-
Notifications
You must be signed in to change notification settings - Fork 713
/
lib.h
261 lines (242 loc) · 10.4 KB
/
lib.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
/* 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 <[email protected]>
*
*/
#ifndef CAN_UTILS_LIB_H
#define CAN_UTILS_LIB_H
#include <stdint.h>
#include <stddef.h>
#include <stdio.h>
#ifdef DEBUG
#define pr_debug(fmt, args...) printf(fmt, ##args)
#else
__attribute__((format (printf, 1, 2)))
static inline int pr_debug(const char* fmt, ...) {return 0;}
#endif
/* CAN CC/FD/XL frame union */
typedef union {
struct can_frame cc;
struct canfd_frame fd;
struct canxl_frame xl;
} cu_t;
/*
* The buffer size for ASCII CAN frame string representations
* covers also the 'long' CAN frame output from sprint_long_canframe()
* including (swapped) binary represetations, timestamps, netdevice names,
* lengths and error message details as the CAN XL data is cropped to 64
* byte (the 'long' CAN frame output is only for display on terminals).
*/
#define AFRSZ 6300 /* 3*2048 (data) + 22 (timestamp) + 18 (netdev) + ID/HDR */
/* CAN DLC to real data length conversion helpers especially for CAN FD */
/* get data length from raw data length code (DLC) */
unsigned char can_fd_dlc2len(unsigned char dlc);
/* map the sanitized data length to an appropriate data length code */
unsigned char can_fd_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, cu_t *cu);
/*
* Transfers a valid ASCII string describing a CAN frame into the CAN union
* containing CAN CC/FD/XL structs.
*
* CAN CC frames (aka Classical CAN, CAN 2.0B)
* - string layout <can_id>#{R{len}|data}{_len8_dlc}
* - {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
* - {_len8_dlc} can take hex values from '_9' to '_F' when len is CAN_MAX_DLEN
* - 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
*
* CAN XL frames
* - string layout <vcid><prio>#<flags>:<sdt>:<af>#{data}
* - <vcid> a two ASCII Hex value (00 .. FF) which defines the VCID
* - <prio> a three ASCII Hex value (000 .. 7FF) which defines the 11 bit PRIO
* - <flags> a two ASCII Hex value (00 .. FF) which defines canxl_frame.flags
* - <sdt> a two ASCII Hex value (00 .. FF) which defines canxl_frame.sdt
* - <af> a 8 digit ASCII Hex value which defines the 32 bit canxl_frame.af
* - {data} has 1 to 2048 hex-values that can (optionally) be separated by '.'
* - return value on successful parsing: CANXL_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
* 123#R8_9 -> standard CAN-Id = 0x123, len = 8, dlc = 9, 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#1122334455667788_E -> standard CAN-Id = 0x123, len = 8, dlc = 14
* 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
*
* 45123#81:00:12345678#11223344.556677 -> CAN XL frame with len = 7,
* VCID = 0x45, PRIO = 0x123, flags = 0x81, sdt = 0x00, af = 0x12345678
*
* 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
*/
int snprintf_canframe(char *buf, size_t size, cu_t *cu, int sep);
/*
* Creates a CAN frame hexadecimal output in compact format.
* The CAN data[] is separated by '.' when sep != 0.
*
* A CAN XL frame is detected when CANXL_XLF is set in the struct
* cu.canxl_frame.flags. Otherwise the type of the CAN frame (CAN CC/FD)
* is specified by the dual-use struct cu.canfd_frame.flags element:
* w/o CAN FD flags (== 0) -> CAN CC frame (aka Classical CAN, CAN2.0B)
* with CAN FD flags (!= 0) -> CAN FD frame (with CANFD_[FDF/BRS/ESI])
*
* 12345678#112233 -> extended CAN-Id = 0x12345678, len = 3, data, sep = 0
* 123#1122334455667788_E -> standard CAN-Id = 0x123, len = 8, dlc = 14, 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
* 45123#81:00:12345678#11223344.556677 -> CAN XL frame with len = 7,
* VCID = 0x45, PRIO = 0x123, flags = 0x81, sdt = 0x00, af = 0x12345678
*
*/
#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 CANLIB_VIEW_LEN8_DLC 0x20
#define SWAP_DELIMITER '`'
int snprintf_long_canframe(char *buf, size_t size, cu_t *cu, int view);
/*
* Creates a CAN frame hexadecimal output in user readable format.
*
* A CAN XL frame is detected when CANXL_XLF is set in the struct
* cu.canxl_frame.flags. Otherwise the type of the CAN frame (CAN CC/FD)
* is specified by the dual-use struct cu.canfd_frame.flags element:
* w/o CAN FD flags (== 0) -> CAN CC frame (aka Classical CAN, CAN2.0B)
* with CAN FD flags (!= 0) -> CAN FD frame (with CANFD_[FDF/BRS/ESI])
*
* 12345678 [3] 11 22 33 -> extended CAN-Id = 0x12345678, len = 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)
* 321 {B} 11 22 33 44 55 66 77 88 -> Classical CAN with raw '{DLC}' value B
* 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, len = 3
* 123 [0003] (45|81:00:12345678) 11 22 33 -> CAN XL frame with VCID 0x45
*
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == 0
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == set
*
* There are no binary or ASCII view modes for CAN XL and the number of displayed
* data bytes is limited to 64 to fit terminal output use-cases.
*/
int 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.
*/
/**
* timespec_diff_ms - calculate timespec difference in milliseconds
* @ts1: first timespec
* @ts2: second timespec
*
* Return negative difference if in the past.
*/
int64_t timespec_diff_ms(struct timespec *ts1, struct timespec *ts2);
/**
* timespec_add_ms - add milliseconds to timespec
* @ts: timespec
* @milliseconds: milliseconds to add
*/
void timespec_add_ms(struct timespec *ts, uint64_t milliseconds);
#endif