGIFNAME");
 			exit(1);
 		}
 
-		printf("attached tty %s to netdevice %s\n", tty, buf);
+		printf("attached tty %s to netdevice %s\n", tty, ifr.ifr_name);
 
 		/* try to rename the created device if requested */
 		if (name) {
-			struct ifreq ifr;
 			int s = socket(PF_INET, SOCK_DGRAM, 0);
  
 			printf("rename netdevice %s to %s ... ", buf, name);
@@ -202,8 +219,9 @@ int main(int argc, char **argv)
 			if (s < 0)
 				perror("socket for interface rename");
 			else {
-				strncpy (ifr.ifr_name, buf, IFNAMSIZ);
-				strncpy (ifr.ifr_newname, name, IFNAMSIZ);
+				/* current slcan%d name is still in ifr.ifr_name */
+				memset (ifr.ifr_newname, 0, sizeof(ifr.ifr_newname));
+				strncpy (ifr.ifr_newname, name, sizeof(ifr.ifr_newname) - 1);
  
 				if (ioctl(s, SIOCSIFNAME, &ifr) < 0)
 					printf("failed!\n");
@@ -229,7 +247,10 @@ int main(int argc, char **argv)
 
 		if (send_close) {
 			sprintf(buf, "C\r");
-			write(fd, buf, strlen(buf));
+			if (write(fd, buf, strlen(buf)) <= 0) {
+				perror("write");
+				exit(EXIT_FAILURE);
+			}
 		}
 	}
 

slcand.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
  * slcand.c - userspace daemon for serial line CAN interface driver SLCAN
  *
@@ -5,9 +6,8 @@
  * Copyright (c) 2009 Verari Systems Inc.
  *
  * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation.
  *
  * This program is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -22,25 +22,25 @@
  *
  */
 
+#include <errno.h>
+#include <fcntl.h>
+#include <linux/serial.h>
+#include <linux/sockios.h>
+#include <linux/tty.h>
+#include <net/if.h>
+#include <pwd.h>
+#include <signal.h>
+#include <stdarg.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <sys/socket.h>
-#include <fcntl.h>
-#include <syslog.h>
-#include <errno.h>
-#include <pwd.h>
-#include <signal.h>
 #include <sys/ioctl.h>
-#include <net/if.h>
+#include <sys/socket.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <syslog.h>
 #include <termios.h>
-#include <linux/tty.h>
-#include <linux/sockios.h>
-#include <linux/serial.h>
-#include <stdarg.h>
+#include <unistd.h>
 
 /* Change this to whatever your daemon is called */
 #define DAEMON_NAME "slcand"
@@ -72,22 +72,23 @@ static syslog_t syslogger = syslog;
 
 void print_usage(char *prg)
 {
+	fprintf(stderr, "%s - userspace daemon for serial line CAN interface driver SLCAN.\n", prg);
 	fprintf(stderr, "\nUsage: %s [options] <tty> [canif-name]\n\n", prg);
-	fprintf(stderr, "Options: -o         (send open command 'O\\r')\n");
-	fprintf(stderr, "         -c         (send close command 'C\\r')\n");
-	fprintf(stderr, "         -f         (read status flags with 'F\\r' to reset error states)\n");
-	fprintf(stderr, "         -l         (send listen only command 'L\\r', overrides -o)\n");
-	fprintf(stderr, "         -s <speed> (set CAN speed 0..8)\n");
-	fprintf(stderr, "         -S <speed> (set UART speed in baud)\n");
-	fprintf(stderr, "         -t <type>  (set UART flow control type 'hw' or 'sw')\n");
-	fprintf(stderr, "         -b <btr>   (set bit time register value)\n");
-	fprintf(stderr, "         -F         (stay in foreground; no daemonize)\n");
-	fprintf(stderr, "         -h         (show this help page)\n");
+	fprintf(stderr, "Options:\n");
+	fprintf(stderr, "         -o          (send open command 'O\\r')\n");
+	fprintf(stderr, "         -c          (send close command 'C\\r')\n");
+	fprintf(stderr, "         -f          (read status flags with 'F\\r' to reset error states)\n");
+	fprintf(stderr, "         -l          (send listen only command 'L\\r', overrides -o)\n");
+	fprintf(stderr, "         -s <speed>  (set CAN speed 0..8)\n");
+	fprintf(stderr, "         -S <speed>  (set UART speed in baud)\n");
+	fprintf(stderr, "         -t <type>   (set UART flow control type 'hw' or 'sw')\n");
+	fprintf(stderr, "         -b <btr>    (set bit time register value)\n");
+	fprintf(stderr, "         -F          (stay in foreground; no daemonize)\n");
+	fprintf(stderr, "         -h          (show this help page)\n");
 	fprintf(stderr, "\nExamples:\n");
-	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0\n");
-	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0 can0\n");
-	fprintf(stderr, "slcand -o -c -f -s6 /dev/ttyUSB0\n");
-	fprintf(stderr, "\n");
+	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0\n\n");
+	fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0 can0\n\n");
+	fprintf(stderr, "slcand -o -c -f -s6 /dev/ttyUSB0\n\n");
 	exit(EXIT_FAILURE);
 }
 
@@ -180,7 +181,8 @@ int main(int argc, char *argv[])
 	char *tty = NULL;
 	char const *devprefix = "/dev/";
 	char *name = NULL;
-	char buf[IFNAMSIZ+1];
+	char buf[20];
+	static struct ifreq ifr;
 	struct termios tios;
 	speed_t old_ispeed;
 	speed_t old_ospeed;
@@ -270,6 +272,8 @@ int main(int argc, char *argv[])
 		print_usage(argv[0]);
 
 	name = argv[optind + 1];
+	if (name && (strlen(name) > sizeof(ifr.ifr_newname) - 1))
+		print_usage(argv[0]);
 
 	/* Prepare the tty device name string */
 	pch = strstr(tty, devprefix);
@@ -280,23 +284,6 @@ int main(int argc, char *argv[])
 
 	syslogger(LOG_INFO, "starting on TTY device %s", ttypath);
 
-	/* Daemonize */
-	if (run_as_daemon) {
-		if (daemon(0, 0)) {
-			syslogger(LOG_ERR, "failed to daemonize");
-			exit(EXIT_FAILURE);
-		}
-	}
-	else {
-		/* Trap signals that we expect to receive */
-		signal(SIGINT, child_handler);
-		signal(SIGTERM, child_handler);
-	}
-
-	/* */
-	slcand_running = 1;
-
-	/* Now we are a daemon -- do the work for which we were paid */
 	fd = open(ttypath, O_RDWR | O_NONBLOCK | O_NOCTTY);
 	if (fd < 0) {
 		syslogger(LOG_NOTICE, "failed to open TTY device %s\n", ttypath);
@@ -305,7 +292,7 @@ int main(int argc, char *argv[])
 	}
 
 	/* Configure baud rate */
-	memset(&tios, 0, sizeof(struct termios));
+	memset(&tios, 0, sizeof(tios));
 	if (tcgetattr(fd, &tios) < 0) {
 		syslogger(LOG_NOTICE, "failed to get attributes for TTY device %s: %s\n", ttypath, strerror(errno));
 		exit(EXIT_FAILURE);
@@ -343,25 +330,40 @@ int main(int argc, char *argv[])
 
 	if (speed) {
 		sprintf(buf, "C\rS%s\r", speed);
-		write(fd, buf, strlen(buf));
+		if (write(fd, buf, strlen(buf)) <= 0) {
+			perror("write");
+			exit(EXIT_FAILURE);
+		}
 	}
 
 	if (btr) {
 		sprintf(buf, "C\rs%s\r", btr);
-		write(fd, buf, strlen(buf));
+		if (write(fd, buf, strlen(buf)) <= 0) {
+			perror("write");
+			exit(EXIT_FAILURE);
+		}
 	}
 
 	if (send_read_status_flags) {
 		sprintf(buf, "F\r");
-		write(fd, buf, strlen(buf));
+		if (write(fd, buf, strlen(buf)) <= 0) {
+			perror("write");
+			exit(EXIT_FAILURE);
+		}
 	}
 
 	if (send_listen) {
 		sprintf(buf, "L\r");
-		write(fd, buf, strlen(buf));
+		if (write(fd, buf, strlen(buf)) <= 0) {
+			perror("write");
+			exit(EXIT_FAILURE);
+		}
 	} else if (send_open) {
 		sprintf(buf, "O\r");
-		write(fd, buf, strlen(buf));
+		if (write(fd, buf, strlen(buf)) <= 0) {
+			perror("write");
+			exit(EXIT_FAILURE);
+		}
 	}
 
 	/* set slcan like discipline on given tty */
@@ -371,23 +373,23 @@ int main(int argc, char *argv[])
 	}
 	
 	/* retrieve the name of the created CAN netdevice */
-	if (ioctl(fd, SIOCGIFNAME, buf) < 0) {
+	if (ioctl(fd, SIOCGIFNAME, ifr.ifr_name) < 0) {
 		perror("ioctl SIOCGIFNAME");
 		exit(EXIT_FAILURE);
 	}
 
-	syslogger(LOG_NOTICE, "attached TTY %s to netdevice %s\n", ttypath, buf);
+	syslogger(LOG_NOTICE, "attached TTY %s to netdevice %s\n", ttypath, ifr.ifr_name);
 	
 	/* try to rename the created netdevice */
 	if (name) {
-		struct ifreq ifr;
 		int s = socket(PF_INET, SOCK_DGRAM, 0);
 
 		if (s < 0)
 			perror("socket for interface rename");
 		else {
-			strncpy(ifr.ifr_name, buf, IFNAMSIZ);
-			strncpy(ifr.ifr_newname, name, IFNAMSIZ);
+			/* current slcan%d name is still in ifr.ifr_name */
+			memset (ifr.ifr_newname, 0, sizeof(ifr.ifr_newname));
+			strncpy (ifr.ifr_newname, name, sizeof(ifr.ifr_newname) - 1);
 
 			if (ioctl(s, SIOCSIFNAME, &ifr) < 0) {
 				syslogger(LOG_NOTICE, "netdevice %s rename to %s failed\n", buf, name);
@@ -400,6 +402,21 @@ int main(int argc, char *argv[])
 		}	
 	}
 
+	/* Daemonize */
+	if (run_as_daemon) {
+		if (daemon(0, 0)) {
+			syslogger(LOG_ERR, "failed to daemonize");
+			exit(EXIT_FAILURE);
+		}
+	}
+	else {
+		/* Trap signals that we expect to receive */
+		signal(SIGINT, child_handler);
+		signal(SIGTERM, child_handler);
+	}
+
+	slcand_running = 1;
+
 	/* The Big Loop */
 	while (slcand_running)
 		sleep(1); /* wait 1 second */
@@ -414,7 +431,10 @@ int main(int argc, char *argv[])
 
 	if (send_close) {
 		sprintf(buf, "C\r");
-		write(fd, buf, strlen(buf));
+		if (write(fd, buf, strlen(buf)) <= 0) {
+			perror("write");
+			exit(EXIT_FAILURE);
+		}
 	}
 
 	/* Reset old rates */

slcanpty.c

@@ -1,13 +1,15 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
- * slcanpty.c -  creates a pty for applications using the slcan ASCII protocol
+ * slcanpty: adapter for applications using the slcan ASCII protocol
+ *
+ * slcanpty.c - creates a pty for applications using the slcan ASCII protocol
  * and converts the ASCII data to a CAN network interface (and vice versa)
  *
  * Copyright (c)2009 Oliver Hartkopp
  *
  * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
  *
  * This program is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -22,21 +24,24 @@
  *
  */
 
+#include <fcntl.h>
+#include <libgen.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
 #include <termios.h>
+#include <unistd.h>
 
 #include <net/if.h>
-#include <sys/socket.h>
 #include <sys/ioctl.h>
+#include <sys/select.h>
+#include <sys/socket.h>
 #include <sys/stat.h>
 #include <sys/types.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
+#include <linux/sockios.h>
 
 /* maximum rx buffer len: extended CAN frame with timestamp */
 #define SLC_MTU (sizeof("T1111222281122334455667788EA5F\r")+1)
@@ -74,7 +79,7 @@ int pty2can(int pty, int socket, struct can_filter *fi,
 
 	nbytes = read(pty, &buf[rxoffset], sizeof(buf)-rxoffset-1);
 	if (nbytes <= 0) {
-		/* nbytes == 0 : no error but pty decriptor has been closed */
+		/* nbytes == 0 : no error but pty descriptor has been closed */
 		if (nbytes < 0)
 			perror("read pty");
 
@@ -427,16 +432,18 @@ int main(int argc, char **argv)
 
 	/* check command line options */
 	if (argc != 3) {
-		fprintf(stderr, "\n");
-		fprintf(stderr, "%s creates a pty for applications using"
-			" the slcan ASCII protocol and\n", argv[0]);
+		fprintf(stderr, "%s: adapter for applications using"
+			" the slcan ASCII protocol.\n", basename(argv[0]));
+		fprintf(stderr, "\n%s creates a pty for applications using"
+			" the slcan ASCII protocol and\n", basename(argv[0]));
 		fprintf(stderr, "converts the ASCII data to a CAN network"
 			" interface (and vice versa)\n\n");
-		fprintf(stderr, "Usage: %s <pty> <can interface>\n", argv[0]);
-		fprintf(stderr, "e.g. '%s /dev/ptyc0 can0' creates"
-			" /dev/ttyc0 for the slcan application\n", argv[0]);
+		fprintf(stderr, "Usage: %s <pty> <can interface>\n", basename(argv[0]));
+		fprintf(stderr, "\nExamples:\n");
+		fprintf(stderr, "%s /dev/ptyc0 can0  - creates /dev/ttyc0 for the slcan application\n\n",
+			basename(argv[0]));
 		fprintf(stderr, "e.g. for pseudo-terminal '%s %s can0' creates"
-			" /dev/pts/N\n", argv[0], DEVICE_NAME_PTMX);
+			" /dev/pts/N\n", basename(argv[0]), DEVICE_NAME_PTMX);
 		fprintf(stderr, "\n");
 		return 1;
 	}

terminal.h

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
 /*
  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
  * All rights reserved.

testj1939.c

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
 /*
  * Copyright (c) 2013 EIA Electronics
  *
@@ -9,26 +10,26 @@
  * as published by the Free Software Foundation
  */
 
-#include <signal.h>
-#include <time.h>
-#include <inttypes.h>
 #include <errno.h>
-#include <string.h>
-#include <stdlib.h>
+#include <inttypes.h>
+#include <signal.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
 
-#include <unistd.h>
+#include <err.h>
 #include <getopt.h>
-#include <error.h>
-#include <sys/time.h>
-#include <sys/socket.h>
 #include <net/if.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <unistd.h>
 
 #include "libj1939.h"
 
 static const char help_msg[] =
 	"testj1939: demonstrate j1939 use\n"
-	"Usage: testj1939 FROM TO\n"
+	"Usage: testj1939 [OPTIONS] FROM TO\n"
 	" FROM / TO	- or [IFACE][:[SA][,[PGN][,NAME]]]\n"
 	"Options:\n"
 	" -v		Print relevant API calls\n"
@@ -38,57 +39,41 @@ static const char help_msg[] =
 	"		This atually receives packets\n"
 	" -c		Issue connect()\n"
 	" -p=PRIO	Set priority to PRIO\n"
+	" -P		Promiscuous mode. Allow to receive all packets\n"
+	" -b		Do normal bind with SA+1 and rebind with actual SA\n"
+	" -B		Allow to send and receive broadcast packets.\n"
+	" -o		Omit bind\n"
 	" -n		Emit 64bit NAMEs in output\n"
 	" -w[TIME]	Return after TIME (default 1) seconds\n"
 	"\n"
-	"Example:\n"
+	"Examples:\n"
 	"testj1939 can1 20\n"
 	"\n"
 	;
 
-static const char optstring[] = "?vs::rep:cnw::";
-
-static void parse_canaddr(char *spec, struct sockaddr_can *paddr)
-{
-	char *str;
-
-	str = strsep(&spec, ":");
-	if (strlen(str))
-		paddr->can_ifindex = if_nametoindex(str);
-
-	str = strsep(&spec, ",");
-	if (str && strlen(str))
-		paddr->can_addr.j1939.addr = strtoul(str, NULL, 0);
-
-	str = strsep(&spec, ",");
-	if (str && strlen(str))
-		paddr->can_addr.j1939.pgn = strtoul(str, NULL, 0);
-
-	str = strsep(&spec, ",");
-	if (str && strlen(str))
-		paddr->can_addr.j1939.name = strtoul(str, NULL, 0);
-}
+static const char optstring[] = "?vbBPos::rep:cnw::";
 
 static void onsigalrm(int sig)
 {
-	error(0, 0, "exit as requested");
+	err(0, "exit as requested");
 	exit(0);
 }
 
 static void schedule_oneshot_itimer(double delay)
 {
-	struct itimerval it = {};
+	struct itimerval it = { 0 };
 
 	it.it_value.tv_sec = delay;
 	it.it_value.tv_usec = (long)(delay * 1e6) % 1000000;
 	if (setitimer(ITIMER_REAL, &it, NULL) < 0)
-		error(1, errno, "schedule itimer %.3lfs", delay);
+		err(1, "schedule itimer %.3lfs", delay);
 }
 
 /* main */
 int main(int argc, char *argv[])
 {
-	int ret, sock, opt, j;
+	int ret, sock, opt;
+	unsigned int j;
 	int verbose = 0;
 	socklen_t peernamelen;
 	struct sockaddr_can sockname = {
@@ -108,53 +93,74 @@ int main(int argc, char *argv[])
 	};
 	uint8_t dat[128];
 	int valid_peername = 0;
-	int todo_send = 0, todo_recv = 0, todo_echo = 0, todo_prio = -1;
-	int todo_connect = 0, todo_names = 0, todo_wait = 0;
+	unsigned int todo_send = 0;
+	int todo_recv = 0, todo_echo = 0, todo_prio = -1;
+	int todo_connect = 0, todo_names = 0, todo_wait = 0, todo_rebind = 0;
+	int todo_broadcast = 0, todo_promisc = 0;
+	int no_bind = 0;
 
 	/* argument parsing */
 	while ((opt = getopt(argc, argv, optstring)) != -1)
-	switch (opt) {
-	case 'v':
-		verbose = 1;
-		break;
-	case 's':
-		todo_send = strtoul(optarg ?: "8", NULL, 0);
-		break;
-	case 'r':
-		todo_recv = 1;
-		break;
-	case 'e':
-		todo_echo = 1;
-		break;
-	case 'p':
-		todo_prio = strtoul(optarg, NULL, 0);
-		break;
-	case 'c':
-		todo_connect = 1;
-		break;
-	case 'n':
-		todo_names = 1;
-		break;
-	case 'w':
-		schedule_oneshot_itimer(strtod(optarg ?: "1", NULL));
-		signal(SIGALRM, onsigalrm);
-		todo_wait = 1;
-		break;
-	default:
-		fputs(help_msg, stderr);
-		exit(1);
-		break;
-	}
+		switch (opt) {
+		case 'v':
+			verbose = 1;
+			break;
+		case 's':
+			todo_send = strtoul(optarg ?: "8", NULL, 0);
+			if (todo_send > sizeof(dat))
+				err(1, "Unsupported size. max: %zu",
+				    sizeof(dat));
+			break;
+		case 'r':
+			todo_recv = 1;
+			break;
+		case 'e':
+			todo_echo = 1;
+			break;
+		case 'p':
+			todo_prio = strtoul(optarg, NULL, 0);
+			break;
+		case 'P':
+			todo_promisc = 1;
+			break;
+		case 'c':
+			todo_connect = 1;
+			break;
+		case 'n':
+			todo_names = 1;
+			break;
+		case 'b':
+			todo_rebind = 1;
+			break;
+		case 'B':
+			todo_broadcast = 1;
+			break;
+		case 'o':
+			no_bind = 1;
+			break;
+		case 'w':
+			schedule_oneshot_itimer(strtod(optarg ?: "1", NULL));
+			signal(SIGALRM, onsigalrm);
+			todo_wait = 1;
+			break;
+		default:
+			fputs(help_msg, stderr);
+			exit(1);
+			break;
+		}
 
 	if (argv[optind]) {
-		if (strcmp("-", argv[optind]))
-			parse_canaddr(argv[optind], &sockname);
+		if (strcmp("-", argv[optind]) != 0)
+			libj1939_parse_canaddr(argv[optind], &sockname);
 		++optind;
 	}
 
+	if (todo_rebind)
+		sockname.can_addr.j1939.addr++;
+
 	if (argv[optind]) {
-		if (strcmp("-", argv[optind])) {
-			parse_canaddr(argv[optind], &peername);
+		if (strcmp("-", argv[optind]) != 0) {
+			libj1939_parse_canaddr(argv[optind], &peername);
 			valid_peername = 1;
 		}
 		++optind;
@@ -165,7 +171,27 @@ int main(int argc, char *argv[])
 		fprintf(stderr, "- socket(PF_CAN, SOCK_DGRAM, CAN_J1939);\n");
 	sock = ret = socket(PF_CAN, SOCK_DGRAM, CAN_J1939);
 	if (ret < 0)
-		error(1, errno, "socket(j1939)");
+		err(1, "socket(j1939)");
+
+	if (todo_promisc) {
+		if (verbose)
+			fprintf(stderr, "- setsockopt(, SOL_SOCKET, SO_J1939_PROMISC, %d, %zd);\n",
+				todo_promisc, sizeof(todo_promisc));
+		ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_PROMISC,
+				 &todo_promisc, sizeof(todo_promisc));
+		if (ret < 0)
+			err(1, "setsockopt: filed to set promiscuous mode");
+	}
+
+	if (todo_broadcast) {
+		if (verbose)
+			fprintf(stderr, "- setsockopt(, SOL_SOCKET, SO_BROADCAST, %d, %zd);\n",
+				todo_broadcast, sizeof(todo_broadcast));
+		ret = setsockopt(sock, SOL_SOCKET, SO_BROADCAST,
+				 &todo_broadcast, sizeof(todo_broadcast));
+		if (ret < 0)
+			err(1, "setsockopt: filed to set broadcast");
+	}
 
 	if (todo_prio >= 0) {
 		if (verbose)
@@ -173,23 +199,37 @@ int main(int argc, char *argv[])
 		ret = setsockopt(sock, SOL_CAN_J1939, SO_J1939_SEND_PRIO,
 				&todo_prio, sizeof(todo_prio));
 		if (ret < 0)
-			error(1, errno, "set priority %i", todo_prio);
+			err(1, "set priority %i", todo_prio);
 	}
 
-	if (verbose)
-		fprintf(stderr, "- bind(, %s, %zi);\n", libj1939_addr2str(&sockname), sizeof(sockname));
-	ret = bind(sock, (void *)&sockname, sizeof(sockname));
-	if (ret < 0)
-		error(1, errno, "bind()");
+	if (!no_bind) {
+
+		if (verbose)
+			fprintf(stderr, "- bind(, %s, %zi);\n", libj1939_addr2str(&sockname), sizeof(sockname));
+		ret = bind(sock, (void *)&sockname, sizeof(sockname));
+		if (ret < 0)
+			err(1, "bind()");
+
+		if (todo_rebind) {
+			/* rebind with actual SA */
+			sockname.can_addr.j1939.addr--;
+
+			if (verbose)
+				fprintf(stderr, "- bind(, %s, %zi);\n", libj1939_addr2str(&sockname), sizeof(sockname));
+			ret = bind(sock, (void *)&sockname, sizeof(sockname));
+			if (ret < 0)
+				err(1, "re-bind()");
+		}
+	}
 
 	if (todo_connect) {
 		if (!valid_peername)
-			error(1, 0, "no peername supplied");
+			err(1, "no peername supplied");
 		if (verbose)
 			fprintf(stderr, "- connect(, %s, %zi);\n", libj1939_addr2str(&peername), sizeof(peername));
 		ret = connect(sock, (void *)&peername, sizeof(peername));
 		if (ret < 0)
-			error(1, errno, "connect()");
+			err(1, "connect()");
 	}
 
 	if (todo_send) {
@@ -218,7 +258,7 @@ int main(int argc, char *argv[])
 		}
 
 		if (ret < 0)
-			error(1, errno, "sendto");
+			err(1, "sendto");
 	}
 
 	/* main loop */
@@ -240,7 +280,7 @@ int main(int argc, char *argv[])
 					fprintf(stderr, "-\t<interrupted>\n");
 				continue;
 			}
-			error(1, errno, "recvfrom()");
+			err(1, "recvfrom()");
 		}
 
 		if (todo_echo) {
@@ -249,15 +289,22 @@ int main(int argc, char *argv[])
 			ret = sendto(sock, dat, ret, 0,
 					(void *)&peername, peernamelen);
 			if (ret < 0)
-				error(1, errno, "sendto");
+				err(1, "sendto");
 		}
 		if (todo_recv) {
+			int i;
+
 			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);
-			for (j = 0; j < ret; ++j)
-				printf(" %02x", dat[j]);
+			for (i = 0, j = 0; i < ret; ++i, j++) {
+				if (j == 8) {
+					printf("\n%05x    ", i);
+					j = 0;
+				}
+				printf(" %02x", dat[i]);
+			}
 			printf("\n");
 		}
 	}