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Ported candump & cansend apps from can-utils (https://github.com/linux-can/can-utils)

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This commit is contained in:
Peter van der Perk 2020-06-15 12:29:01 +02:00 committed by patacongo
parent 839b3530d4
commit 1ae2f4a304
14 changed files with 2119 additions and 0 deletions
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16
canutils/candump/Kconfig Normal file
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_CANDUMP
tristate "SocketCAN candump tool"
default n
depends on NET_CAN
select CANUTILS_LIBCANUTILS
---help---
Enable the SocketCAN candump tool ported from
https://github.com/linux-can/can-utils
if CANUTILS_CANDUMP
endif

24
canutils/candump/Make.defs Normal file
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############################################################################
# apps/canutils/candump/Make.defs
# Adds selected applications to apps/ build
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
ifneq ($(CONFIG_CANUTILS_CANDUMP),)
CONFIGURED_APPS += $(APPDIR)/canutils/candump
endif

34
canutils/candump/Makefile Normal file
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############################################################################
# apps/canutils/candump/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
-include $(TOPDIR)/Make.defs
# SocketCAN userspace utilities and tools candump tool
# https://github.com/linux-can/can-utils/blob/master/candump.c
PROGNAME = candump
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 3072
MODULE = $(CONFIG_CANUTILS_CANDUMP)
CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/canutils/libcanutils}
MAINSRC = candump.c
include $(APPDIR)/Application.mk

809
canutils/candump/candump.c Normal file
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* candump.c
*
* Copyright (c) 2002-2009 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <ctype.h>
#include <libgen.h>
#include <time.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include <net/if.h>
#include <nuttx/can.h>
#include <netpacket/can.h>
#include "terminal.h"
#include "lib.h"
/* for hardware timestamps - since Linux 2.6.30 */
#ifndef SO_TIMESTAMPING
#define SO_TIMESTAMPING 37
#endif
/* from #include <linux/net_tstamp.h> - since Linux 2.6.30 */
#define SOF_TIMESTAMPING_SOFTWARE (1<<4)
#define SOF_TIMESTAMPING_RX_SOFTWARE (1<<3)
#define SOF_TIMESTAMPING_RAW_HARDWARE (1<<6)
#define MAXSOCK 16 /* max. number of CAN interfaces given on the cmdline */
#define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
#define MAXCOL 6 /* number of different colors for colorized output */
#define ANYDEV "any" /* name of interface to receive from any CAN interface */
#define ANL "\r\n" /* newline in ASC mode */
#define SILENT_INI 42 /* detect user setting on commandline */
#define SILENT_OFF 0 /* no silent mode */
#define SILENT_ANI 1 /* silent mode with animation */
#define SILENT_ON 2 /* silent mode (completely silent) */
#define BOLD ATTBOLD
#define RED ATTBOLD FGRED
#define GREEN ATTBOLD FGGREEN
#define YELLOW ATTBOLD FGYELLOW
#define BLUE ATTBOLD FGBLUE
#define MAGENTA ATTBOLD FGMAGENTA
#define CYAN ATTBOLD FGCYAN
const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
const char col_off [] = ATTRESET;
static char *cmdlinename[MAXSOCK];
static __u32 dropcnt[MAXSOCK];
static __u32 last_dropcnt[MAXSOCK];
static char devname[MAXIFNAMES][IFNAMSIZ+1];
static int dindex[MAXIFNAMES];
static int max_devname_len; /* to prevent frazzled device name output */
const int canfd_on = 1;
#define MAXANI 4
const char anichar[MAXANI] = {'|', '/', '-', '\\'};
const char extra_m_info[4][4] = {"- -", "B -", "- E", "B E"};
extern int optind, opterr, optopt;
static volatile int running = 1;
void print_usage(char *prg)
{
fprintf(stderr, "%s - dump CAN bus traffic.\n", prg);
fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
fprintf(stderr, "Options:\n");
fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
fprintf(stderr, " -H (read hardware timestamps instead of system timestamps)\n");
fprintf(stderr, " -c (increment color mode level)\n");
fprintf(stderr, " -i (binary output - may exceed 80 chars/line)\n");
fprintf(stderr, " -a (enable additional ASCII output)\n");
fprintf(stderr, " -S (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
fprintf(stderr, " -s <level> (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
fprintf(stderr, " -l (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
fprintf(stderr, " -L (use log file format on stdout)\n");
fprintf(stderr, " -n <count> (terminate after reception of <count> CAN frames)\n");
fprintf(stderr, " -r <size> (set socket receive buffer to <size>)\n");
fprintf(stderr, " -D (Don't exit if a \"detected\" can device goes down.\n");
fprintf(stderr, " -d (monitor dropped CAN frames)\n");
fprintf(stderr, " -e (dump CAN error frames in human-readable format)\n");
fprintf(stderr, " -x (print extra message infos, rx/tx brs esi)\n");
fprintf(stderr, " -T <msecs> (terminate after <msecs> without any reception)\n");
fprintf(stderr, "\n");
fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
fprintf(stderr, "\nFilters:\n");
fprintf(stderr, " Comma separated filters can be specified for each given CAN interface:\n");
fprintf(stderr, " <can_id>:<can_mask>\n (matches when <received_can_id> & mask == can_id & mask)\n");
fprintf(stderr, " <can_id>~<can_mask>\n (matches when <received_can_id> & mask != can_id & mask)\n");
fprintf(stderr, " #<error_mask>\n (set error frame filter, see include/linux/can/error.h)\n");
fprintf(stderr, " [j|J]\n (join the given CAN filters - logical AND semantic)\n");
fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
fprintf(stderr, "When the can_id is 8 digits long the CAN_EFF_FLAG is set for 29 bit EFF format.\n");
fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
fprintf(stderr, "\nExamples:\n");
fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n\n", prg);
fprintf(stderr, "%s -l any,0~0,#FFFFFFFF\n (log only error frames but no(!) data frames)\n", prg);
fprintf(stderr, "%s -l any,0:0,#FFFFFFFF\n (log error frames and also all data frames)\n", prg);
fprintf(stderr, "%s vcan2,12345678:DFFFFFFF\n (match only for extended CAN ID 12345678)\n", prg);
fprintf(stderr, "%s vcan2,123:7FF\n (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
fprintf(stderr, "%s vcan2,123:C00007FF\n (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
fprintf(stderr, "\n");
}
void sigterm(int signo)
{
running = 0;
}
int idx2dindex(int ifidx, int socket) {
int i;
struct ifreq ifr;
for (i=0; i < MAXIFNAMES; i++) {
if (dindex[i] == ifidx)
return i;
}
/* create new interface index cache entry */
/* remove index cache zombies first */
for (i=0; i < MAXIFNAMES; i++) {
if (dindex[i]) {
ifr.ifr_ifindex = dindex[i];
if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
dindex[i] = 0;
}
}
for (i=0; i < MAXIFNAMES; i++)
if (!dindex[i]) /* free entry */
break;
if (i == MAXIFNAMES) {
fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
MAXIFNAMES);
exit(1);
}
dindex[i] = ifidx;
ifr.ifr_ifindex = ifidx;
if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
perror("SIOCGIFNAME");
if (max_devname_len < (int)strlen(ifr.ifr_name))
max_devname_len = strlen(ifr.ifr_name);
strcpy(devname[i], ifr.ifr_name);
#ifdef DEBUG
printf("new index %d (%s)\n", i, devname[i]);
#endif
return i;
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s[MAXSOCK];
unsigned char timestamp = 0;
unsigned char hwtimestamp = 0;
unsigned char down_causes_exit = 1;
unsigned char dropmonitor = 0;
unsigned char extra_msg_info = 0;
unsigned char silent = SILENT_INI;
unsigned char silentani = 0;
unsigned char color = 0;
unsigned char view = 0;
unsigned char log = 0;
unsigned char logfrmt = 0;
int count = 0;
int rcvbuf_size = 0;
int opt, ret;
int currmax, numfilter;
int join_filter;
char *ptr, *nptr;
struct sockaddr_can addr;
char ctrlmsg[CMSG_SPACE(sizeof(struct timeval) + 3*sizeof(struct timespec) + sizeof(__u32))];
struct iovec iov;
struct msghdr msg;
struct cmsghdr *cmsg;
struct can_filter *rfilter;
can_err_mask_t err_mask;
struct canfd_frame frame;
int nbytes, i, maxdlen;
struct ifreq ifr;
struct timeval tv, last_tv;
struct timeval timeout, timeout_config = { 0, 0 }, *timeout_current = NULL;
FILE *logfile = NULL;
#if 0 /* NuttX doesn't support these signals */
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
#endif
signal(SIGINT, sigterm);
last_tv.tv_sec = 0;
last_tv.tv_usec = 0;
while ((opt = getopt(argc, argv, "t:HciaSs:lDdxLn:r:heT:?")) != -1) {
switch (opt) {
case 't':
timestamp = optarg[0];
if ((timestamp != 'a') && (timestamp != 'A') &&
(timestamp != 'd') && (timestamp != 'z')) {
fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
basename(argv[0]), optarg[0]);
timestamp = 0;
}
break;
case 'H':
hwtimestamp = 1;
break;
case 'c':
color++;
break;
case 'i':
view |= CANLIB_VIEW_BINARY;
break;
case 'a':
view |= CANLIB_VIEW_ASCII;
break;
case 'S':
view |= CANLIB_VIEW_SWAP;
break;
case 'e':
view |= CANLIB_VIEW_ERROR;
break;
case 's':
silent = atoi(optarg);
if (silent > SILENT_ON) {
print_usage(basename(argv[0]));
exit(1);
}
break;
case 'l':
log = 1;
break;
case 'D':
down_causes_exit = 0;
break;
case 'd':
dropmonitor = 1;
break;
case 'x':
extra_msg_info = 1;
break;
case 'L':
logfrmt = 1;
break;
case 'n':
count = atoi(optarg);
if (count < 1) {
print_usage(basename(argv[0]));
exit(1);
}
break;
case 'r':
rcvbuf_size = atoi(optarg);
if (rcvbuf_size < 1) {
print_usage(basename(argv[0]));
exit(1);
}
break;
case 'T':
errno = 0;
timeout_config.tv_usec = strtol(optarg, NULL, 0);
if (errno != 0) {
print_usage(basename(argv[0]));
exit(1);
}
timeout_config.tv_sec = timeout_config.tv_usec / 1000;
timeout_config.tv_usec = (timeout_config.tv_usec % 1000) * 1000;
timeout_current = &timeout;
break;
default:
print_usage(basename(argv[0]));
exit(1);
break;
}
}
if (optind == argc) {
print_usage(basename(argv[0]));
exit(0);
}
if (logfrmt && view) {
fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
exit(0);
}
if (silent == SILENT_INI) {
if (log) {
fprintf(stderr, "Disabled standard output while logging.\n");
silent = SILENT_ON; /* disable output on stdout */
} else
silent = SILENT_OFF; /* default output */
}
currmax = argc - optind; /* find real number of CAN devices */
if (currmax > MAXSOCK) {
fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
return 1;
}
for (i=0; i < currmax; i++) {
ptr = argv[optind+i];
nptr = strchr(ptr, ',');
#ifdef DEBUG
printf("open %d '%s'.\n", i, ptr);
#endif
s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s[i] < 0) {
perror("socket");
return 1;
}
cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
if (nptr)
nbytes = nptr - ptr; /* interface name is up the first ',' */
else
nbytes = strlen(ptr); /* no ',' found => no filter definitions */
if (nbytes >= IFNAMSIZ) {
fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
return 1;
}
if (nbytes > max_devname_len)
max_devname_len = nbytes; /* for nice printing */
addr.can_family = AF_CAN;
memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
strncpy(ifr.ifr_name, ptr, nbytes);
#ifdef DEBUG
printf("using interface name '%s'.\n", ifr.ifr_name);
#endif
if (strcmp(ANYDEV, ifr.ifr_name)) {
if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
exit(1);
}
addr.can_ifindex = ifr.ifr_ifindex;
} else
addr.can_ifindex = 0; /* any can interface */
if (nptr) {
/* found a ',' after the interface name => check for filters */
/* determine number of filters to alloc the filter space */
numfilter = 0;
ptr = nptr;
while (ptr) {
numfilter++;
ptr++; /* hop behind the ',' */
ptr = strchr(ptr, ','); /* exit condition */
}
rfilter = malloc(sizeof(struct can_filter) * numfilter);
if (!rfilter) {
fprintf(stderr, "Failed to create filter space!\n");
return 1;
}
numfilter = 0;
err_mask = 0;
join_filter = 0;
while (nptr) {
ptr = nptr+1; /* hop behind the ',' */
nptr = strchr(ptr, ','); /* update exit condition */
if (sscanf(ptr, "%x:%x",
&rfilter[numfilter].can_id,
&rfilter[numfilter].can_mask) == 2) {
rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
if (*(ptr+8) == ':')
rfilter[numfilter].can_id |= CAN_EFF_FLAG;
numfilter++;
} else if (sscanf(ptr, "%x~%x",
&rfilter[numfilter].can_id,
&rfilter[numfilter].can_mask) == 2) {
rfilter[numfilter].can_id |= CAN_INV_FILTER;
rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
if (*(ptr+8) == '~')
rfilter[numfilter].can_id |= CAN_EFF_FLAG;
numfilter++;
} else if (*ptr == 'j' || *ptr == 'J') {
join_filter = 1;
} else if (sscanf(ptr, "#%x", &err_mask) != 1) {
fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
return 1;
}
}
if (err_mask)
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
&err_mask, sizeof(err_mask));
if (join_filter && setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_JOIN_FILTERS,
&join_filter, sizeof(join_filter)) < 0) {
perror("setsockopt CAN_RAW_JOIN_FILTERS not supported by your Linux Kernel");
return 1;
}
if (numfilter)
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
rfilter, numfilter * sizeof(struct can_filter));
free(rfilter);
} /* if (nptr) */
/* try to switch the socket into CAN FD mode */
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
if (rcvbuf_size) {
int curr_rcvbuf_size;
socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
/* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
&rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
#ifdef DEBUG
printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
#endif
if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
&rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
perror("setsockopt SO_RCVBUF");
return 1;
}
if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
&curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
perror("getsockopt SO_RCVBUF");
return 1;
}
/* Only print a warning the first time we detect the adjustment */
/* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
if (!i && curr_rcvbuf_size < rcvbuf_size*2)
fprintf(stderr, "The socket receive buffer size was "
"adjusted due to /proc/sys/net/core/rmem_max.\n");
}
}
if (timestamp || log || logfrmt) {
if (hwtimestamp) {
const int timestamping_flags = (SOF_TIMESTAMPING_SOFTWARE | \
SOF_TIMESTAMPING_RX_SOFTWARE | \
SOF_TIMESTAMPING_RAW_HARDWARE);
if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMPING,
&timestamping_flags, sizeof(timestamping_flags)) < 0) {
perror("setsockopt SO_TIMESTAMPING is not supported by your Linux kernel");
return 1;
}
} else {
const int timestamp_on = 1;
if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
&timestamp_on, sizeof(timestamp_on)) < 0) {
perror("setsockopt SO_TIMESTAMP");
return 1;
}
}
}
if (dropmonitor) {
const int dropmonitor_on = 1;
if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
&dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
return 1;
}
}
if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
}
if (log) {
time_t currtime;
struct tm now;
char fname[83]; /* suggested by -Wformat-overflow= */
if (time(&currtime) == (time_t)-1) {
perror("time");
return 1;
}
localtime_r(&currtime, &now);
sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
now.tm_year + 1900,
now.tm_mon + 1,
now.tm_mday,
now.tm_hour,
now.tm_min,
now.tm_sec);
if (silent != SILENT_ON)
fprintf(stderr, "Warning: Console output active while logging!\n");
fprintf(stderr, "Enabling Logfile '%s'\n", fname);
logfile = fopen(fname, "w");
if (!logfile) {
perror("logfile");
return 1;
}
}
/* these settings are static and can be held out of the hot path */
iov.iov_base = &frame;
msg.msg_name = &addr;
msg.msg_iov = &iov;
msg.msg_iovlen = 1;
msg.msg_control = &ctrlmsg;
while (running) {
FD_ZERO(&rdfs);
for (i=0; i<currmax; i++)
FD_SET(s[i], &rdfs);
if (timeout_current)
*timeout_current = timeout_config;
if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current)) <= 0) {
//perror("select");
running = 0;
continue;
}
for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
if (FD_ISSET(s[i], &rdfs)) {
int idx;
/* these settings may be modified by recvmsg() */
iov.iov_len = sizeof(frame);
msg.msg_namelen = sizeof(addr);
msg.msg_controllen = sizeof(ctrlmsg);
msg.msg_flags = 0;
nbytes = recvmsg(s[i], &msg, 0);
idx = idx2dindex(addr.can_ifindex, s[i]);
if (nbytes < 0) {
if ((errno == ENETDOWN) && !down_causes_exit) {
fprintf(stderr, "%s: interface down\n", devname[idx]);
continue;
}
perror("read");
return 1;
}
if ((size_t)nbytes == CAN_MTU)
maxdlen = CAN_MAX_DLEN;
else if ((size_t)nbytes == CANFD_MTU)
maxdlen = CANFD_MAX_DLEN;
else {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
}
if (count && (--count == 0))
running = 0;
for (cmsg = CMSG_FIRSTHDR(&msg);
cmsg && (cmsg->cmsg_level == SOL_SOCKET);
cmsg = CMSG_NXTHDR(&msg,cmsg)) {
if (cmsg->cmsg_type == SO_TIMESTAMP) {
memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv));
} else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
/*
* stamp[0] is the software timestamp
* stamp[1] is deprecated
* stamp[2] is the raw hardware timestamp
* See chapter 2.1.2 Receive timestamps in
* linux/Documentation/networking/timestamping.txt
*/
tv.tv_sec = stamp[2].tv_sec;
tv.tv_usec = stamp[2].tv_nsec/1000;
} else if (cmsg->cmsg_type == SO_RXQ_OVFL)
memcpy(&dropcnt[i], CMSG_DATA(cmsg), sizeof(__u32));
}
/* check for (unlikely) dropped frames on this specific socket */
if (dropcnt[i] != last_dropcnt[i]) {
__u32 frames = dropcnt[i] - last_dropcnt[i];
if (silent != SILENT_ON)
printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
frames, (frames > 1)?"s":"", devname[idx], dropcnt[i]);
if (log)
fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
frames, (frames > 1)?"s":"", devname[idx], dropcnt[i]);
last_dropcnt[i] = dropcnt[i];
}
/* once we detected a EFF frame indent SFF frames accordingly */
if (frame.can_id & CAN_EFF_FLAG)
view |= CANLIB_VIEW_INDENT_SFF;
if (log) {
char buf[CL_CFSZ]; /* max length */
/* log CAN frame with absolute timestamp & device */
sprint_canframe(buf, &frame, 0, maxdlen);
fprintf(logfile, "(%010ld.%06ld) %*s %s\n",
tv.tv_sec, tv.tv_usec,
max_devname_len, devname[idx], buf);
}
if ((logfrmt) && (silent == SILENT_OFF)){
char buf[CL_CFSZ]; /* max length */
/* print CAN frame in log file style to stdout */
sprint_canframe(buf, &frame, 0, maxdlen);
printf("(%010ld.%06ld) %*s %s\n",
tv.tv_sec, tv.tv_usec,
max_devname_len, devname[idx], buf);
goto out_fflush; /* no other output to stdout */
}
if (silent != SILENT_OFF){
if (silent == SILENT_ANI) {
printf("%c\b", anichar[silentani%=MAXANI]);
silentani++;
}
goto out_fflush; /* no other output to stdout */
}
printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
switch (timestamp) {
case 'a': /* absolute with timestamp */
printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
break;
case 'A': /* absolute with date */
{
struct tm tm;
char timestring[25];
tm = *localtime(&tv.tv_sec);
strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
printf("(%s.%06ld) ", timestring, tv.tv_usec);
}
break;
case 'd': /* delta */
case 'z': /* starting with zero */
{
struct timeval diff;
if (last_tv.tv_sec == 0) /* first init */
last_tv = tv;
diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
if (diff.tv_usec < 0)
diff.tv_sec--, diff.tv_usec += 1000000;
if (diff.tv_sec < 0)
diff.tv_sec = diff.tv_usec = 0;
printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
if (timestamp == 'd')
last_tv = tv; /* update for delta calculation */
}
break;
default: /* no timestamp output */
break;
}
printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
printf("%*s", max_devname_len, devname[idx]);
if (extra_msg_info) {
if (msg.msg_flags & MSG_DONTROUTE)
printf (" TX %s", extra_m_info[frame.flags & 3]);
else
printf (" RX %s", extra_m_info[frame.flags & 3]);
}
printf("%s ", (color==1)?col_off:"");
fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
printf("%s", (color>1)?col_off:"");
printf("\n");
}
out_fflush:
fflush(stdout);
}
}
for (i=0; i<currmax; i++)
close(s[i]);
if (log)
fclose(logfile);
return 0;
}

16
canutils/cansend/Kconfig Normal file
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_CANSEND
tristate "SocketCAN cansend tool"
default n
depends on NET_CAN
select CANUTILS_LIBCANUTILS
---help---
Enable the SocketCAN cansend tool ported from
https://github.com/linux-can/can-utils
if CANUTILS_CANSEND
endif

24
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############################################################################
# apps/canutils/cansend/Make.defs
# Adds selected applications to apps/ build
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
ifneq ($(CONFIG_CANUTILS_CANSEND),)
CONFIGURED_APPS += $(APPDIR)/canutils/cansend
endif

34
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############################################################################
# apps/canutils/cansend/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
-include $(TOPDIR)/Make.defs
# SocketCAN userspace utilities and tools cansend tool
# https://github.com/linux-can/can-utils/blob/master/cansend.c
PROGNAME = cansend
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
MODULE = $(CONFIG_CANUTILS_CANSEND)
CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/canutils/libcanutils}
MAINSRC = cansend.c
include $(APPDIR)/Application.mk

169
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* cansend.c - send CAN-frames via CAN_RAW sockets
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <nuttx/can.h>
#include <netpacket/can.h>
#include "lib.h"
void print_usage_send(char *prg)
{
fprintf(stderr, "%s - send CAN-frames via CAN_RAW sockets.\n", prg);
fprintf(stderr, "\nUsage: %s <device> <can_frame>.\n", prg);
fprintf(stderr, "\n<can_frame>:\n");
fprintf(stderr, " <can_id>#{data} for 'classic' CAN 2.0 data frames\n");
fprintf(stderr, " <can_id>#R{len} for 'classic' CAN 2.0 data frames\n");
fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
fprintf(stderr, "<can_id>:\n"
" 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "{data}:\n"
" 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')\n");
fprintf(stderr, "{len}:\n"
" an optional 0..8 value as RTR frames can contain a valid dlc field\n");
fprintf(stderr, "<flags>:\n"
" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n\n");
fprintf(stderr, "Examples:\n");
fprintf(stderr, " 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n"
" 1F334455#1122334455667788 / 123#R / 00000123#R3\n\n");
}
int main(int argc, char **argv)
{
int s; /* can raw socket */
int required_mtu;
int mtu;
int enable_canfd = 1;
struct sockaddr_can addr;
struct canfd_frame frame;
struct ifreq ifr;
/* check command line options */
if (argc != 3) {
print_usage_send(argv[0]);
return 1;
}
/* parse CAN frame */
required_mtu = parse_canframe(argv[2], &frame);
if (!required_mtu){
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
print_usage_send(argv[0]);
return 1;
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
strncpy(ifr.ifr_name, argv[1], IFNAMSIZ - 1);
ifr.ifr_name[IFNAMSIZ - 1] = '\0';
ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
if (!ifr.ifr_ifindex) {
perror("if_nametoindex");
return 1;
}
memset(&addr, 0, sizeof(addr));
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (required_mtu > (int)CAN_MTU) {
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
perror("SIOCGIFMTU");
return 1;
}
mtu = ifr.ifr_mtu;
if (mtu != CANFD_MTU) {
printf("CAN interface is not CAN FD capable - sorry.\n");
return 1;
}
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
frame.len = can_dlc2len(can_len2dlc(frame.len));
}
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
/* little (really a very little!) CPU usage. */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
/* send frame */
if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
}
close(s);
return 0;
}

16
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBCANUTILS
bool "CAN-utils support library"
default n
depends on NET_CAN
---help---
Enable the CAN-utils support library ported from
https://github.com/linux-can/can-utils
if CANUTILS_LIBCANUTILS
endif

23
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############################################################################
# apps/canutils/libcanutils/Make.defs
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
ifeq ($(CONFIG_CANUTILS_LIBCANUTILS),y)
CONFIGURED_APPS += $(APPDIR)/canutils/libcanutils
endif

28
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############################################################################
# apps/canutils/libcanutils/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
include $(TOPDIR)/Make.defs
# SocketCAN userspace utilities and tools library
# https://github.com/linux-can/can-utils
CSRCS = lib.c
include $(APPDIR)/Application.mk

609
canutils/libcanutils/lib.c Normal file
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* lib.c - library for command line tools
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include <sys/socket.h> /* for sa_family_t */
#include <nuttx/can.h>
#include <nuttx/can/error.h>
#include <netpacket/can.h>
#include "lib.h"
#define CANID_DELIM '#'
#define DATA_SEPERATOR '.'
const char hex_asc_upper[] = "0123456789ABCDEF";
#define hex_asc_upper_lo(x) hex_asc_upper[((x) & 0x0F)]
#define hex_asc_upper_hi(x) hex_asc_upper[((x) & 0xF0) >> 4]
static inline void put_hex_byte(char *buf, __u8 byte)
{
buf[0] = hex_asc_upper_hi(byte);
buf[1] = hex_asc_upper_lo(byte);
}
static inline void _put_id(char *buf, int end_offset, canid_t id)
{
/* build 3 (SFF) or 8 (EFF) digit CAN identifier */
while (end_offset >= 0) {
buf[end_offset--] = hex_asc_upper_lo(id);
id >>= 4;
}
}
#define put_sff_id(buf, id) _put_id(buf, 2, id)
#define put_eff_id(buf, id) _put_id(buf, 7, id)
/* CAN DLC to real data length conversion helpers */
static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
8, 12, 16, 20, 24, 32, 48, 64};
/* get data length from can_dlc with sanitized can_dlc */
unsigned char can_dlc2len(unsigned char can_dlc)
{
return dlc2len[can_dlc & 0x0F];
}
static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, /* 0 - 8 */
9, 9, 9, 9, /* 9 - 12 */
10, 10, 10, 10, /* 13 - 16 */
11, 11, 11, 11, /* 17 - 20 */
12, 12, 12, 12, /* 21 - 24 */
13, 13, 13, 13, 13, 13, 13, 13, /* 25 - 32 */
14, 14, 14, 14, 14, 14, 14, 14, /* 33 - 40 */
14, 14, 14, 14, 14, 14, 14, 14, /* 41 - 48 */
15, 15, 15, 15, 15, 15, 15, 15, /* 49 - 56 */
15, 15, 15, 15, 15, 15, 15, 15}; /* 57 - 64 */
/* map the sanitized data length to an appropriate data length code */
unsigned char can_len2dlc(unsigned char len)
{
if (len > 64)
return 0xF;
return len2dlc[len];
}
unsigned char asc2nibble(char c) {
if ((c >= '0') && (c <= '9'))
return c - '0';
if ((c >= 'A') && (c <= 'F'))
return c - 'A' + 10;
if ((c >= 'a') && (c <= 'f'))
return c - 'a' + 10;
return 16; /* error */
}
int hexstring2data(char *arg, unsigned char *data, int maxdlen) {
int len = strlen(arg);
int i;
unsigned char tmp;
if (!len || len%2 || len > maxdlen*2)
return 1;
memset(data, 0, maxdlen);
for (i=0; i < len/2; i++) {
tmp = asc2nibble(*(arg+(2*i)));
if (tmp > 0x0F)
return 1;
data[i] = (tmp << 4);
tmp = asc2nibble(*(arg+(2*i)+1));
if (tmp > 0x0F)
return 1;
data[i] |= tmp;
}
return 0;
}
int parse_canframe(char *cs, struct canfd_frame *cf) {
/* documentation see lib.h */
int i, idx, dlen, len;
int maxdlen = CAN_MAX_DLEN;
int ret = CAN_MTU;
unsigned char tmp;
len = strlen(cs);
//printf("'%s' len %d\n", cs, len);
memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
if (len < 4)
return 0;
if (cs[3] == CANID_DELIM) { /* 3 digits */
idx = 4;
for (i=0; i<3; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 0;
cf->can_id |= (tmp << (2-i)*4);
}
} else if (cs[8] == CANID_DELIM) { /* 8 digits */
idx = 9;
for (i=0; i<8; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 0;
cf->can_id |= (tmp << (7-i)*4);
}
if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
} else
return 0;
if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
cf->can_id |= CAN_RTR_FLAG;
/* check for optional DLC value for CAN 2.0B frames */
if(cs[++idx] && (tmp = asc2nibble(cs[idx])) <= CAN_MAX_DLC)
cf->len = tmp;
return ret;
}
if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
maxdlen = CANFD_MAX_DLEN;
ret = CANFD_MTU;
/* CAN FD frame <canid>##<flags><data>* */
if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
return 0;
cf->flags = tmp;
idx += 2;
}
for (i=0, dlen=0; i < maxdlen; i++){
if(cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
idx++;
if(idx >= len) /* end of string => end of data */
break;
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 0;
cf->data[i] = (tmp << 4);
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 0;
cf->data[i] |= tmp;
dlen++;
}
cf->len = dlen;
return ret;
}
void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen) {
/* documentation see lib.h */
char buf[CL_CFSZ]; /* max length */
sprint_canframe(buf, cf, sep, maxdlen);
fprintf(stream, "%s", buf);
if (eol)
fprintf(stream, "%s", eol);
}
void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen) {
/* documentation see lib.h */
int i,offset;
int len = (cf->len > maxdlen) ? maxdlen : cf->len;
if (cf->can_id & CAN_ERR_FLAG) {
put_eff_id(buf, cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
buf[8] = '#';
offset = 9;
} else if (cf->can_id & CAN_EFF_FLAG) {
put_eff_id(buf, cf->can_id & CAN_EFF_MASK);
buf[8] = '#';
offset = 9;
} else {
put_sff_id(buf, cf->can_id & CAN_SFF_MASK);
buf[3] = '#';
offset = 4;
}
/* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
if (maxdlen == CAN_MAX_DLEN && cf->can_id & CAN_RTR_FLAG) {
buf[offset++] = 'R';
/* print a given CAN 2.0B DLC if it's not zero */
if (cf->len && cf->len <= CAN_MAX_DLC)
buf[offset++] = hex_asc_upper_lo(cf->len);
buf[offset] = 0;
return;
}
if (maxdlen == CANFD_MAX_DLEN) {
/* add CAN FD specific escape char and flags */
buf[offset++] = '#';
buf[offset++] = hex_asc_upper_lo(cf->flags);
if (sep && len)
buf[offset++] = '.';
}
for (i = 0; i < len; i++) {
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
if (sep && (i+1 < len))
buf[offset++] = '.';
}
buf[offset] = 0;
}
void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen) {
/* documentation see lib.h */
char buf[CL_LONGCFSZ];
sprint_long_canframe(buf, cf, view, maxdlen);
fprintf(stream, "%s", buf);
if ((view & CANLIB_VIEW_ERROR) && (cf->can_id & CAN_ERR_FLAG)) {
snprintf_can_error_frame(buf, sizeof(buf), cf, "\n\t");
fprintf(stream, "\n\t%s", buf);
}
if (eol)
fprintf(stream, "%s", eol);
}
void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen) {
/* documentation see lib.h */
int i, j, dlen, offset;
int len = (cf->len > maxdlen)? maxdlen : cf->len;
/* initialize space for CAN-ID and length information */
memset(buf, ' ', 15);
if (cf->can_id & CAN_ERR_FLAG) {
put_eff_id(buf, cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
offset = 10;
} else if (cf->can_id & CAN_EFF_FLAG) {
put_eff_id(buf, cf->can_id & CAN_EFF_MASK);
offset = 10;
} else {
if (view & CANLIB_VIEW_INDENT_SFF) {
put_sff_id(buf + 5, cf->can_id & CAN_SFF_MASK);
offset = 10;
} else {
put_sff_id(buf, cf->can_id & CAN_SFF_MASK);
offset = 5;
}
}
/* The len value is sanitized by maxdlen (see above) */
if (maxdlen == CAN_MAX_DLEN) {
buf[offset + 1] = '[';
buf[offset + 2] = len + '0';
buf[offset + 3] = ']';
/* standard CAN frames may have RTR enabled */
if (cf->can_id & CAN_RTR_FLAG) {
sprintf(buf+offset+5, " remote request");
return;
}
} else {
buf[offset] = '[';
buf[offset + 1] = (len/10) + '0';
buf[offset + 2] = (len%10) + '0';
buf[offset + 3] = ']';
}
offset += 5;
if (view & CANLIB_VIEW_BINARY) {
dlen = 9; /* _10101010 */
if (view & CANLIB_VIEW_SWAP) {
for (i = len - 1; i >= 0; i--) {
buf[offset++] = (i == len-1)?' ':SWAP_DELIMITER;
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
}
} else {
for (i = 0; i < len; i++) {
buf[offset++] = ' ';
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
}
}
} else {
dlen = 3; /* _AA */
if (view & CANLIB_VIEW_SWAP) {
for (i = len - 1; i >= 0; i--) {
if (i == len-1)
buf[offset++] = ' ';
else
buf[offset++] = SWAP_DELIMITER;
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
}
} else {
for (i = 0; i < len; i++) {
buf[offset++] = ' ';
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
}
}
}
buf[offset] = 0; /* terminate string */
/*
* The ASCII & ERRORFRAME output is put at a fixed len behind the data.
* For now we support ASCII output only for payload length up to 8 bytes.
* Does it make sense to write 64 ASCII byte behind 64 ASCII HEX data on the console?
*/
if (len > CAN_MAX_DLEN)
return;
if (cf->can_id & CAN_ERR_FLAG)
sprintf(buf+offset, "%*s", dlen*(8-len)+13, "ERRORFRAME");
else if (view & CANLIB_VIEW_ASCII) {
j = dlen*(8-len)+4;
if (view & CANLIB_VIEW_SWAP) {
sprintf(buf+offset, "%*s", j, "`");
offset += j;
for (i = len - 1; i >= 0; i--)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
buf[offset++] = '.';
sprintf(buf+offset, "`");
} else {
sprintf(buf+offset, "%*s", j, "'");
offset += j;
for (i = 0; i < len; i++)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
buf[offset++] = '.';
sprintf(buf+offset, "'");
}
}
}
static const char *error_classes[] = {
"tx-timeout",
"lost-arbitration",
"controller-problem",
"protocol-violation",
"transceiver-status",
"no-acknowledgement-on-tx",
"bus-off",
"bus-error",
"restarted-after-bus-off",
};
static const char *controller_problems[] = {
"rx-overflow",
"tx-overflow",
"rx-error-warning",
"tx-error-warning",
"rx-error-passive",
"tx-error-passive",
"back-to-error-active",
};
static const char *protocol_violation_types[] = {
"single-bit-error",
"frame-format-error",
"bit-stuffing-error",
"tx-dominant-bit-error",
"tx-recessive-bit-error",
"bus-overload",
"active-error",
"error-on-tx",
};
static const char *protocol_violation_locations[] = {
"unspecified",
"unspecified",
"id.28-to-id.21",
"start-of-frame",
"bit-srtr",
"bit-ide",
"id.20-to-id.18",
"id.17-to-id.13",
"crc-sequence",
"reserved-bit-0",
"data-field",
"data-length-code",
"bit-rtr",
"reserved-bit-1",
"id.4-to-id.0",
"id.12-to-id.5",
"unspecified",
"active-error-flag",
"intermission",
"tolerate-dominant-bits",
"unspecified",
"unspecified",
"passive-error-flag",
"error-delimiter",
"crc-delimiter",
"acknowledge-slot",
"end-of-frame",
"acknowledge-delimiter",
"overload-flag",
"unspecified",
"unspecified",
"unspecified",
};
#ifndef ARRAY_SIZE
#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0]))
#endif
static int snprintf_error_data(char *buf, size_t len, uint8_t err,
const char **arr, int arr_len)
{
int i, n = 0, count = 0;
if (!err || len <= 0)
return 0;
for (i = 0; i < arr_len; i++) {
if (err & (1 << i)) {
if (count)
n += snprintf(buf + n, len - n, ",");
n += snprintf(buf + n, len - n, "%s", arr[i]);
count++;
}
}
return n;
}
static int snprintf_error_lostarb(char *buf, size_t len, const struct canfd_frame *cf)
{
if (len <= 0)
return 0;
return snprintf(buf, len, "{at bit %d}", cf->data[0]);
}
static int snprintf_error_ctrl(char *buf, size_t len, const struct canfd_frame *cf)
{
int n = 0;
if (len <= 0)
return 0;
n += snprintf(buf + n, len - n, "{");
n += snprintf_error_data(buf + n, len - n, cf->data[1],
controller_problems,
ARRAY_SIZE(controller_problems));
n += snprintf(buf + n, len - n, "}");
return n;
}
static int snprintf_error_prot(char *buf, size_t len, const struct canfd_frame *cf)
{
int n = 0;
if (len <= 0)
return 0;
n += snprintf(buf + n, len - n, "{{");
n += snprintf_error_data(buf + n, len - n, cf->data[2],
protocol_violation_types,
ARRAY_SIZE(protocol_violation_types));
n += snprintf(buf + n, len - n, "}{");
if (cf->data[3] > 0 &&
cf->data[3] < ARRAY_SIZE(protocol_violation_locations))
n += snprintf(buf + n, len - n, "%s",
protocol_violation_locations[cf->data[3]]);
n += snprintf(buf + n, len - n, "}}");
return n;
}
void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
const char* sep)
{
canid_t class, mask;
int i, n = 0, classes = 0;
char *defsep = ",";
if (!(cf->can_id & CAN_ERR_FLAG))
return;
class = cf->can_id & CAN_EFF_MASK;
if (class > (1 << ARRAY_SIZE(error_classes))) {
fprintf(stderr, "Error class %#x is invalid\n", class);
return;
}
if (!sep)
sep = defsep;
for (i = 0; i < (int)ARRAY_SIZE(error_classes); i++) {
mask = 1 << i;
if (class & mask) {
if (classes)
n += snprintf(buf + n, len - n, "%s", sep);
n += snprintf(buf + n, len - n, "%s", error_classes[i]);
if (mask == CAN_ERR_LOSTARB)
n += snprintf_error_lostarb(buf + n, len - n,
cf);
if (mask == CAN_ERR_CRTL)
n += snprintf_error_ctrl(buf + n, len - n, cf);
if (mask == CAN_ERR_PROT)
n += snprintf_error_prot(buf + n, len - n, cf);
classes++;
}
}
if (cf->data[6] || cf->data[7]) {
n += snprintf(buf + n, len - n, "%s", sep);
n += snprintf(buf + n, len - n, "error-counter-tx-rx{{%d}{%d}}",
cf->data[6], cf->data[7]);
}
}

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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* lib.h - library include for command line tools
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#ifndef CAN_UTILS_LIB_H
#define CAN_UTILS_LIB_H
#include <stdio.h>
/* Compatibility for NuttX */
typedef uint8_t __u8;
typedef uint32_t __u32;
/* buffer sizes for CAN frame string representations */
#define CL_ID (sizeof("12345678##1"))
#define CL_DATA sizeof(".AA")
#define CL_BINDATA sizeof(".10101010")
/* CAN FD ASCII hex short representation with DATA_SEPERATORs */
#define CL_CFSZ (2*CL_ID + 64*CL_DATA)
/* CAN FD ASCII hex long representation with binary output */
#define CL_LONGCFSZ (2*CL_ID + sizeof(" [255] ") + (64*CL_BINDATA))
/* CAN DLC to real data length conversion helpers especially for CAN FD */
/* get data length from can_dlc with sanitized can_dlc */
unsigned char can_dlc2len(unsigned char can_dlc);
/* map the sanitized data length to an appropriate data length code */
unsigned char can_len2dlc(unsigned char len);
unsigned char asc2nibble(char c);
/*
* Returns the decimal value of a given ASCII hex character.
*
* While 0..9, a..f, A..F are valid ASCII hex characters.
* On invalid characters the value 16 is returned for error handling.
*/
int hexstring2data(char *arg, unsigned char *data, int maxdlen);
/*
* Converts a given ASCII hex string to a (binary) byte string.
*
* A valid ASCII hex string consists of an even number of up to 16 chars.
* Leading zeros '00' in the ASCII hex string are interpreted.
*
* Examples:
*
* "1234" => data[0] = 0x12, data[1] = 0x34
* "001234" => data[0] = 0x00, data[1] = 0x12, data[2] = 0x34
*
* Return values:
* 0 = success
* 1 = error (in length or the given characters are no ASCII hex characters)
*
* Remark: The not written data[] elements are initialized with zero.
*
*/
int parse_canframe(char *cs, struct canfd_frame *cf);
/*
* Transfers a valid ASCII string describing a CAN frame into struct canfd_frame.
*
* CAN 2.0 frames
* - string layout <can_id>#{R{len}|data}
* - {data} has 0 to 8 hex-values that can (optionally) be separated by '.'
* - {len} can take values from 0 to 8 and can be omitted if zero
* - return value on successful parsing: CAN_MTU
*
* CAN FD frames
* - string layout <can_id>##<flags>{data}
* - <flags> a single ASCII Hex value (0 .. F) which defines canfd_frame.flags
* - {data} has 0 to 64 hex-values that can (optionally) be separated by '.'
* - return value on successful parsing: CANFD_MTU
*
* Return value on detected problems: 0
*
* <can_id> can have 3 (standard frame format) or 8 (extended frame format)
* hexadecimal chars
*
*
* Examples:
*
* 123# -> standard CAN-Id = 0x123, len = 0
* 12345678# -> extended CAN-Id = 0x12345678, len = 0
* 123#R -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R0 -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R7 -> standard CAN-Id = 0x123, len = 7, RTR-frame
* 7A1#r -> standard CAN-Id = 0x7A1, len = 0, RTR-frame
*
* 123#00 -> standard CAN-Id = 0x123, len = 1, data[0] = 0x00
* 123#1122334455667788 -> standard CAN-Id = 0x123, len = 8
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, len = 8
* 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, len = 8
* 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
*
* 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
* 123##1112233 -> CAN FD frame, flags = CANFD_BRS, len = 3
* 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
* 123##3 -> CAN FD frame, flags = (CANFD_ESI | CANFD_BRS), len = 0
* ^^
* CAN FD extension to handle the canfd_frame.flags content
*
* Simple facts on this compact ASCII CAN frame representation:
*
* - 3 digits: standard frame format
* - 8 digits: extendend frame format OR error frame
* - 8 digits with CAN_ERR_FLAG (0x2000000) set: error frame
* - an error frame is never a RTR frame
* - CAN FD frames do not have a RTR bit
*/
void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen);
void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen);
/*
* Creates a CAN frame hexadecimal output in compact format.
* The CAN data[] is separated by '.' when sep != 0.
*
* The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
* maxdlen = 8 -> CAN2.0 frame
* maxdlen = 64 -> CAN FD frame
*
* 12345678#112233 -> extended CAN-Id = 0x12345678, len = 3, data, sep = 0
* 12345678#R -> extended CAN-Id = 0x12345678, RTR, len = 0
* 12345678#R5 -> extended CAN-Id = 0x12345678, RTR, len = 5
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8, sep = 1
* 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
* 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
* 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
*
* Examples:
*
* fprint_canframe(stdout, &frame, "\n", 0); // with eol to STDOUT
* fprint_canframe(stderr, &frame, NULL, 0); // no eol to STDERR
*
*/
#define CANLIB_VIEW_ASCII 0x1
#define CANLIB_VIEW_BINARY 0x2
#define CANLIB_VIEW_SWAP 0x4
#define CANLIB_VIEW_ERROR 0x8
#define CANLIB_VIEW_INDENT_SFF 0x10
#define SWAP_DELIMITER '`'
void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen);
void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen);
/*
* Creates a CAN frame hexadecimal output in user readable format.
*
* The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
* maxdlen = 8 -> CAN2.0 frame
* maxdlen = 64 -> CAN FD frame
*
* 12345678 [3] 11 22 33 -> extended CAN-Id = 0x12345678, dlc = 3, data
* 12345678 [0] remote request -> extended CAN-Id = 0x12345678, RTR
* 14B0DC51 [8] 4A 94 E8 2A EC 58 55 62 'J..*.XUb' -> (with ASCII output)
* 20001111 [7] C6 23 7B 32 69 98 3C ERRORFRAME -> (CAN_ERR_FLAG set)
* 12345678 [03] 11 22 33 -> CAN FD with extended CAN-Id = 0x12345678, dlc = 3
*
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == 0
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == set
*
* Examples:
*
* // CAN FD frame with eol to STDOUT
* fprint_long_canframe(stdout, &frame, "\n", 0, CANFD_MAX_DLEN);
*
* // CAN 2.0 frame without eol to STDERR
* fprint_long_canframe(stderr, &frame, NULL, 0, CAN_MAX_DLEN);
*
*/
void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
const char *sep);
/*
* Creates a CAN error frame output in user readable format.
*/
#endif

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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#ifndef TERMINAL_H
#define TERMINAL_H
/* reset to default */
#define ATTRESET "\33[0m"
/* attributes */
#define ATTBOLD "\33[1m"
#define ATTUNDERLINE "\33[4m"
#define ATTBLINK "\33[5m"
#define ATTINVERSE "\33[7m"
#define ATTINVISIBLE "\33[8m"
/* foreground colors */
#define FGBLACK "\33[30m"
#define FGRED "\33[31m"
#define FGGREEN "\33[32m"
#define FGYELLOW "\33[33m"
#define FGBLUE "\33[34m"
#define FGMAGENTA "\33[35m"
#define FGCYAN "\33[36m"
#define FGWHITE "\33[37m"
/* background colors */
#define BGBLACK "\33[40m"
#define BGRED "\33[41m"
#define BGGREEN "\33[42m"
#define BGYELLOW "\33[43m"
#define BGBLUE "\33[44m"
#define BGMAGENTA "\33[45m"
#define BGCYAN "\33[46m"
#define BGWHITE "\33[47m"
/* cursor */
#define CSR_HOME "\33[H"
#define CSR_UP "\33[A"
#define CSR_DOWN "\33[B"
#define CSR_RIGHT "\33[C"
#define CSR_LEFT "\33[D"
#define CSR_HIDE "\33[?25l"
#define CSR_SHOW "\33[?25h"
/* clear screen */
#define CLR_SCREEN "\33[2J"
#endif /* TERMINAL_H */