/* ** Copyright 2012-2016 by Kvaser AB, Molndal, Sweden ** http://www.kvaser.com ** ** This software is dual licensed under the following two licenses: ** BSD-new and GPLv2. You may use either one. See the included ** COPYING file for details. ** ** License: BSD-new ** =============================================================================== ** Redistribution and use in source and binary forms, with or without ** modification, are permitted provided that the following conditions are met: ** * Redistributions of source code must retain the above copyright ** notice, this list of conditions and the following disclaimer. ** * 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. ** * Neither the name of the <organization> nor the ** names of its contributors may be used to endorse or promote products ** derived from this software without specific prior written permission. ** ** 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 <COPYRIGHT HOLDER> 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. ** ** ** License: GPLv2 ** =============================================================================== ** This program is free software; you can redistribute it and/or ** modify it under the terms of the GNU General Public License ** as published by the Free Software Foundation; either version 2 ** of the License, or (at your option) any later version. ** ** This program is distributed in the hope that it will be useful, ** but WITHOUT ANY WARRANTY; without even the implied warranty of ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ** GNU General Public License for more details. ** ** You should have received a copy of the GNU General Public License ** along with this program; if not, write to the Free Software ** Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. ** ** --------------------------------------------------------------------------- **/ /* * Kvaser Linux Canlib * Read CAN FD messages and print out their contents */ #include <canlib.h> #include <stdio.h> #include <signal.h> #include <errno.h> #include <unistd.h> #define ALARM_INTERVAL_IN_S (1) #define READ_WAIT_INFINITE (unsigned long)(-1) static unsigned int msgCounter; static void check(char* id, canStatus stat) { if (stat != canOK) { char buf[50]; buf[0] = '\0'; canGetErrorText(stat, buf, sizeof(buf)); printf("%s: failed, stat=%d (%s)\n", id, (int)stat, buf); } } static void printUsageAndExit(char *prgName) { printf("Usage: '%s <channel>'\n", prgName); exit(1); } static void sighand(int sig) { static unsigned int last; switch (sig) { case SIGINT: break; case SIGALRM: if (msgCounter != last) { printf("rx : %d total: %d\n", msgCounter - last, msgCounter); } last = msgCounter; alarm(ALARM_INTERVAL_IN_S); break; } } int main(int argc, char *argv[]) { canHandle hnd; canStatus stat; int channel; if (argc != 2) { printUsageAndExit(argv[0]); } { char *endPtr = NULL; errno = 0; channel = strtol(argv[1], &endPtr, 10); if ( (errno != 0) || ((channel == 0) && (endPtr == argv[1])) ) { printUsageAndExit(argv[0]); } } printf("Reading messages on channel %d\n", channel); /* Use sighand as our signal handler */ signal(SIGALRM, sighand); signal(SIGINT, sighand); /* Allow signals to interrupt syscalls */ siginterrupt(SIGINT, 1); /* Open channels, parameters and go on bus */ hnd = canOpenChannel(channel, canOPEN_CAN_FD); if (hnd < 0) { printf("canOpenChannel %d", channel); check("", hnd); return -1; } stat = canSetBusParams(hnd, canFD_BITRATE_1M_80P, 0, 0, 0, 0, 0); check("canSetBusParams", stat); if (stat != canOK) { goto ErrorExit; } stat = canSetBusParamsFd(hnd, canFD_BITRATE_2M_80P, 0, 0, 0); check("canSetBusParamsFd", stat); if (stat != canOK) { goto ErrorExit; } stat = canBusOn(hnd); check("canBusOn", stat); if (stat != canOK) { goto ErrorExit; } alarm(ALARM_INTERVAL_IN_S); do { long id; unsigned char msg[64]; unsigned int dlc; unsigned int flag; unsigned long time; stat = canReadWait(hnd, &id, &msg, &dlc, &flag, &time, READ_WAIT_INFINITE); if (stat == canOK) { char *can_std; unsigned int i; msgCounter++; if (flag & canMSG_ERROR_FRAME) { printf("(%u) ERROR FRAME flags:0x%x time:%lu\n", msgCounter, flag, time); continue; } if (flag & canFDMSG_FDF) { if (flag & canFDMSG_BRS) { can_std = "FD+"; } else { can_std = "FD "; } } else { can_std = "STD"; } printf("CH:%2d %s:%s:%2u:%08lx", channel, can_std, (flag & canMSG_EXT) ? "X" : " ", dlc,id); if (flag & canFDMSG_ESI) { printf("ESI "); } printf(" flags:0x%x time:%lu", flag, time); for (i = 0; i < dlc; i++) { unsigned char byte = msg[i]; if ((i % 16) == 0) { printf("\n "); } printf(" %02x ", byte); } printf("\n"); } else { if (errno == 0) { check("\ncanReadWait", stat); } else { perror("\ncanReadWait error"); } } } while (stat == canOK); sighand(SIGALRM); ErrorExit: alarm(0); stat = canBusOff(hnd); check("canBusOff", stat); stat = canClose(hnd); check("canClose", stat); return 0; }