/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */ /* * lib.h - library include for command line tools * * Copyright (c) 2002-2007 Volkswagen Group Electronic Research * 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 Volkswagen nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * Alternatively, provided that this notice is retained in full, this * software may be distributed under the terms of the GNU General * Public License ("GPL") version 2, in which case the provisions of the * GPL apply INSTEAD OF those given above. * * The provided data structures and external interfaces from this code * are not restricted to be used by modules with a GPL compatible license. * * 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 * OWNER 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. * * Send feedback to * */ #ifndef CAN_UTILS_LIB_H #define CAN_UTILS_LIB_H #include #include #include #include #ifdef DEBUG #define pr_debug(fmt, args...) printf(fmt, ##args) #else __attribute__((format (printf, 1, 2))) static inline int pr_debug(const char* fmt, ...) {return 0;} #endif /* CAN CC/FD/XL frame union */ typedef union { struct can_frame cc; struct canfd_frame fd; struct canxl_frame xl; } cu_t; /* * The buffer size for ASCII CAN frame string representations * covers also the 'long' CAN frame output from sprint_long_canframe() * including (swapped) binary represetations, timestamps, netdevice names, * lengths and error message details as the CAN XL data is cropped to 64 * byte (the 'long' CAN frame output is only for display on terminals). */ #define AFRSZ 6300 /* 3*2048 (data) + 22 (timestamp) + 18 (netdev) + ID/HDR */ /* CAN DLC to real data length conversion helpers especially for CAN FD */ /* get data length from raw data length code (DLC) */ unsigned char can_fd_dlc2len(unsigned char dlc); /* map the sanitized data length to an appropriate data length code */ unsigned char can_fd_len2dlc(unsigned char len); unsigned char asc2nibble(char c); /* * Returns the decimal value of a given ASCII hex character. * * While 0..9, a..f, A..F are valid ASCII hex characters. * On invalid characters the value 16 is returned for error handling. */ int hexstring2data(char *arg, unsigned char *data, int maxdlen); /* * Converts a given ASCII hex string to a (binary) byte string. * * A valid ASCII hex string consists of an even number of up to 16 chars. * Leading zeros '00' in the ASCII hex string are interpreted. * * Examples: * * "1234" => data[0] = 0x12, data[1] = 0x34 * "001234" => data[0] = 0x00, data[1] = 0x12, data[2] = 0x34 * * Return values: * 0 = success * 1 = error (in length or the given characters are no ASCII hex characters) * * Remark: The not written data[] elements are initialized with zero. * */ int parse_canframe(char *cs, cu_t *cu); /* * Transfers a valid ASCII string describing a CAN frame into the CAN union * containing CAN CC/FD/XL structs. * * CAN CC frames (aka Classical CAN, CAN 2.0B) * - string layout #{R{len}|data}{_len8_dlc} * - {data} has 0 to 8 hex-values that can (optionally) be separated by '.' * - {len} can take values from 0 to 8 and can be omitted if zero * - {_len8_dlc} can take hex values from '_9' to '_F' when len is CAN_MAX_DLEN * - return value on successful parsing: CAN_MTU * * CAN FD frames * - string layout ##{data} * - a single ASCII Hex value (0 .. F) which defines canfd_frame.flags * - {data} has 0 to 64 hex-values that can (optionally) be separated by '.' * - return value on successful parsing: CANFD_MTU * * CAN XL frames * - string layout #::#{data} * - a two ASCII Hex value (00 .. FF) which defines the VCID * - a three ASCII Hex value (000 .. 7FF) which defines the 11 bit PRIO * - a two ASCII Hex value (00 .. FF) which defines canxl_frame.flags * - a two ASCII Hex value (00 .. FF) which defines canxl_frame.sdt * - a 8 digit ASCII Hex value which defines the 32 bit canxl_frame.af * - {data} has 1 to 2048 hex-values that can (optionally) be separated by '.' * - return value on successful parsing: CANXL_MTU * * Return value on detected problems: 0 * * can have 3 (standard frame format) or 8 (extended frame format) * hexadecimal chars * * * Examples: * * 123# -> standard CAN-Id = 0x123, len = 0 * 12345678# -> extended CAN-Id = 0x12345678, len = 0 * 123#R -> standard CAN-Id = 0x123, len = 0, RTR-frame * 123#R0 -> standard CAN-Id = 0x123, len = 0, RTR-frame * 123#R7 -> standard CAN-Id = 0x123, len = 7, RTR-frame * 123#R8_9 -> standard CAN-Id = 0x123, len = 8, dlc = 9, RTR-frame * 7A1#r -> standard CAN-Id = 0x7A1, len = 0, RTR-frame * * 123#00 -> standard CAN-Id = 0x123, len = 1, data[0] = 0x00 * 123#1122334455667788 -> standard CAN-Id = 0x123, len = 8 * 123#1122334455667788_E -> standard CAN-Id = 0x123, len = 8, dlc = 14 * 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, len = 8 * 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, len = 8 * 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set * * 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3 * 123##1112233 -> CAN FD frame, flags = CANFD_BRS, len = 3 * 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3 * 123##3 -> CAN FD frame, flags = (CANFD_ESI | CANFD_BRS), len = 0 * ^^ * CAN FD extension to handle the canfd_frame.flags content * * 45123#81:00:12345678#11223344.556677 -> CAN XL frame with len = 7, * VCID = 0x45, PRIO = 0x123, flags = 0x81, sdt = 0x00, af = 0x12345678 * * Simple facts on this compact ASCII CAN frame representation: * * - 3 digits: standard frame format * - 8 digits: extendend frame format OR error frame * - 8 digits with CAN_ERR_FLAG (0x2000000) set: error frame * - an error frame is never a RTR frame * - CAN FD frames do not have a RTR bit */ int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep); /* * Creates a CAN frame hexadecimal output in compact format. * The CAN data[] is separated by '.' when sep != 0. * * A CAN XL frame is detected when CANXL_XLF is set in the struct * cu.canxl_frame.flags. Otherwise the type of the CAN frame (CAN CC/FD) * is specified by the dual-use struct cu.canfd_frame.flags element: * w/o CAN FD flags (== 0) -> CAN CC frame (aka Classical CAN, CAN2.0B) * with CAN FD flags (!= 0) -> CAN FD frame (with CANFD_[FDF/BRS/ESI]) * * 12345678#112233 -> extended CAN-Id = 0x12345678, len = 3, data, sep = 0 * 123#1122334455667788_E -> standard CAN-Id = 0x123, len = 8, dlc = 14, data, sep = 0 * 12345678#R -> extended CAN-Id = 0x12345678, RTR, len = 0 * 12345678#R5 -> extended CAN-Id = 0x12345678, RTR, len = 5 * 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8, sep = 1 * 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set * 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3 * 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3 * 45123#81:00:12345678#11223344.556677 -> CAN XL frame with len = 7, * VCID = 0x45, PRIO = 0x123, flags = 0x81, sdt = 0x00, af = 0x12345678 * */ #define CANLIB_VIEW_ASCII 0x1 #define CANLIB_VIEW_BINARY 0x2 #define CANLIB_VIEW_SWAP 0x4 #define CANLIB_VIEW_ERROR 0x8 #define CANLIB_VIEW_INDENT_SFF 0x10 #define CANLIB_VIEW_LEN8_DLC 0x20 #define SWAP_DELIMITER '`' int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view); /* * Creates a CAN frame hexadecimal output in user readable format. * * A CAN XL frame is detected when CANXL_XLF is set in the struct * cu.canxl_frame.flags. Otherwise the type of the CAN frame (CAN CC/FD) * is specified by the dual-use struct cu.canfd_frame.flags element: * w/o CAN FD flags (== 0) -> CAN CC frame (aka Classical CAN, CAN2.0B) * with CAN FD flags (!= 0) -> CAN FD frame (with CANFD_[FDF/BRS/ESI]) * * 12345678 [3] 11 22 33 -> extended CAN-Id = 0x12345678, len = 3, data * 12345678 [0] remote request -> extended CAN-Id = 0x12345678, RTR * 14B0DC51 [8] 4A 94 E8 2A EC 58 55 62 'J..*.XUb' -> (with ASCII output) * 321 {B} 11 22 33 44 55 66 77 88 -> Classical CAN with raw '{DLC}' value B * 20001111 [7] C6 23 7B 32 69 98 3C ERRORFRAME -> (CAN_ERR_FLAG set) * 12345678 [03] 11 22 33 -> CAN FD with extended CAN-Id = 0x12345678, len = 3 * 123 [0003] (45|81:00:12345678) 11 22 33 -> CAN XL frame with VCID 0x45 * * 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == 0 * 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == set * * There are no binary or ASCII view modes for CAN XL and the number of displayed * data bytes is limited to 64 to fit terminal output use-cases. */ int snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf, const char *sep); /* * Creates a CAN error frame output in user readable format. */ /** * timespec_diff_ms - calculate timespec difference in milliseconds * @ts1: first timespec * @ts2: second timespec * * Return negative difference if in the past. */ int64_t timespec_diff_ms(struct timespec *ts1, struct timespec *ts2); /** * timespec_add_ms - add milliseconds to timespec * @ts: timespec * @milliseconds: milliseconds to add */ void timespec_add_ms(struct timespec *ts, uint64_t milliseconds); #endif