canfdmonitor.c
/*
** Copyright 2017 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 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.
**
**
** 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
**
**
** IMPORTANT NOTICE:
** ==============================================================================
** This source code is made available for free, as an open license, by Kvaser AB,
** for use with its applications. Kvaser AB does not accept any liability
** whatsoever for any third party patent or other immaterial property rights
** violations that may result from any usage of this source code, regardless of
** the combination of source code and various applications that it can be used
** in, or with.
**
** -----------------------------------------------------------------------------
*/
/*
* 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 = 0;
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 : %u total: %u\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);
canInitializeLibrary();
/* Open channel, set 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);
stat = canUnloadLibrary();
check("canUnloadLibrary", stat);
return 0;
}