2 * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
4 * Copyright (c) 2008 Volkswagen Group Electronic Research
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
10 * 1. Redistributions of source code must retain the above copyright
11 * notice, this list of conditions and the following disclaimer.
12 * 2. Redistributions in binary form must reproduce the above copyright
13 * notice, this list of conditions and the following disclaimer in the
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.
27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
28 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
29 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
30 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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40 * Send feedback to <linux-can@vger.kernel.org>
52 #include <sys/types.h>
53 #include <sys/socket.h>
54 #include <sys/ioctl.h>
56 #include <linux/can.h>
57 #include <linux/can/raw.h>
60 #define NO_CAN_ID 0xFFFFFFFFU
62 const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
64 void print_usage(char *prg)
66 fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
67 fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
68 fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
69 fprintf(stderr, " -x <addr> (extended addressing mode. Use 'any' for all addresses)\n");
70 fprintf(stderr, " -c (color mode)\n");
71 fprintf(stderr, " -a (print data also in ASCII-chars)\n");
72 fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
73 fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
74 fprintf(stderr, "\n");
77 int main(int argc, char **argv)
80 struct sockaddr_can addr;
81 struct can_filter rfilter[2];
82 struct can_frame frame;
84 canid_t src = NO_CAN_ID;
85 canid_t dst = NO_CAN_ID;
95 struct timeval tv, last_tv;
102 while ((opt = getopt(argc, argv, "s:d:ax:ct:?")) != -1) {
105 src = strtoul(optarg, (char **)NULL, 16);
106 if (strlen(optarg) > 7)
111 dst = strtoul(optarg, (char **)NULL, 16);
112 if (strlen(optarg) > 7)
126 if (!strncmp(optarg, "any", 3))
129 extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
134 timestamp = optarg[0];
135 if ((timestamp != 'a') && (timestamp != 'A') &&
136 (timestamp != 'd') && (timestamp != 'z')) {
137 printf("%s: unknown timestamp mode '%c' - ignored\n",
138 basename(argv[0]), optarg[0]);
144 print_usage(basename(argv[0]));
149 fprintf(stderr, "Unknown option %c\n", opt);
150 print_usage(basename(argv[0]));
156 if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
157 print_usage(basename(argv[0]));
161 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
167 if (src & CAN_EFF_FLAG) {
168 rfilter[0].can_id = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
169 rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
171 rfilter[0].can_id = src & CAN_SFF_MASK;
172 rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
175 if (dst & CAN_EFF_FLAG) {
176 rfilter[1].can_id = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
177 rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
179 rfilter[1].can_id = dst & CAN_SFF_MASK;
180 rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
183 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
185 strcpy(ifr.ifr_name, argv[optind]);
186 ioctl(s, SIOCGIFINDEX, &ifr);
187 ifindex = ifr.ifr_ifindex;
189 addr.can_family = AF_CAN;
190 addr.can_ifindex = ifindex;
192 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
199 if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
202 } else if (nbytes < sizeof(struct can_frame)) {
203 fprintf(stderr, "read: incomplete CAN frame\n");
207 if (ext && !extany && extaddr != frame.data[0])
211 printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
214 ioctl(s, SIOCGSTAMP, &tv);
219 case 'a': /* absolute with timestamp */
220 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
223 case 'A': /* absolute with date */
228 tm = *localtime(&tv.tv_sec);
229 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
230 printf("(%s.%06ld) ", timestring, tv.tv_usec);
234 case 'd': /* delta */
235 case 'z': /* starting with zero */
239 if (last_tv.tv_sec == 0) /* first init */
241 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
242 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
243 if (diff.tv_usec < 0)
244 diff.tv_sec--, diff.tv_usec += 1000000;
246 diff.tv_sec = diff.tv_usec = 0;
247 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
249 if (timestamp == 'd')
250 last_tv = tv; /* update for delta calculation */
254 default: /* no timestamp output */
259 if (frame.can_id & CAN_EFF_FLAG)
260 printf(" %s %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
262 printf(" %s %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
265 printf("{%02X}", frame.data[0]);
267 printf(" [%d] ", frame.can_dlc);
270 n_pci = frame.data[ext];
272 switch (n_pci & 0xF0) {
274 printf("[SF] ln: %-4d data:", n_pci & 0x0F);
279 printf("[FF] ln: %-4d data:",
280 ((n_pci & 0x0F)<<8) + frame.data[ext+1] );
285 printf("[CF] sn: %X data:", n_pci & 0x0F);
291 printf("[FC] FC: %d ", n_pci);
296 printf("= %s # ", fc_info[n_pci]);
298 printf("BS: %d %s# ", frame.data[ext+1],
299 (frame.data[ext+1])? "":"= off ");
301 i = frame.data[ext+2];
302 printf("STmin: 0x%02X = ", i);
306 else if (i > 0xF0 && i < 0xFA)
307 printf("%d us", (i & 0x0F) * 100);
316 if (datidx && frame.can_dlc > datidx) {
318 for (i = datidx; i < frame.can_dlc; i++) {
319 printf("%02X ", frame.data[i]);
323 printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
325 for (i = datidx; i < frame.can_dlc; i++) {
326 printf("%c",((frame.data[i] > 0x1F) &&
327 (frame.data[i] < 0x7F))?
328 frame.data[i] : '.');
335 printf("%s", ATTRESET);