4 * Copyright (c) 2002-2008 Volkswagen Group Electronic Research
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8 * modification, are permitted provided that the following conditions
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11 * notice, this list of conditions and the following disclaimer.
12 * 2. Redistributions in binary form must reproduce the above copyright
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14 * documentation and/or other materials provided with the distribution.
15 * 3. Neither the name of Volkswagen nor the names of its contributors
16 * may be used to endorse or promote products derived from this software
17 * without specific prior written permission.
19 * Alternatively, provided that this notice is retained in full, this
20 * software may be distributed under the terms of the GNU General
21 * Public License ("GPL") version 2, in which case the provisions of the
22 * GPL apply INSTEAD OF those given above.
24 * The provided data structures and external interfaces from this code
25 * are not restricted to be used by modules with a GPL compatible license.
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40 * Send feedback to <linux-can@vger.kernel.org>
54 #include <sys/types.h>
55 #include <sys/socket.h>
56 #include <sys/ioctl.h>
60 #include <linux/can.h>
61 #include <linux/can/raw.h>
65 #define MAXSOCK 16 /* max. number of CAN interfaces given on the cmdline */
67 #define PERCENTRES 5 /* resolution in percent for bargraph */
68 #define NUMBAR (100/PERCENTRES) /* number of bargraph elements */
70 extern int optind, opterr, optopt;
73 char devname[IFNAMSIZ+1];
75 unsigned int recv_frames;
76 unsigned int recv_bits_total;
77 unsigned int recv_bits_payload;
80 static int max_devname_len; /* to prevent frazzled device name output */
81 static int max_bitrate_len;
83 static unsigned char redraw;
84 static unsigned char timestamp;
85 static unsigned char color;
86 static unsigned char bargraph;
87 static unsigned char ignore_bitstuffing;
90 void print_usage(char *prg)
92 fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
93 fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
94 fprintf(stderr, "Options: -t (show current time on the first line)\n");
95 fprintf(stderr, " -c (colorize lines)\n");
96 fprintf(stderr, " -b (show bargraph in %d%% resolution)\n", PERCENTRES);
97 fprintf(stderr, " -r (redraw the terminal - similar to top)\n");
98 fprintf(stderr, " -i (ignore bitstuffing estimation in bandwith calculation)\n");
99 fprintf(stderr, "\n");
100 fprintf(stderr, "Up to %d CAN interfaces with mandatory bitrate can be specified on the \n", MAXSOCK);
101 fprintf(stderr, "commandline in the form: <ifname>@<bitrate>\n\n");
102 fprintf(stderr, "The bitrate is mandatory as it is needed to know the CAN bus bitrate to\n");
103 fprintf(stderr, "calcultate the bus load percentage based on the received CAN frames.\n");
104 fprintf(stderr, "Due to the bitstuffing estimation the calculated busload may exceed 100%%.\n");
105 fprintf(stderr, "For each given interface the data is presented in one line which contains:\n\n");
106 fprintf(stderr, "(interface) (received CAN frames) (used bits total) (used bits for payload)\n");
107 fprintf(stderr, "\nExample:\n");
108 fprintf(stderr, "\nuser$> canbusload can0@100000 can1@500000 can2@500000 can3@500000 -r -t -b -c\n\n");
109 fprintf(stderr, "%s 2008-05-27 15:18:49\n", prg);
110 fprintf(stderr, " can0@100000 805 74491 36656 74%% |XXXXXXXXXXXXXX......|\n");
111 fprintf(stderr, " can1@500000 796 75140 37728 15%% |XXX.................|\n");
112 fprintf(stderr, " can2@500000 0 0 0 0%% |....................|\n");
113 fprintf(stderr, " can3@500000 47 4633 2424 0%% |....................|\n");
114 fprintf(stderr, "\n");
117 void sigterm(int signo)
122 void printstats(int signo)
127 printf("%s", CSR_HOME);
133 if (time(&currtime) == (time_t)-1) {
138 localtime_r(&currtime, &now);
140 printf("%s %04d-%02d-%02d %02d:%02d:%02d\n",
150 for (i=0; i<currmax; i++) {
156 printf("%s", FGBLUE);
160 percent = (stat[i].recv_bits_total*100)/stat[i].bitrate;
164 printf(" %*s@%-*d %5d %7d %6d %3d%%",
165 max_devname_len, stat[i].devname,
166 max_bitrate_len, stat[i].bitrate,
168 stat[i].recv_bits_total,
169 stat[i].recv_bits_payload,
179 for (j=0; j < NUMBAR; j++){
180 if (j < percent/PERCENTRES)
190 printf("%s", ATTRESET);
194 stat[i].recv_frames = 0;
195 stat[i].recv_bits_total = 0;
196 stat[i].recv_bits_payload = 0;
205 int main(int argc, char **argv)
212 struct sockaddr_can addr;
213 struct can_frame frame;
216 sigset_t sigmask, savesigmask;
218 signal(SIGTERM, sigterm);
219 signal(SIGHUP, sigterm);
220 signal(SIGINT, sigterm);
222 signal(SIGALRM, printstats);
224 prg = basename(argv[0]);
226 while ((opt = getopt(argc, argv, "rtbcih?")) != -1) {
245 ignore_bitstuffing = 1;
255 if (optind == argc) {
260 currmax = argc - optind; /* find real number of CAN devices */
262 if (currmax > MAXSOCK) {
263 printf("More than %d CAN devices given on commandline!\n", MAXSOCK);
267 for (i=0; i < currmax; i++) {
269 ptr = argv[optind+i];
271 nbytes = strlen(ptr);
272 if (nbytes >= IFNAMSIZ+sizeof("@1000000")+1) {
273 printf("name of CAN device '%s' is too long!\n", ptr);
278 printf("open %d '%s'.\n", i, ptr);
281 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
287 nptr = strchr(ptr, '@');
294 nbytes = nptr - ptr; /* interface name is up the first '@' */
296 if (nbytes >= IFNAMSIZ) {
297 printf("name of CAN device '%s' is too long!\n", ptr);
301 strncpy(stat[i].devname, ptr, nbytes);
302 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
303 strncpy(ifr.ifr_name, ptr, nbytes);
305 if (nbytes > max_devname_len)
306 max_devname_len = nbytes; /* for nice printing */
308 stat[i].bitrate = atoi(nptr+1); /* bitrate is placed behind the '@' */
310 if (!stat[i].bitrate || stat[i].bitrate > 1000000) {
311 printf("invalid bitrate for CAN device '%s'!\n", ptr);
315 nbytes = strlen(nptr+1);
316 if (nbytes > max_bitrate_len)
317 max_bitrate_len = nbytes; /* for nice printing */
321 printf("using interface name '%s'.\n", ifr.ifr_name);
324 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
325 perror("SIOCGIFINDEX");
329 addr.can_family = AF_CAN;
330 addr.can_ifindex = ifr.ifr_ifindex;
332 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
341 printf("%s", CLR_SCREEN);
346 for (i=0; i<currmax; i++)
349 savesigmask = sigmask;
351 if (pselect(s[currmax-1]+1, &rdfs, NULL, NULL, NULL, &sigmask) < 0) {
353 sigmask = savesigmask;
357 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
359 if (FD_ISSET(s[i], &rdfs)) {
361 nbytes = read(s[i], &frame, sizeof(struct can_frame));
368 if (nbytes < sizeof(struct can_frame)) {
369 fprintf(stderr, "read: incomplete CAN frame\n");
373 stat[i].recv_frames++;
374 stat[i].recv_bits_payload += frame.can_dlc*8;
377 * Following Ken Tindells *worst* case calculation for stuff-bits
378 * (see "Guaranteeing Message Latencies on Controller Area Network" 1st ICC'94)
379 * the needed bits on the wire can be calculated as:
381 * (34 + 8n)/5 + 47 + 8n for SFF frames (11 bit CAN-ID) => (269 + 48n)/5
382 * (54 + 8n)/5 + 67 + 8n for EFF frames (29 bit CAN-ID) => (389 + 48n)/5
384 * while 'n' is the data length code (number of payload bytes)
388 if (ignore_bitstuffing) {
389 /* calculation without bitstuffing */
390 if (frame.can_id & CAN_EFF_FLAG)
391 stat[i].recv_bits_total += 67 + frame.can_dlc*8;
393 stat[i].recv_bits_total += 47 + frame.can_dlc*8;
395 /* needed bits including estimated worst case stuff bits */
396 if (frame.can_id & CAN_EFF_FLAG)
397 stat[i].recv_bits_total += (389 + frame.can_dlc*48)/5;
399 stat[i].recv_bits_total += (269 + frame.can_dlc*48)/5;
405 for (i=0; i<currmax; i++)