Merge c13a0039db into 9f2896cfc0

Signed-off-by: Christian Gabriel <ch_gabriel@web.de>

.gitmodules

@@ -1,3 +1,4 @@
 [submodule "third-party/libicsneo"]
 	path = third-party/libicsneo
 	url = https://github.com/intrepidcs/libicsneo.git
+	branch = master

CHANGELOG

@@ -1,3 +1,29 @@
+v3.1.2
+	Update libicsneo
+	Update copyright
+	Add scan-interval-ms parameter (Jorge Alejandro <jorge.a.alejandro@gmail.com>)
+
+v3.1.1
+	Update libicsneo
+
+v3.1.0
+	Update libicsneo
+	Update copyright
+
+v3.0.0
+	Added Functionality for Ethernet
+
+v2.1.0
+	Update copyright date
+	Update to libicsneo v0.3.0
+	Report transmits down to the kernel for echo
+	Allow filtering devices by serial number
+
+v2.0.3
+	Update copyright date
+	Update to libicsneo v0.2.0
+	Ensure lock is held when accessing open devices
+
 v2.0.2
 	Use libicsneo v0.1.2 to resolve LEDs not indicating device status
 

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.2)
-project(libicsneo-socketcan-daemon VERSION 2.0.2)
+project(libicsneo-socketcan-daemon VERSION 3.3.0)
 
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 
 include(GNUInstallDirs)
 
@@ -27,5 +27,5 @@ include_directories(BEFORE ${CMAKE_CURRENT_BINARY_DIR})
 
 add_subdirectory("third-party/libicsneo")
 
-add_executable(libicsneo-socketcan-daemon src/main.cpp)
+add_executable(libicsneo-socketcan-daemon src/main.cpp src/netlink.c)
 target_link_libraries(libicsneo-socketcan-daemon icsneocpp)

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2016-2019 Intrepid Control Systems, Inc.
+Copyright (c) 2016-2025 Intrepid Control Systems, Inc.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -1,18 +1,18 @@
-Version 2.0.2
+Version 3.1.2
 
 This is the usermode daemon for the Intrepid Control Systems SocketCAN support. This daemon requires that ```intrepid.ko``` is loaded on your system.
 
 1. Build and load the kernel module follwowing the instructions in [intrepid-socketcan-kernel-module](https://github.com/intrepidcs/intrepid-socketcan-kernel-module).
 
-2. Install the dependencies needed. These are CMake 3.2+, GCC 4.8+, git, and libusb-1.0-0-dev.
+2. Install the dependencies needed. These are CMake 3.2+, GCC 4.8+, git, libusb-1.0-0-dev, and libpcap.
 
-On Ubuntu or other Debian-based systems, run `sudo apt install git cmake gcc libusb-1.0-0-dev build-essential`.
+On Ubuntu or other Debian-based systems, run `sudo apt install git cmake gcc libusb-1.0-0-dev libpcap-dev build-essential`.
 
 3. Clone this repository recursively by running `git clone --recursive https://github.com/intrepidcs/icsscand.git`
 
 4. Switch into the cloned directory, `cd icsscand`
 
-5. Make a build directory and switch into it, `mkdir -p build && cd build`
+5. Make a build directory and switch into it, `mkdir build && cd build`
 
 6. Invoke CMake, `cmake .. -DCMAKE_BUILD_TYPE=Release`
 
@@ -24,6 +24,6 @@ On Ubuntu or other Debian-based systems, run `sudo apt install git cmake gcc lib
 
 10. CAN interfaces will have been created, but are "down" or, in other words, not enabled for transmit and receive yet. You can see them with `ip link`. They will be labelled `can0`, `can1`, and etc. They will have an alias listed which corresponds to the serial number of the device and network on that device.
 
-11. Enable the CAN interface with `sudo ip link set up can0`, replacing `can0` with whichever interface you'd like to enable
+11. Enable the CAN interface with `sudo ip link set can0 up`, replacing `can0` with whichever interface you'd like to enable
 
 12. You can now use any SocketCAN application with this interface. A good package for testing is the `can-utils` package. You can get this package with `sudo apt install can-utils`. A good testing tool which comes with this package is `candump`. Running `candump can0` will print a line for every incoming frame.

src/main.cpp

@@ -17,30 +17,42 @@
 #include <fcntl.h>
 #include <signal.h>
 #include <linux/if.h>
+#include <linux/can/netlink.h>
 
 #include <icsneo/icsneocpp.h>
 #include <icsneo/communication/message/neomessage.h>
+#include <icsneo/communication/message/message.h>
+#include <icsneo/communication/network.h>
 #include <icsneo/communication/message/callback/canmessagecallback.h>
 #include <generated/buildinfo.h>
 
+#include "netlink.h"
+
 #define LOG(LVL, MSG)			do{if(runningAsDaemon) syslog(LVL, MSG); \
 					else fprintf(stderr, MSG);}while(0)
 #define LOGF(LVL, MSG, ...)		do{if(runningAsDaemon) syslog(LVL, MSG, __VA_ARGS__); \
 					else fprintf(stderr, MSG, __VA_ARGS__);}while(0)
 
-#define SIOCSADDIF                 0x3001
-#define SIOCSREMOVEIF              0x3002
-#define SIOCGSHAREDMEMSIZE         0x3003
-#define SIOCSMSGSWRITTEN           0x3004
-#define SIOCGMAXIFACES             0x3005
-#define SIOCGVERSION               0x3006
-#define SIOCGCLIENTVEROK           0x3007
+#define SIOCSADDCANIF			0x3001
+#define SIOCSADDETHIF			0x3002
+#define SIOCSREMOVECANIF		0x3003
+#define SIOCSREMOVEETHIF		0x3004
+#define SIOCGSHAREDMEMSIZE		0x3005
+#define SIOCSMSGSWRITTEN		0x3006
+#define SIOCGMAXIFACES			0x3007
+#define SIOCGVERSION			0x3008
+#define SIOCGCLIENTVEROK		0x3009
+#define SIOCSBAUDRATE			0x300A
+#define SIOCSERRCOUNT           0x300B
+#define SIOCSIFSETTINGS         0x300C
 
 #define RX_BOX_SIZE			(sharedMemSize / (maxInterfaces * 2))
 #define TX_BOX_SIZE			(sharedMemSize / 4)
 #define GET_RX_BOX(DEVICE_INDEX)	(reinterpret_cast<uint8_t*>(sharedMemory) + (RX_BOX_SIZE * DEVICE_INDEX))
 #define GET_TX_BOX(INDEX)		(reinterpret_cast<uint8_t*>(sharedMemory) + (sharedMemSize / 2) + (INDEX * TX_BOX_SIZE))
 
+#define DEFAULT_SCAN_INTERVAL_MS 1000
+
 bool runningAsDaemon = false;
 int driver = 0; // /dev/intrepid_netdevice
 int driverMajor = 0;
@@ -49,6 +61,8 @@ int driverPatch = 0;
 int maxInterfaces = 0; // From driver
 int sharedMemSize = 0; // From driver
 void* sharedMemory = nullptr;
+std::string serialFilter;
+int scanIntervalMs = DEFAULT_SCAN_INTERVAL_MS;
 
 std::atomic<bool> stopRunning(false);
 
@@ -58,35 +72,203 @@ struct intrepid_pending_tx_info {
 	size_t bytes;
 };
 
+#define ICS_MAGIC 0x49435343 // ICSC
+
+struct add_can_if_info {
+    char alias[IFALIASZ];
+    __u32 magic;
+    __u32 ctrl_mode;
+    struct can_clock clock;
+    struct can_bittiming_const bittiming_const;
+    struct can_bittiming_const data_bittiming_const;
+};
+
+struct can_err_report {
+    int device;
+    enum can_state state;
+    struct can_berr_counter err_count;
+};
+
+struct can_dev_settings {
+    int device;
+    struct can_bittiming bittiming;
+    struct can_bittiming data_bittiming;
+    __u32 ctrl_mode;
+    bool termination;
+};
+
+static struct can_clock clock_bxcan = {
+    .freq = 80000000,
+};
+static struct can_bittiming_const bittiming_const_bxcan = {
+    .name = "bxcan-31X",
+    .tseg1_min = 2,		/* Time segment 1 = prop_seg + phase_seg1 */
+    .tseg1_max = 256,
+    .tseg2_min = 2,		/* Time segment 2 = phase_seg2 */
+    .tseg2_max = 128,
+    .sjw_max = 128,
+    .brp_min = 1,
+    .brp_max = 512,
+    .brp_inc = 1,
+};
+static struct can_bittiming_const data_bittiming_const_bxcan = {
+    .name = "bxcan-31X",
+    .tseg1_min = 1,		/* Time segment 1 = prop_seg + phase_seg1 */
+    .tseg1_max = 32,
+    .tseg2_min = 1,		/* Time segment 2 = phase_seg2 */
+    .tseg2_max = 16,
+    .sjw_max = 16,
+    .brp_min = 1,
+    .brp_max = 32,
+    .brp_inc = 1,
+};
+
+static struct can_clock clock_dspic = {
+    .freq = 40000000,
+};
+
+static struct can_bittiming_const bittiming_const_dspic = {
+    .name = "dspic33fj",
+    .tseg1_min = 1,		/* Time segment 1 = prop_seg + phase_seg1 */
+    .tseg1_max = 8,
+    .tseg2_min = 1,		/* Time segment 2 = phase_seg2 */
+    .tseg2_max = 8,
+    .sjw_max = 4,
+    .brp_min = 2,
+    .brp_max = 128,
+    .brp_inc = 1,
+};
+
+static struct can_dev_info {
+    devicetype_t device_type;
+    struct can_clock *clock;
+    struct can_bittiming_const *bittiming_const;
+    struct can_bittiming_const *data_bittiming_const;
+} dev_infos[] = {
+    { icsneo::DeviceType::Enum::ECU_AVB, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADMars, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::VCAN4_1, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADPluto, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::VCAN4_2EL, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::FIRE3, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADJupiter, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::VCAN4_IND, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADGigastar, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RED2, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RAD_A2B, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADEpsilon, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADMoon3, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADComet, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::FIRE3_FlexRay, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::VCAN4_4, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::VCAN4_2, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::FIRE2, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADGalaxy, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::RADStar2, &clock_bxcan, &bittiming_const_bxcan, &data_bittiming_const_bxcan },
+    { icsneo::DeviceType::Enum::FIRE, &clock_dspic, &bittiming_const_dspic, NULL },
+    { icsneo::DeviceType::Enum::VCAN3, &clock_dspic, &bittiming_const_dspic, NULL },
+    { icsneo::DeviceType::Enum::RED, &clock_dspic, &bittiming_const_dspic, NULL },
+};
+
+#define ARRAY_SIZE(x) (sizeof(x)/sizeof(*x))
+
+static struct can_dev_info* get_infos_for_device(devicetype_t device_type)
+{
+    for (size_t i = 0; i < ARRAY_SIZE(dev_infos); ++i) {
+        if (dev_infos[i].device_type == device_type) {
+            return &dev_infos[i];
+        }
+    }
+    return NULL;
+}
+
 class NetworkInterface {
 public:
-	NetworkInterface(const std::string& desiredName) : name(desiredName) {
-		char ifname[IFALIASZ + 1] = {0};
-		strncpy(ifname, name.c_str(), IFALIASZ);
-		kernelHandle = ioctl(driver, SIOCSADDIF, ifname);
+	NetworkInterface(const std::string& desiredName, icsneo::Network::Type device, devicetype_t device_type)
+            : type(device), name(desiredName) {
+        struct add_can_if_info info = {
+            .magic = ICS_MAGIC,
+        };
+		strncpy(info.alias, name.c_str(), IFALIASZ);
+
+		if(device == icsneo::Network::Type::CAN) {
+            struct can_dev_info *dev_info = get_infos_for_device(device_type);
+            if (dev_info) {
+                info.ctrl_mode = CAN_CTRLMODE_BERR_REPORTING;
+                info.clock = *(dev_info->clock);
+                info.bittiming_const = *(dev_info->bittiming_const);
+                if (dev_info->data_bittiming_const) {
+                    info.ctrl_mode |= CAN_CTRLMODE_FD | CAN_CTRLMODE_FD_NON_ISO;
+                    info.data_bittiming_const = *(dev_info->data_bittiming_const);
+                }
+            }
+			kernelHandle = ioctl(driver, SIOCSADDCANIF, &info); // this will call the intrepid_dev_ioctl()
+		} else if(device == icsneo::Network::Type::Ethernet) {
+			kernelHandle = ioctl(driver, SIOCSADDETHIF, &info.alias); // this will call the intrepid_dev_ioctl()
+		}
+
 		if(openedSuccessfully()) {
+            ifindex = ioctl(driver, SIOCGIFINDEX, kernelHandle);
+			LOGF(LOG_INFO, "Ifindex for device %s is %d\n", name.c_str(), ifindex);
 			rxBox = GET_RX_BOX(kernelHandle);
 			rxBoxCurrentPosition = rxBox;
 		}
 	}
 	~NetworkInterface() {
 		if(openedSuccessfully()) {
+			int res = 0;
 			LOGF(LOG_DEBUG, "Removing device %s with handle %d\n", name.c_str(), kernelHandle);
-			int res = ioctl(driver, SIOCSREMOVEIF, kernelHandle);
+			if(type == icsneo::Network::Type::CAN) {
+				res = ioctl(driver, SIOCSREMOVECANIF, kernelHandle);
+			} else if(type == icsneo::Network::Type::Ethernet) {
+				res = ioctl(driver, SIOCSREMOVEETHIF, kernelHandle);
+			}
 			LOGF(LOG_DEBUG, "Removed device %s with handle %d, result %d\n", name.c_str(), kernelHandle, res);
 		} else
 			LOG(LOG_DEBUG, "Removing interface which was not opened successfully\n");
 	}
+
 	NetworkInterface(const NetworkInterface&) = delete;
 	NetworkInterface& operator =(const NetworkInterface&) = delete;
 
 	bool openedSuccessfully() const { return kernelHandle >= 0; }
 	int getKernelHandle() const { return kernelHandle; }
+    int getIfIndex() const { return ifindex; }
 	const std::string& getName() const { return name; }
 	uint8_t* getRxBox() { return rxBox; }
 	const uint8_t* getRxBox() const { return rxBox; }
-	void addReceivedMessageToQueue(const std::shared_ptr<icsneo::Message>& msg) {
-		auto neomessage = icsneo::CreateNeoMessage(msg);
+
+    void reportErrorCount(const std::shared_ptr<icsneo::CANErrorCountMessage>& msg) {
+        LOGF(LOG_INFO, "%s CAN error count tx:%d rx:%d busoff:%d\n",
+                name.c_str(), msg->transmitErrorCount, msg->receiveErrorCount,
+                msg->busOff);
+        struct can_err_report err = {
+            .device = kernelHandle,
+            .state = (msg->busOff)?CAN_STATE_BUS_OFF:CAN_STATE_ERROR_ACTIVE,
+            .err_count = {
+                .txerr = msg->transmitErrorCount,
+                .rxerr = msg->receiveErrorCount,
+            },
+        };
+
+        if(ioctl(driver, SIOCSERRCOUNT, &err) < 0) {
+            LOGF(LOG_DEBUG, "error report ioctl failed %d\n", kernelHandle);
+            return;
+        }
+    }
+
+	template<typename T>
+	void addReceivedMessageToQueue(const std::shared_ptr<icsneo::Frame>& msg) {
+		const auto neomessageGeneric = icsneo::CreateNeoMessage(msg);
+		if(neomessageGeneric.messageType != neomessagetype_t(icsneo::Message::Type::Frame)) {
+			LOG(LOG_DEBUG, "could not create a neomessage_can_t\n");
+			return;
+		}
+
+		if(msg->network.getType() == icsneo::Network::Type::CAN || msg->network.getType() == icsneo::Network::Type::Ethernet) {
+
+			const auto& neomessage = *reinterpret_cast<const T*>(&neomessageGeneric);
+
 			size_t bytesNeeded = sizeof(neomessage) + neomessage.length;
 			std::lock_guard<std::mutex> lg(rxBoxLock);
 			if(ssize_t((rxBoxCurrentPosition - rxBox) + bytesNeeded) > RX_BOX_SIZE) {
@@ -106,14 +288,211 @@ public:
 			rxBoxCurrentPosition = rxBox;
 			rxBoxMessageCount = 0;
 		}
+	}
+
+    void update_bittiming(struct can_bittiming *bt)
+    {
+
+         struct can_clock clock = {
+                .freq = 80000000,
+            };
+        __u64 v64 = (__u64)bt->brp * 1000 * 1000 * 1000;
+        v64 = v64 / clock.freq;
+        bt->tq = (__u32)v64;
+
+        __u32 tseg = 1 + bt->prop_seg + bt->phase_seg1 + bt->phase_seg2;
+        bt->bitrate = clock.freq / (bt->brp * tseg);
+        bt->sample_point = 1000 * (tseg - bt->phase_seg2) / tseg;
+
+        bt->sjw = std::max(1U, std::min(bt->phase_seg1, bt->phase_seg2 / 2));
+    }
+
+
+    void storeCanSettings(const CAN_SETTINGS *can, const CANFD_SETTINGS *canfd, bool termination) {
+        LOGF(LOG_INFO, "Baudrate:%d TqSeg1:%d TqSeg2:%d TqProp:%d TqSync:%d BRP:%d ifdelay:%d\n",
+            can->Baudrate, can->TqSeg1, can->TqSeg2, can->TqProp, can->TqSync, can->BRP, can->innerFrameDelay25us);
+        LOGF(LOG_INFO, "FD Baudrate:%d TqSeg1:%d TqSeg2:%d TqProp:%d TqSync:%d BRP:%d\n",
+            canfd->FDBaudrate, canfd->FDTqSeg1, canfd->FDTqSeg2, canfd->FDTqProp, canfd->FDTqSync, canfd->FDBRP);
+        LOGF(LOG_INFO, "FDMode:0x%x TransceiverMode:0x%x\n", canfd->FDMode, can->transceiver_mode);
+
+        bit_timing.prop_seg = can->TqProp;
+        bit_timing.phase_seg1 = can->TqSeg1;
+        bit_timing.phase_seg2 = can->TqSeg2;
+        bit_timing.brp = can->BRP + 1;
+        bit_timing.sjw = can->TqSync;
+
+        data_bit_timing.prop_seg = canfd->FDTqProp;
+        data_bit_timing.phase_seg1 = canfd->FDTqSeg1;
+        data_bit_timing.phase_seg2 = canfd->FDTqSeg2;
+        data_bit_timing.brp = canfd->FDBRP + 1;
+        data_bit_timing.sjw = canfd->FDTqSync;
+
+        this->termination = termination;
+
+        ctrl_mode = 0;
+        switch (canfd->FDMode) {
+            case NO_CANFD:
+                break;
+                ctrl_mode = 0;
+            case CANFD_ENABLED:
+            case CANFD_BRS_ENABLED:
+                ctrl_mode = CAN_CTRLMODE_FD_NON_ISO;
+                break;
+            case CANFD_ENABLED_ISO:
+            case CANFD_BRS_ENABLED_ISO:
+                ctrl_mode = CAN_CTRLMODE_FD;
+                break;
+        }
+
+        switch (can->transceiver_mode) {
+            case LOOPBACK:
+                ctrl_mode |= CAN_CTRLMODE_LOOPBACK;
+                break;
+            case LISTEN_ONLY:
+            case LISTEN_ALL:
+                ctrl_mode |= CAN_CTRLMODE_LISTENONLY;
+                break;
+        }
+
+        update_bittiming(&bit_timing);
+        if (canfd->FDMode != NO_CANFD) {
+            update_bittiming(&data_bit_timing);
+        } else {
+            data_bit_timing.bitrate = 0;
+        }
+
+        struct can_dev_settings settings = {
+            .device = kernelHandle,
+            .bittiming = bit_timing,
+            .data_bittiming = data_bit_timing,
+            .ctrl_mode = ctrl_mode,
+            .termination = termination,
+        };
+        if(ioctl(driver, SIOCSIFSETTINGS, &settings) < 0) {
+            LOGF(LOG_DEBUG, "device settings ioctl failed %d\n", kernelHandle);
+            return;
+        }
+    }
+
+    void setBittiming(struct can_bittiming *timing, std::shared_ptr<icsneo::Device> device, icsneo::Network::NetID netid) {
+        if (timing->prop_seg == bit_timing.prop_seg
+                && timing->phase_seg1 == bit_timing.phase_seg1
+                && timing->phase_seg2 == bit_timing.phase_seg2
+                && timing->sjw == bit_timing.sjw
+                && timing->brp == bit_timing.brp) {
+            LOG(LOG_INFO, "no change in bittiming\n");
+            return;
+        }
+
+
+        CAN_SETTINGS *settings = device->settings->getMutableCANSettingsFor(netid);
+
+        settings->SetBaudrate = USE_TQ;
+        settings->TqSeg1 = timing->phase_seg1;
+        settings->TqSeg2 = timing->phase_seg2;
+        settings->TqSync = timing->sjw;
+        settings->TqProp = timing->prop_seg;
+        settings->BRP = timing->brp - 1;
+
+        LOGF(LOG_INFO, "Set Bittiming TqSeg1:%d TqSeg2:%d TqProp:%d TqSync:%d BRP:%d\n",
+                settings->TqSeg1, settings->TqSeg2, settings->TqProp, settings->TqSync, settings->BRP);
+
+        if (! device->settings->apply() ) {
+            LOGF(LOG_ERR, "Unable to set bit timings for %s", name.c_str());
+        }
+
+        bit_timing = *timing;
+    }
+
+    void setDataBittiming(struct can_bittiming *timing, std::shared_ptr<icsneo::Device> device, icsneo::Network::NetID netid) {
+        if (timing->prop_seg == data_bit_timing.prop_seg
+                && timing->phase_seg1 == data_bit_timing.phase_seg1
+                && timing->phase_seg2 == data_bit_timing.phase_seg2
+                && timing->sjw == data_bit_timing.sjw
+                && timing->brp == data_bit_timing.brp) {
+            return;
+        }
+        CANFD_SETTINGS *settings = device->settings->getMutableCANFDSettingsFor(netid);
+
+        settings->FDTqSeg1 = timing->phase_seg1;
+        settings->FDTqSeg2 = timing->phase_seg2;
+        settings->FDTqSync = timing->sjw;
+        settings->FDTqProp = timing->prop_seg;
+        settings->FDBRP = timing->brp - 1;
+
+        if (! device->settings->apply() ) {
+            LOGF(LOG_ERR, "Unable to set data bit timings for %s", name.c_str());
+        }
+
+        data_bit_timing = *timing;
+    }
+
+    void setCtrlMode(uint32_t mode, std::shared_ptr<icsneo::Device> device, icsneo::Network::NetID netid) {
+        if (mode == ctrl_mode) {
+            return;
+        }
+
+        if ((mode & (CAN_CTRLMODE_FD_NON_ISO | CAN_CTRLMODE_FD))
+                != (ctrl_mode & (CAN_CTRLMODE_FD_NON_ISO | CAN_CTRLMODE_FD))) {
+            CANFD_SETTINGS *settings = device->settings->getMutableCANFDSettingsFor(netid);
+            if (mode & CAN_CTRLMODE_FD_NON_ISO) {
+                if (bit_timing.bitrate == data_bit_timing.bitrate) {
+                    settings->FDMode = CANFD_ENABLED;
+                } else {
+                    settings->FDMode = CANFD_BRS_ENABLED;
+                }
+            } else if (mode & CAN_CTRLMODE_FD) {
+                if (bit_timing.bitrate == data_bit_timing.bitrate) {
+                    settings->FDMode = CANFD_ENABLED_ISO;
+                } else {
+                    settings->FDMode = CANFD_BRS_ENABLED_ISO;
+                }
+            } else {
+                settings->FDMode = NO_CANFD;
+            }
+        }
+
+        if ((mode & (CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_LOOPBACK))
+                != (ctrl_mode & (CAN_CTRLMODE_LISTENONLY | CAN_CTRLMODE_LOOPBACK))) {
+            CAN_SETTINGS *settings = device->settings->getMutableCANSettingsFor(netid);
+            if (mode & CAN_CTRLMODE_LISTENONLY) {
+                settings->transceiver_mode = LISTEN_ONLY;
+            } else if (mode & CAN_CTRLMODE_LOOPBACK) {
+                settings->transceiver_mode = LOOPBACK;
+            } else {
+                settings->transceiver_mode = NORMAL;
+            }
+        }
+
+        if (! device->settings->apply() ) {
+            LOGF(LOG_ERR, "Unable to set controller mode for %s", name.c_str());
+        }
+        ctrl_mode = mode;
+    }
+
+    void setTermination(bool termination, std::shared_ptr<icsneo::Device> device, icsneo::Network::NetID netid) {
+        if (termination != this->termination) {
+            if (! device->settings->setTerminationFor(netid, termination) ||
+                    ! device->settings->apply() ) {
+                LOGF(LOG_ERR, "Unable to set termination for %s", name.c_str());
+            }
+            this->termination = termination;
+        }
+    }
 
 private:
+	icsneo::Network::Type type;
 	std::string name;
 	int kernelHandle = -1;
+    int ifindex = -1;
 	std::mutex rxBoxLock;
 	uint8_t* rxBox = nullptr;
 	uint8_t* rxBoxCurrentPosition = nullptr;
 	size_t rxBoxMessageCount = 0;
+    struct can_bittiming bit_timing;
+    struct can_bittiming data_bit_timing;
+    uint32_t ctrl_mode;
+    bool termination;
 };
 
 class OpenDevice {
@@ -170,7 +549,7 @@ std::string sanitizeInterfaceName(std::string str) {
 
 void header() {
 	std::cout << "The libicsneo SocketCAN Usermode Daemon\n";
-	std::cout << "Copyright Intrepid Control Systems, Inc. 2019\n\n";
+	std::cout << "Copyright Intrepid Control Systems, Inc. 2025\n\n";
 	std::cout << "Daemon v";
 	std::cout << (int)ICSNEO_SOCKETCAN_BUILD_MAJOR << '.' << (int)ICSNEO_SOCKETCAN_BUILD_MINOR << '.' << (int)ICSNEO_SOCKETCAN_BUILD_PATCH;
 	if(ICSNEO_SOCKETCAN_BUILD_METADATA[0] != '\0')
@@ -187,12 +566,14 @@ void header() {
 
 void usage(std::string executableName) {
 	std::cerr << "The libicsneo SocketCAN Usermode Daemon\n";
-	std::cerr << "Copyright Intrepid Control Systems, Inc. 2019\n\n";
+	std::cerr << "Copyright 2019-2025 Intrepid Control Systems, Inc.\n\n";
 	std::cerr << "Usage: " << executableName << " [option]\n\n";
 	std::cerr << "Options:\n";
-	std::cerr << "\t-d,     --daemon\t\tRun as a daemon in the background\n";
-	std::cerr << "\t-h, -?, --help, --usage\t\tShow this help page\n";
-	std::cerr << "\t        --devices\t\tList supported devices\n";
+	std::cerr << "\t-d,     --daemon\t\t\tRun as a daemon in the background\n";
+	std::cerr << "\t-h, -?, --help, --usage\t\t\tShow this help page\n";
+	std::cerr << "\t        --devices\t\t\tList supported devices\n";
+	std::cerr << "\t        --filter <serial>\t\tOnly connect to devices with serial\n\t\t\t\t\t\tnumbers starting with this filter\n";
+	std::cerr << "\t        --scan-interval-ms <interval>\tDevice scan interval in ms\n\t\t\t\t\t\tIf 0, only a single scan is performed\n";
 }
 
 void terminateSignal(int signal) {
@@ -215,43 +596,48 @@ void searchForDevices() {
 		if(alreadyOpen)
 			continue;
 
+		const std::string serial = dev->getSerial();
+
+		// If we have a serial filter, make sure our serial starts with the given filter
+		if(!serialFilter.empty() && serial.rfind(serialFilter, 0) != 0)
+			continue;
+
 		// Now open the device
 		OpenDevice newDevice(dev);
-		const std::string serial = newDevice.device->getSerial();
 		Lazy<bool> firstTimeFailedToOpen([&serial]() {
 			return std::find(failedToOpen.begin(), failedToOpen.end(), serial) == failedToOpen.end();
 		});
 		if(!newDevice.device->open() || !newDevice.device->goOnline()) {
 			if(firstTimeFailedToOpen) {
-				icsneo::APIError err;
-				icsneo::GetLastError(err);
-				LOGF(LOG_INFO, "%s failed to connect. Will keep trying...\n%s\n", newDevice.device->describe().c_str(), err.describe().c_str());
+				const std::string err = icsneo::GetLastError().describe();
+				LOGF(LOG_INFO, "%s failed to connect. Will keep trying...\n%s\n", newDevice.device->describe().c_str(), err.c_str());
 				failedToOpen.push_back(serial);
 			}
 			continue;
 		}
 
-		// Get the supported CAN networks
+		// Get the supported networks
 		auto supportedNetworks = newDevice.device->getSupportedRXNetworks();
 		supportedNetworks.erase(std::remove_if(supportedNetworks.begin(), supportedNetworks.end(), [](const icsneo::Network& net) -> bool {
-			return net.getType() != icsneo::Network::Type::CAN;// Only want CAN networks
+			return net.getType() != icsneo::Network::Type::CAN && net.getType() != icsneo::Network::Type::Ethernet;
 		}), supportedNetworks.end());
 		if(supportedNetworks.empty()) {
 			if(firstTimeFailedToOpen) {
-				LOGF(LOG_INFO, "%s has no supported CAN networks\n", newDevice.device->describe().c_str());
+				LOGF(LOG_INFO, "%s has no supported networks\n", newDevice.device->describe().c_str());
 				failedToOpen.push_back(serial);
 			}
 			continue;
 		}
 
-		// Create a network interface for each CAN network
+		// Create a network interface for each network
 		for(const auto& net : supportedNetworks) {
 			std::stringstream ss;
 			ss << sanitizeInterfaceName(icsneo::Network::GetNetIDString(net.getNetID())) << "_" << serial;
 			std::string interfaceName(ss.str());
 			if(firstTimeFailedToOpen)
 				LOGF(LOG_INFO, "Creating network interface %s\n", interfaceName.c_str());
-			newDevice.interfaces[net.getNetID()] = std::make_shared<NetworkInterface>(interfaceName);
+
+			newDevice.interfaces[net.getNetID()] = std::make_shared<NetworkInterface>(interfaceName, net.getType(), newDevice.device->getType());
 			LOGF(LOG_INFO, "Created network interface %s\n", interfaceName.c_str());
 		}
 		bool failedToCreateNetworkInterfaces = false;
@@ -266,28 +652,49 @@ void searchForDevices() {
 				LOGF(LOG_INFO, "%s failed to create network interfaces. Will keep trying...\n", newDevice.device->describe().c_str());
 				failedToOpen.push_back(serial);
 			}
+
 			continue;
 		}
+			if (driverMinor > 0) {
+				for(const auto& net : supportedNetworks) {
+					if (net.getType() != icsneo::Network::Type::CAN)
+						continue;
+                    const CAN_SETTINGS *can = newDevice.device->settings->getCANSettingsFor(net.getNetID());
+                    const CANFD_SETTINGS *fd = newDevice.device->settings->getCANFDSettingsFor(net.getNetID());
+                    bool termination = newDevice.device->settings->isTerminationEnabledFor(net.getNetID())
+                        .value_or(false);
+                    newDevice.interfaces[net.getNetID()]->storeCanSettings(can, fd, termination);
+				}
+			}
 
 		// Create rx listener
-		newDevice.device->addMessageCallback(icsneo::CANMessageCallback([serial](std::shared_ptr<icsneo::Message> message) {
-			if(message->transmitted)
-				return;
-			auto canMessage = std::static_pointer_cast<icsneo::CANMessage>(message);
+		newDevice.device->addMessageCallback(std::make_shared<icsneo::MessageCallback>([serial](std::shared_ptr<icsneo::Message> message) {
+			const auto frame = std::static_pointer_cast<icsneo::Frame>(message);
+			const auto messageType = frame->network.getType();
 			const OpenDevice* openDevice = nullptr;
+			std::lock_guard<std::mutex> lg(openDevicesMutex);
 			for(const auto& dev : openDevices) {
 				if(dev.device->getSerial() == serial) {
 					openDevice = &dev;
 					break;
 				}
 			}
-			if(!openDevice) {
-				LOG(LOG_ERR, "Dropping message, no open device\n");
+			if(frame->type == icsneo::Message::Type::CANErrorCount) {
+                const auto errmsg = std::static_pointer_cast<icsneo::CANErrorCountMessage>(message);
+                openDevice->interfaces.at(frame->network.getNetID())->reportErrorCount(errmsg);
+                return;
+            }
+			if(frame->type != icsneo::Message::Type::Frame) {
+				LOG(LOG_ERR, "Dropping message: received invalid message type, expected RawMessage\n");
 				return;
 			}
 
-			// todo might throw
-			openDevice->interfaces.at(canMessage->network.getNetID())->addReceivedMessageToQueue(canMessage);
+			if(messageType == icsneo::Network::Type::CAN) {
+				openDevice->interfaces.at(frame->network.getNetID())->addReceivedMessageToQueue<neomessage_can_t>(frame);
+			} else if(messageType == icsneo::Network::Type::Ethernet) {
+				openDevice->interfaces.at(frame->network.getNetID())->addReceivedMessageToQueue<neomessage_eth_t>(frame);
+			} else
+				LOG(LOG_ERR, "Dropping message, only CAN and Ethernet are currently supported\n");
 		}));
 
 		LOGF(LOG_INFO, "%s connected\n", newDevice.device->describe().c_str());
@@ -320,7 +727,7 @@ void searchForDevices() {
 		openDevices.end()
 	);
 
-	for(const auto& err : icsneo::GetErrors()) {
+	for(const auto& err : icsneo::GetEvents()) {
 		bool forErrorDevice = false;
 		for(const auto& dev : failedToOpen) {
 			if(err.isForDevice(dev)) {
@@ -339,18 +746,16 @@ void searchForDevices() {
 void deviceSearchThread() {
 	while(!stopRunning) {
 		searchForDevices();
-		std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+		if(scanIntervalMs == 0) {
+			break;
+		}
+		std::this_thread::sleep_for(std::chrono::milliseconds(scanIntervalMs));
 	}
 }
 
 int main(int argc, char** argv) {
-	if(argc > 2) {
-		usage(argv[0]);
-		return EX_USAGE;
-	}
-
-	if(argc == 2) {
-		const std::string arg = argv[1];
+	for(int i = 1; i != argc; i++) {
+		const std::string arg = argv[i];
 		if(arg == "-d" || arg == "--daemon") {
 			runningAsDaemon = true;
 		} else if(arg == "-h" || arg == "--help" || arg == "-?" || arg == "--usage") {
@@ -362,6 +767,24 @@ int main(int argc, char** argv) {
 			for(auto& dev : icsneo::GetSupportedDevices())
 				std::cout << '\t' << dev << std::endl;
 			return EXIT_SUCCESS;
+		} else if(arg == "--filter" && i + 1 <= argc) {
+			serialFilter = argv[++i];
+			transform(serialFilter.begin(), serialFilter.end(), serialFilter.begin(), ::toupper);
+		} else if(arg == "--scan-interval-ms" && i + 1 <= argc) {
+			try {
+				scanIntervalMs = std::stoi(argv[++i]);
+			} catch (const std::invalid_argument& e) {
+				std::cerr << "Invalid input for scan-interval-ms\n";
+				return EX_USAGE;
+			} catch (const std::out_of_range& e) {
+				std::cerr << "Out of range input for scan-interval-ms\n";
+				return EX_USAGE;
+			}
+
+			if(scanIntervalMs < 0) {
+				std::cerr << "Invalid input for scan-interval-ms\n";
+				return EX_USAGE;
+			}
 		} else {
 			usage(argv[0]);
 			return EX_USAGE;
@@ -405,7 +828,7 @@ int main(int argc, char** argv) {
 		return EXIT_FAILURE;
 	}
 	std::cout << "Driver v" << driverMajor << '.' << driverMinor << '.' << driverPatch << "\n\n";
-	if(driverMajor > 2) {
+	if(driverMajor > 3) {
 		LOG(LOG_ERR, "This version of the usermode daemon is too old to work with this driver\nPlease ensure that both the usermode daemon and kernel driver are up to date\n");
 		return EXIT_FAILURE;
 	}
@@ -431,6 +854,12 @@ int main(int argc, char** argv) {
 		return EXIT_FAILURE;
 	}
 
+    int netlink_socket = open_netlink_socket();
+    if (netlink_socket < 0) {
+        LOGF(LOG_ERR, "Unable to open netlink socket\nError %d: %s\n", errno, strerror(errno));
+        return EXIT_FAILURE;
+    }
+
 	// Daemonize if necessary
 	if(runningAsDaemon) {
 		LOG(LOG_INFO, "The daemon will now continue to run in the background\n");
@@ -450,17 +879,49 @@ int main(int argc, char** argv) {
 		fd_set fds;
 		FD_ZERO(&fds);
 		FD_SET(driver, &fds);
+		FD_SET(netlink_socket, &fds);
+
+        int max_fd = (driver > netlink_socket)?driver:netlink_socket;
 
 		struct timeval timeout = {};
 		timeout.tv_sec = 1;
 
-		auto ret = select(driver + 1, &fds, NULL, NULL, &timeout);
+		auto ret = select(max_fd + 1, &fds, NULL, NULL, &timeout);
 		if(ret == -1) {
 			// Fatal error
 			LOGF(LOG_ERR, "Error waiting for tx messages: %s\n", strerror(errno));
 			stopRunning = true;
 			break;
-		} else if(ret != 0) {
+        }
+        if (FD_ISSET(netlink_socket, &fds)) {
+            // Kernel sent some information via netlink, handle it.
+            read_netlink_msgs(netlink_socket, [](int ifindex, int type, void *data) {
+				for(auto& dev : openDevices) {
+					for(auto& netifPair : dev.interfaces) {
+						auto netid = netifPair.first;
+                        auto iface = netifPair.second;
+                        if (iface->getIfIndex() != ifindex) {
+                            continue;
+                        }
+                        switch (type) {
+                            case IFLA_CAN_BITTIMING:
+                                iface->setBittiming((struct can_bittiming *) data, dev.device, netid);
+                                break;
+                            case IFLA_CAN_DATA_BITTIMING:
+                                iface->setDataBittiming((struct can_bittiming *) data, dev.device, netid);
+                                break;
+                            case IFLA_CAN_TERMINATION:
+                                iface->setTermination(*((uint16_t *) data) != 0, dev.device, netid);
+                                break;
+                            case IFLA_CAN_CTRLMODE:
+                                iface->setCtrlMode(((struct can_ctrlmode *) data)->flags, dev.device, netid);
+                                break;
+                        }
+                    }
+                }
+            });
+        }
+		if (FD_ISSET(driver, &fds)) {
 			// Kernel says there are some new transmit messages waiting to go out.
 			// Call read() to find out which box they're in and how many
 			struct intrepid_pending_tx_info info;
@@ -473,22 +934,60 @@ int main(int argc, char** argv) {
 				LOGF(LOG_ERR, "Unexpected number of bytes read, expected %d got %d\n", (int)sizeof(info), (int)r);
 				stopRunning = true;
 				break;
+			} else if (info.tx_box_index < 0) {
+				// Baudrate changed in kernel
+				int dev_idx = -(info.tx_box_index + 1);
+				LOGF(LOG_INFO, "Baudrate change, device %d, baudrate %d fd_baudrate %ld\n",
+					dev_idx, info.count, info.bytes);
+				/* fd baudrate is zero if fd mode is disabled in kernel
+				 * set fd baudrate equal to baudrate */
+				if (info.bytes == 0) {
+					info.bytes = info.count;
+				}
+				for(auto& dev : openDevices) {
+					for(auto& netifPair : dev.interfaces) {
+						auto netid = netifPair.first;
+						if(netifPair.second->getKernelHandle() != dev_idx)
+							continue;
+						if (! dev.device->settings->setBaudrateFor(netid, info.count) ) {
+							LOGF(LOG_ERR, "Unable to set baudrate for device %s\n",
+								netifPair.second->getName().c_str());
+						} else if (! dev.device->settings->setFDBaudrateFor(netid, info.bytes)) {
+							LOGF(LOG_ERR, "Unable to set fd baudrate for device %s\n",
+								netifPair.second->getName().c_str());
+						} else if (! dev.device->settings->setTerminationFor(netid, false)) {
+							LOGF(LOG_ERR, "Unable to set termination for device %s\n",
+								netifPair.second->getName().c_str());
+						} else if (! dev.device->settings->apply()) {
+							LOGF(LOG_ERR, "Unable to apply settings for device %s\n",
+								netifPair.second->getName().c_str());
+						}
+					}
+				}
 			} else {
 				// Send!
 				uint8_t* currentPosition = GET_TX_BOX(info.tx_box_index);
 				while(info.count--) {
-					neomessage_t* msg = reinterpret_cast<neomessage_t*>(currentPosition);
-					currentPosition += sizeof(neomessage_t);
+					neomessage_frame_t* msg = reinterpret_cast<neomessage_frame_t*>(currentPosition);
+					currentPosition += sizeof(neomessage_frame_t);
 					msg->data = currentPosition;
 					currentPosition += msg->length;
+
+					if(msg->type != neonettype_t(icsneo::Network::Type::CAN) && msg->type != neonettype_t(icsneo::Network::Type::Ethernet)) {
+						LOG(LOG_ERR, "Message dropped, kernel sent a non-CAN/Ethernet message\n");
+						continue;
+					}
+
 					bool sent = false;
+					std::lock_guard<std::mutex> lg(openDevicesMutex);
 					for(auto& dev : openDevices) {
 						for(auto& netifPair : dev.interfaces) {
 							if(netifPair.second->getKernelHandle() != msg->netid)
 								continue;
 							msg->netid = static_cast<uint16_t>(netifPair.first);
-							auto tx = icsneo::CreateMessageFromNeoMessage(msg);
-							if(!dev.device->transmit(tx))
+							auto txMsg = icsneo::CreateMessageFromNeoMessage(reinterpret_cast<neomessage_t*>(msg));
+							auto tx = std::dynamic_pointer_cast<icsneo::Frame>(txMsg);
+							if(!tx || !dev.device->transmit(tx))
 								break;
 							sent = true;
 							break;

src/netlink.c

@@ -0,0 +1,99 @@
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <sys/uio.h>
+#include <sys/socket.h>
+#include <linux/if_link.h>
+#include <linux/if_arp.h>
+#include <linux/netlink.h>
+#include <linux/can/netlink.h>
+#include <linux/rtnetlink.h>
+
+#include "netlink.h"
+
+bool read_netlink_msgs(int s, msg_callback callback)
+{
+    struct nlmsghdr buf[8192/sizeof(struct nlmsghdr)];
+
+    struct nlmsghdr *nh;
+    int len = recv(s, buf, sizeof(buf), 0);
+
+    for (nh = (struct nlmsghdr *) buf; NLMSG_OK (nh, len);
+            nh = NLMSG_NEXT (nh, len)) {
+        /* The end of multipart message */
+        if (nh->nlmsg_type == NLMSG_DONE) {
+            printf("Done\n");
+            return true;
+        }
+
+        if (nh->nlmsg_type == NLMSG_ERROR) {
+            printf("Error\n");
+        } else if (nh->nlmsg_type == RTM_NEWLINK) {
+            struct ifinfomsg *iface = NLMSG_DATA(nh);
+            int attrlen = nh->nlmsg_len - NLMSG_LENGTH(sizeof(*iface));
+            if (iface->ifi_type == ARPHRD_CAN) {
+                for (struct rtattr *rta = IFLA_RTA(iface); RTA_OK(rta, attrlen); rta = RTA_NEXT(rta, attrlen)) {
+                    switch(rta->rta_type) {
+                        case IFLA_LINKINFO:
+                            {
+                                int attr2len = RTA_PAYLOAD(rta);
+                                char *kind = NULL;
+                                void *data = NULL;
+                                int data_len;
+                                for (struct rtattr *rta2 = RTA_DATA(rta); RTA_OK(rta2, attr2len);
+                                        rta2 = RTA_NEXT(rta2, attr2len)) {
+                                    switch (rta2->rta_type) {
+                                        case IFLA_INFO_KIND:
+                                            kind = RTA_DATA(rta2);
+                                            break;
+                                        case IFLA_INFO_DATA:
+                                            data = RTA_DATA(rta2);
+                                            data_len = RTA_PAYLOAD(rta2);
+                                            break;
+                                    }
+                                }
+                                if (kind && strcmp(kind, "can") == 0 && data) {
+                                    attr2len = data_len;
+                                    for (struct rtattr *rta2 = data; RTA_OK(rta2, attr2len);
+                                            rta2 = RTA_NEXT(rta2, attr2len)) {
+                                        if (callback) {
+                                            callback(iface->ifi_index, rta2->rta_type, RTA_DATA(rta2));
+                                        }
+                                    }
+                                }
+                            }
+                            break;
+                    }
+                }
+            }
+        }
+    }
+}
+
+int open_netlink_socket()
+{
+    int s = socket(AF_NETLINK, SOCK_RAW|SOCK_CLOEXEC, NETLINK_ROUTE);
+
+    if (s < 0) {
+        return -1;
+    }
+
+    struct sockaddr_nl addr = {
+        .nl_family = AF_NETLINK,
+        .nl_groups = RTMGRP_LINK,
+    };
+
+    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+        return -1;
+    }
+
+
+    int group = RTMGRP_LINK;
+	if (setsockopt(s, SOL_NETLINK, NETLINK_ADD_MEMBERSHIP, &group, sizeof(group))) {
+        return -1;
+    }
+
+    return s;
+}

src/netlink.h

@@ -0,0 +1,13 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef void (*msg_callback)(int /* ifindex */, int /* rta_type */, void * /* data */);
+
+bool read_netlink_msgs(int s, msg_callback callback);
+
+int open_netlink_socket();
+
+#ifdef __cplusplus
+}
+#endif