isotpdump.c

   1 /*
   2  * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
   3  *
   4  * Copyright (c) 2008 Volkswagen Group Electronic Research
   5  * All rights reserved.
   6  *
   7  * Redistribution and use in source and binary forms, with or without
   8  * modification, are permitted provided that the following conditions
   9  * are met:
  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.
  18  *
  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.
  23  *
  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.
  26  *
  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
  31  * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  32  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  33  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  34  * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
  35  * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  36  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  37  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
  38  * DAMAGE.
  39  *
  40  * Send feedback to <linux-can@vger.kernel.org>
  41  *
  42  */
  43
  44 #include <stdio.h>
  45 #include <stdlib.h>
  46 #include <unistd.h>
  47 #include <string.h>
  48 #include <libgen.h>
  49 #include <time.h>
  50
  51 #include <net/if.h>
  52 #include <sys/types.h>
  53 #include <sys/socket.h>
  54 #include <sys/ioctl.h>
  55
  56 #include <linux/can.h>
  57 #include <linux/can/raw.h>
  58 #include "terminal.h"
  59
  60 #define NO_CAN_ID 0xFFFFFFFFU
  61
  62 const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
  63
  64 void print_usage(char *prg)
  65 {
  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, "         -X <addr>   (extended addressing mode (rx addr). Use 'any' for all)\n");
  71         fprintf(stderr, "         -c          (color mode)\n");
  72         fprintf(stderr, "         -a          (print data also in ASCII-chars)\n");
  73         fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
  74         fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
  75         fprintf(stderr, "\n");
  76 }
  77
  78 int main(int argc, char **argv)
  79 {
  80         int s;
  81         struct sockaddr_can addr;
  82         struct can_filter rfilter[2];
  83         struct can_frame frame;
  84         int nbytes, i;
  85         canid_t src = NO_CAN_ID;
  86         canid_t dst = NO_CAN_ID;
  87         int ext = 0;
  88         int extaddr = 0;
  89         int extany = 0;
  90         int rx_ext = 0;
  91         int rx_extaddr = 0;
  92         int rx_extany = 0;
  93         int asc = 0;
  94         int color = 0;
  95         int timestamp = 0;
  96         int datidx = 0;
  97         unsigned long fflen = 0;
  98         struct ifreq ifr;
  99         int ifindex;
 100         struct timeval tv, last_tv;
 101         unsigned int n_pci;
 102         int opt;
 103
 104         last_tv.tv_sec  = 0;
 105         last_tv.tv_usec = 0;
 106
 107         while ((opt = getopt(argc, argv, "s:d:ax:X:ct:?")) != -1) {
 108                 switch (opt) {
 109                 case 's':
 110                         src = strtoul(optarg, (char **)NULL, 16);
 111                         if (strlen(optarg) > 7)
 112                                 src |= CAN_EFF_FLAG;
 113                         break;
 114
 115                 case 'd':
 116                         dst = strtoul(optarg, (char **)NULL, 16);
 117                         if (strlen(optarg) > 7)
 118                                 dst |= CAN_EFF_FLAG;
 119                         break;
 120
 121                 case 'c':
 122                         color = 1;
 123                         break;
 124
 125                 case 'a':
 126                         asc = 1;
 127                         break;
 128
 129                 case 'x':
 130                         ext = 1;
 131                         if (!strncmp(optarg, "any", 3))
 132                                 extany = 1;
 133                         else
 134                                 extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
 135                         break;
 136
 137                 case 'X':
 138                         rx_ext = 1;
 139                         if (!strncmp(optarg, "any", 3))
 140                                 rx_extany = 1;
 141                         else
 142                                 rx_extaddr = strtoul(optarg, (char **)NULL, 16) & 0xFF;
 143                         break;
 144
 145                 case 't':
 146                         timestamp = optarg[0];
 147                         if ((timestamp != 'a') && (timestamp != 'A') &&
 148                             (timestamp != 'd') && (timestamp != 'z')) {
 149                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 150                                        basename(argv[0]), optarg[0]);
 151                                 timestamp = 0;
 152                         }
 153                         break;
 154
 155                 case '?':
 156                         print_usage(basename(argv[0]));
 157                         exit(0);
 158                         break;
 159
 160                 default:
 161                         fprintf(stderr, "Unknown option %c\n", opt);
 162                         print_usage(basename(argv[0]));
 163                         exit(1);
 164                         break;
 165                 }
 166         }
 167
 168         if (rx_ext && !ext) {
 169                 print_usage(basename(argv[0]));
 170                 exit(0);
 171         }
 172
 173         if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
 174                 print_usage(basename(argv[0]));
 175                 exit(0);
 176         }
 177
 178         if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
 179                 perror("socket");
 180                 return 1;
 181         }
 182
 183
 184         if (src & CAN_EFF_FLAG) {
 185                 rfilter[0].can_id   = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
 186                 rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 187         } else {
 188                 rfilter[0].can_id   = src & CAN_SFF_MASK;
 189                 rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 190         }
 191
 192         if (dst & CAN_EFF_FLAG) {
 193                 rfilter[1].can_id   = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
 194                 rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 195         } else {
 196                 rfilter[1].can_id   = dst & CAN_SFF_MASK;
 197                 rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
 198         }
 199
 200         setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
 201
 202         strcpy(ifr.ifr_name, argv[optind]);
 203         ioctl(s, SIOCGIFINDEX, &ifr);
 204         ifindex = ifr.ifr_ifindex;
 205
 206         addr.can_family = AF_CAN;
 207         addr.can_ifindex = ifindex;
 208
 209         if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 210                 perror("bind");
 211                 return 1;
 212         }
 213
 214         while (1) {
 215
 216                 if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
 217                         perror("read");
 218                         return 1;
 219                 } else if (nbytes < sizeof(struct can_frame)) {
 220                         fprintf(stderr, "read: incomplete CAN frame\n");
 221                         return 1;
 222                 } else {
 223
 224                         if (frame.can_id == src && ext && !extany && extaddr != frame.data[0])
 225                                 continue;
 226
 227                         if (frame.can_id == dst && rx_ext && !rx_extany && rx_extaddr != frame.data[0])
 228                                 continue;
 229
 230                         if (color)
 231                                 printf("%s", (frame.can_id == src)? FGRED:FGBLUE);
 232
 233                         if (timestamp) {
 234                                 ioctl(s, SIOCGSTAMP, &tv);
 235
 236
 237                                 switch (timestamp) {
 238
 239                                 case 'a': /* absolute with timestamp */
 240                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 241                                         break;
 242
 243                                 case 'A': /* absolute with date */
 244                                 {
 245                                         struct tm tm;
 246                                         char timestring[25];
 247
 248                                         tm = *localtime(&tv.tv_sec);
 249                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 250                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 251                                 }
 252                                 break;
 253
 254                                 case 'd': /* delta */
 255                                 case 'z': /* starting with zero */
 256                                 {
 257                                         struct timeval diff;
 258
 259                                         if (last_tv.tv_sec == 0)   /* first init */
 260                                                 last_tv = tv;
 261                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 262                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 263                                         if (diff.tv_usec < 0)
 264                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 265                                         if (diff.tv_sec < 0)
 266                                                 diff.tv_sec = diff.tv_usec = 0;
 267                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 268
 269                                         if (timestamp == 'd')
 270                                                 last_tv = tv; /* update for delta calculation */
 271                                 }
 272                                 break;
 273
 274                                 default: /* no timestamp output */
 275                                         break;
 276                                 }
 277                         }
 278
 279                         if (frame.can_id & CAN_EFF_FLAG)
 280                                 printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
 281                         else
 282                                 printf(" %s  %3X", argv[optind], frame.can_id & CAN_SFF_MASK);
 283
 284                         if (ext)
 285                                 printf("{%02X}", frame.data[0]);
 286
 287                         printf("  [%d]  ", frame.can_dlc);
 288
 289                         datidx = 0;
 290                         n_pci = frame.data[ext];
 291
 292                         switch (n_pci & 0xF0) {
 293                         case 0x00:
 294                                 printf("[SF] ln: %-4d data:", n_pci & 0x0F);
 295                                 datidx = ext+1;
 296                                 break;
 297
 298                         case 0x10:
 299                                 fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
 300                                 if (fflen)
 301                                         datidx = ext+2;
 302                                 else {
 303                                         fflen = (frame.data[ext+2]<<24) +
 304                                                 (frame.data[ext+3]<<16) +
 305                                                 (frame.data[ext+4]<<8) +
 306                                                 frame.data[ext+5];
 307                                         datidx = ext+6;
 308                                 }
 309                                 printf("[FF] ln: %-4lu data:", fflen);
 310                                 break;
 311
 312                         case 0x20:
 313                                 printf("[CF] sn: %X    data:", n_pci & 0x0F);
 314                                 datidx = ext+1;
 315                                 break;
 316
 317                         case 0x30:
 318                                 n_pci &= 0x0F;
 319                                 printf("[FC] FC: %d ", n_pci);
 320
 321                                 if (n_pci > 3)
 322                                         n_pci = 3;
 323
 324                                 printf("= %s # ", fc_info[n_pci]);
 325
 326                                 printf("BS: %d %s# ", frame.data[ext+1],
 327                                        (frame.data[ext+1])? "":"= off ");
 328
 329                                 i = frame.data[ext+2];
 330                                 printf("STmin: 0x%02X = ", i);
 331
 332                                 if (i < 0x80)
 333                                         printf("%d ms", i);
 334                                 else if (i > 0xF0 && i < 0xFA)
 335                                         printf("%d us", (i & 0x0F) * 100);
 336                                 else
 337                                         printf("reserved");
 338                                 break;
 339
 340                         default:
 341                                 printf("[??]");
 342                         }
 343
 344                         if (datidx && frame.can_dlc > datidx) {
 345                                 printf(" ");
 346                                 for (i = datidx; i < frame.can_dlc; i++) {
 347                                         printf("%02X ", frame.data[i]);
 348                                 }
 349
 350                                 if (asc) {
 351                                         printf("%*s", ((7-ext) - (frame.can_dlc-datidx))*3 + 5 ,
 352                                                "-  '");
 353                                         for (i = datidx; i < frame.can_dlc; i++) {
 354                                                 printf("%c",((frame.data[i] > 0x1F) &&
 355                                                              (frame.data[i] < 0x7F))?
 356                                                        frame.data[i] : '.');
 357                                         }
 358                                         printf("'");
 359                                 }
 360                         }
 361
 362                         if (color)
 363                                 printf("%s", ATTRESET);
 364                         printf("\n");
 365                         fflush(stdout);
 366                 }
 367         }
 368
 369         close(s);
 370
 371         return 0;
 372 }