6 * isotptun.c - IP over CAN ISO-TP (ISO15765-2) tunnel / proof-of-concept
8 * This program creates a Linux tunnel netdevice 'ctunX' and transfers the
9 * ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.
11 * Use e.g. "ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up"
12 * to create a point-to-point IP connection on CAN.
14 * Copyright (c) 2008 Volkswagen Group Electronic Research
15 * All rights reserved.
17 * Redistribution and use in source and binary forms, with or without
18 * modification, are permitted provided that the following conditions
20 * 1. Redistributions of source code must retain the above copyright
21 * notice, this list of conditions and the following disclaimer.
22 * 2. Redistributions in binary form must reproduce the above copyright
23 * notice, this list of conditions and the following disclaimer in the
24 * documentation and/or other materials provided with the distribution.
25 * 3. Neither the name of Volkswagen nor the names of its contributors
26 * may be used to endorse or promote products derived from this software
27 * without specific prior written permission.
29 * Alternatively, provided that this notice is retained in full, this
30 * software may be distributed under the terms of the GNU General
31 * Public License ("GPL") version 2, in which case the provisions of the
32 * GPL apply INSTEAD OF those given above.
34 * The provided data structures and external interfaces from this code
35 * are not restricted to be used by modules with a GPL compatible license.
37 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
38 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
39 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
40 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
41 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
42 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
43 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
44 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
45 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
46 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
47 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
50 * Send feedback to <socketcan-users@lists.berlios.de>
64 #include <sys/types.h>
65 #include <sys/socket.h>
66 #include <sys/ioctl.h>
68 #include <linux/can.h>
69 #include <linux/can/isotp.h>
70 #include <linux/if_tun.h>
72 #define NO_CAN_ID 0xFFFFFFFFU
74 static volatile int running = 1;
76 void print_usage(char *prg)
78 fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n\n", prg);
79 fprintf(stderr, "This program creates a Linux tunnel netdevice 'ctunX' and transfers the\n");
80 fprintf(stderr, "ethernet frames inside ISO15765-2 (unreliable) datagrams on CAN.\n\n");
81 fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
82 fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
83 fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
84 fprintf(stderr, " -p <byte> (padding byte rx path)\n");
85 fprintf(stderr, " -q <byte> (padding byte tx path)\n");
86 fprintf(stderr, " -P <mode> (check padding. (l)ength (c)ontent (a)ll)\n");
87 fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
88 fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
89 fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
90 fprintf(stderr, " -w <num> (max. wait frame transmissions.)\n");
91 fprintf(stderr, " -h (half duplex mode.)\n");
92 fprintf(stderr, " -v (verbose mode. Print symbols for tunneled msgs.)\n");
93 fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
94 fprintf(stderr, "Use e.g. 'ifconfig ctun0 123.123.123.1 pointopoint 123.123.123.2 up'\n");
95 fprintf(stderr, "to create a point-to-point IP connection on CAN.\n");
96 fprintf(stderr, "\n");
99 void sigterm(int signo)
104 int main(int argc, char **argv)
108 struct sockaddr_can addr;
110 static struct can_isotp_options opts;
111 static struct can_isotp_fc_options fcopts;
113 extern int optind, opterr, optopt;
116 unsigned char buffer[4096];
119 signal(SIGTERM, sigterm);
120 signal(SIGHUP, sigterm);
121 signal(SIGINT, sigterm);
123 addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
125 while ((opt = getopt(argc, argv, "s:d:x:p:q:P:t:b:m:whv?")) != -1) {
128 addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
129 if (strlen(optarg) > 7)
130 addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
134 addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
135 if (strlen(optarg) > 7)
136 addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
140 opts.flags |= CAN_ISOTP_EXTEND_ADDR;
141 opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
145 opts.flags |= CAN_ISOTP_RX_PADDING;
146 opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
150 opts.flags |= CAN_ISOTP_TX_PADDING;
151 opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
155 if (optarg[0] == 'l')
156 opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
157 else if (optarg[0] == 'c')
158 opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
159 else if (optarg[0] == 'a')
160 opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
162 printf("unknown padding check option '%c'.\n", optarg[0]);
163 print_usage(basename(argv[0]));
169 opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
173 fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
177 fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
181 fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
185 opts.flags |= CAN_ISOTP_HALF_DUPLEX;
193 print_usage(basename(argv[0]));
198 fprintf(stderr, "Unknown option %c\n", opt);
199 print_usage(basename(argv[0]));
205 if ((argc - optind != 1) ||
206 (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
207 (addr.can_addr.tp.rx_id == NO_CAN_ID)) {
208 print_usage(basename(argv[0]));
212 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
217 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
218 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
220 addr.can_family = AF_CAN;
221 strcpy(ifr.ifr_name, argv[optind]);
222 ioctl(s, SIOCGIFINDEX, &ifr);
223 addr.can_ifindex = ifr.ifr_ifindex;
225 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
231 if ((t = open("/dev/net/tun", O_RDWR)) < 0) {
232 perror("open tunfd");
238 memset(&ifr, 0, sizeof(ifr));
239 ifr.ifr_flags = IFF_TUN | IFF_NO_PI;
240 strncpy(ifr.ifr_name, "ctun%d", IFNAMSIZ);
242 if (ioctl(t, TUNSETIFF, (void *) &ifr) < 0) {
243 perror("ioctl tunfd");
255 if ((ret = select(t+1, &rdfs, NULL, NULL, NULL)) < 0) {
260 if (FD_ISSET(s, &rdfs)) {
261 nbytes = read(s, buffer, 4096);
263 perror("read isotp socket");
268 ret = write(t, buffer, nbytes);
270 if (ret < 0 && errno == EAGAIN)
278 if (FD_ISSET(t, &rdfs)) {
279 nbytes = read(t, buffer, 4096);
281 perror("read tunfd");
286 ret = write(s, buffer, nbytes);
288 if (ret < 0 && errno == EAGAIN)