6 * cangen.c - CAN frames generator for testing purposes
8 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
11 * Redistribution and use in source and binary forms, with or without
12 * modification, are permitted provided that the following conditions
14 * 1. Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * 2. Redistributions in binary form must reproduce the above copyright
17 * notice, this list of conditions and the following disclaimer in the
18 * documentation and/or other materials provided with the distribution.
19 * 3. Neither the name of Volkswagen nor the names of its contributors
20 * may be used to endorse or promote products derived from this software
21 * without specific prior written permission.
23 * Alternatively, provided that this notice is retained in full, this
24 * software may be distributed under the terms of the GNU General
25 * Public License ("GPL") version 2, in which case the provisions of the
26 * GPL apply INSTEAD OF those given above.
28 * The provided data structures and external interfaces from this code
29 * are not restricted to be used by modules with a GPL compatible license.
31 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
32 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
33 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
34 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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36 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
37 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
38 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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44 * Send feedback to <socketcan-users@lists.berlios.de>
60 #include <sys/types.h>
61 #include <sys/socket.h>
62 #include <sys/ioctl.h>
66 #include <linux/can.h>
67 #include <linux/can/raw.h>
70 #define DEFAULT_GAP 200 /* ms */
73 #define MODE_INCREMENT 1
76 extern int optind, opterr, optopt;
78 static volatile int running = 1;
79 static unsigned long long enobufs_count;
81 void print_usage(char *prg)
83 fprintf(stderr, "\n%s: generate CAN frames\n\n", prg);
84 fprintf(stderr, "Usage: %s [options] <CAN interface>\n", prg);
85 fprintf(stderr, "Options: -g <ms> (gap in milli seconds "
86 "- default: %d ms)\n", DEFAULT_GAP);
87 fprintf(stderr, " -e (generate extended frame mode "
88 "(EFF) CAN frames)\n");
89 fprintf(stderr, " -I <mode> (CAN ID"
90 " generation mode - see below)\n");
91 fprintf(stderr, " -L <mode> (CAN data length code (dlc)"
92 " generation mode - see below)\n");
93 fprintf(stderr, " -D <mode> (CAN data (payload)"
94 " generation mode - see below)\n");
95 fprintf(stderr, " -i (ignore -ENOBUFS return values on"
96 " write() syscalls)\n");
97 fprintf(stderr, " -x (disable local loopback of "
98 "generated CAN frames)\n");
99 fprintf(stderr, " -v (increment verbose level for "
100 "printing sent CAN frames)\n\n");
101 fprintf(stderr, "Generation modes:\n");
102 fprintf(stderr, "'r' => random values (default)\n");
103 fprintf(stderr, "'i' => increment values\n");
104 fprintf(stderr, "<hexvalue> => fix value using <hexvalue>\n\n");
105 fprintf(stderr, "When incrementing the CAN data the data length code "
106 "minimum is set to 1.\n\n");
107 fprintf(stderr, "Examples:\n");
108 fprintf(stderr, "%s vcan0 -g 4 -I 42A -L 1 -D i -v -v ", prg);
109 fprintf(stderr, "(fixed CAN ID and length, inc. data)\n");
110 fprintf(stderr, "%s vcan0 -e -L i -v -v -v ", prg);
111 fprintf(stderr, "(generate EFF frames, incr. length)\n");
112 fprintf(stderr, "%s vcan0 -D 11223344DEADBEEF -L 8 ", prg);
113 fprintf(stderr, "(fixed CAN data payload and length)\n");
114 fprintf(stderr, "%s vcan0 -g 0 -i -x ", prg);
115 fprintf(stderr, "(full load test ignoring -ENOBUFS)\n");
116 fprintf(stderr, "%s vcan0 ", prg);
117 fprintf(stderr, "(my favourite default :)\n\n");
120 void sigterm(int signo)
125 int main(int argc, char **argv)
127 unsigned long gap = DEFAULT_GAP;
128 unsigned char ignore_enobufs = 0;
129 unsigned char extended = 0;
130 unsigned char id_mode = MODE_RANDOM;
131 unsigned char data_mode = MODE_RANDOM;
132 unsigned char dlc_mode = MODE_RANDOM;
133 unsigned char loopback_disable = 0;
134 unsigned char verbose = 0;
135 uint64_t incdata = 0;
140 struct sockaddr_can addr;
141 static struct can_frame frame;
148 signal(SIGTERM, sigterm);
149 signal(SIGHUP, sigterm);
150 signal(SIGINT, sigterm);
152 while ((opt = getopt(argc, argv, "ig:eI:L:D:xvh?")) != -1) {
160 gap = strtoul(optarg, NULL, 10);
168 if (optarg[0] == 'r') {
169 id_mode = MODE_RANDOM;
170 } else if (optarg[0] == 'i') {
171 id_mode = MODE_INCREMENT;
174 frame.can_id = strtoul(optarg, NULL, 16);
179 if (optarg[0] == 'r') {
180 dlc_mode = MODE_RANDOM;
181 } else if (optarg[0] == 'i') {
182 dlc_mode = MODE_INCREMENT;
185 frame.can_dlc = atoi(optarg)%9;
190 if (optarg[0] == 'r') {
191 data_mode = MODE_RANDOM;
192 } else if (optarg[0] == 'i') {
193 data_mode = MODE_INCREMENT;
195 data_mode = MODE_FIX;
196 incdata = strtoull(optarg, NULL, 16);
198 frame.data[i] = (incdata >> (7-i)*8) & 0xFFULL;
207 loopback_disable = 1;
213 print_usage(basename(argv[0]));
219 if (optind == argc) {
220 print_usage(basename(argv[0]));
224 ts.tv_sec = gap / 1000;
225 ts.tv_nsec = (gap % 1000) * 1000000;
228 if (id_mode == MODE_FIX) {
230 /* recognize obviously missing commandline option */
231 if ((frame.can_id > 0x7FF) && !extended) {
232 printf("The given CAN-ID is greater than 0x7FF and "
233 "the '-e' option is not set.\n");
238 frame.can_id &= CAN_EFF_MASK;
240 frame.can_id &= CAN_SFF_MASK;
244 frame.can_id |= CAN_EFF_FLAG;
246 if ((data_mode == MODE_INCREMENT) && !frame.can_dlc)
247 frame.can_dlc = 1; /* min dlc value for incr. data */
249 if (strlen(argv[optind]) >= IFNAMSIZ) {
250 printf("Name of CAN device '%s' is too long!\n\n", argv[optind]);
254 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
259 addr.can_family = AF_CAN;
261 strcpy(ifr.ifr_name, argv[optind]);
262 if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
263 perror("SIOCGIFINDEX");
266 addr.can_ifindex = ifr.ifr_ifindex;
268 /* disable default receive filter on this RAW socket */
269 /* This is obsolete as we do not read from the socket at all, but for */
270 /* this reason we can remove the receive list in the Kernel to save a */
271 /* little (really a very little!) CPU usage. */
272 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
274 if (loopback_disable) {
277 setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
278 &loopback, sizeof(loopback));
281 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
288 if (id_mode == MODE_RANDOM) {
290 frame.can_id = random();
293 frame.can_id &= CAN_EFF_MASK;
294 frame.can_id |= CAN_EFF_FLAG;
296 frame.can_id &= CAN_SFF_MASK;
299 if (dlc_mode == MODE_RANDOM) {
301 frame.can_dlc = random() & 0xF;
303 if (frame.can_dlc & 8)
304 frame.can_dlc = 8; /* for about 50% of the frames */
306 if ((data_mode == MODE_INCREMENT) && !frame.can_dlc)
307 frame.can_dlc = 1; /* min dlc value for incr. data */
310 if (data_mode == MODE_RANDOM) {
312 /* that's what the 64 bit alignment of data[] is for ... :) */
313 *(unsigned long*)(&frame.data[0]) = random();
314 *(unsigned long*)(&frame.data[4]) = random();
319 printf(" %s ", argv[optind]);
322 fprint_long_canframe(stdout, &frame, "\n", (verbose > 2)?1:0);
324 fprint_canframe(stdout, &frame, "\n", 1);
327 nbytes = write(s, &frame, sizeof(struct can_frame));
329 if (errno != ENOBUFS) {
333 if (!ignore_enobufs) {
339 } else if (nbytes < sizeof(struct can_frame)) {
340 fprintf(stderr, "write: incomplete CAN frame\n");
344 if (gap) /* gap == 0 => performance test :-] */
345 if (nanosleep(&ts, NULL))
348 if (id_mode == MODE_INCREMENT) {
353 frame.can_id &= CAN_EFF_MASK;
354 frame.can_id |= CAN_EFF_FLAG;
356 frame.can_id &= CAN_SFF_MASK;
359 if (dlc_mode == MODE_INCREMENT) {
364 if ((data_mode == MODE_INCREMENT) && !frame.can_dlc)
365 frame.can_dlc = 1; /* min dlc value for incr. data */
368 if (data_mode == MODE_INCREMENT) {
373 frame.data[i] = (incdata >> i*8) & 0xFFULL;
378 printf("\nCounted %llu ENOBUFS return values on write().\n\n",