isotpdump.c

/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
 * isotpdump.c - dump and explain ISO15765-2 protocol CAN frames
 *
 * Copyright (c) 2008 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 <libgen.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <strings.h>
#include <time.h>
#include <unistd.h>

#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/types.h>

#include <linux/can.h>
#include <linux/can/raw.h>
#include <linux/sockios.h>

#include "terminal.h"

#define NO_CAN_ID 0xFFFFFFFFU

const char fc_info [4][9] = { "CTS", "WT", "OVFLW", "reserved" };
const int canfd_on = 1;

void print_usage(char *prg)
{
	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
	fprintf(stderr, "Options:\n");
	fprintf(stderr, "         -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
	fprintf(stderr, "         -b <can_id>  (broadcast can_id, Use 8 digits for extended IDs)\n");
	fprintf(stderr, "         -x <addr>    (extended addressing mode. Use 'any' for all addresses)\n");
	fprintf(stderr, "         -X <addr>    (extended addressing mode (rx addr). Use 'any' for all)\n");
	fprintf(stderr, "         -c           (color mode)\n");
	fprintf(stderr, "         -a           (print data also in ASCII-chars)\n");
	fprintf(stderr, "         -t <type>    (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
	fprintf(stderr, "         -u           (print uds messages)\n");
	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
	fprintf(stderr, "\nUDS output contains a flag which provides information about the type of the \n");
	fprintf(stderr, "message.\n\n");
	fprintf(stderr, "Flags:\n");
	fprintf(stderr, "       [SRQ]  = Service Request\n");
	fprintf(stderr, "       [PSR]  = Positive Service Response\n");
	fprintf(stderr, "       [NRC]  = Negative Response Code\n");
	fprintf(stderr, "       [???]  = Unknown (not specified)\n");
	fprintf(stderr, "\n");
}

void print_uds_message(int service, int nrc)
{
	char *service_name;
	char *flag = "[???]";

	if ((service >= 0x50 && service <= 0x7E) || (service >= 0xC3 && service <= 0xC8)) {
		flag = "[PSR]";
		service = service - 0x40;
	} else if ((service >= 0x10 && service <= 0x3E) ||
		   (service >= 0x83 && service <= 0x88) ||
		   (service >= 0xBA && service <= 0xBE))
		flag = "[SRQ]";
	
	switch(service) {
	case 0x10: service_name = "DiagnosticSessionControl"; break;
	case 0x11: service_name = "ECUReset"; break;
	case 0x14: service_name = "ClearDiagnosticInformation"; break;
	case 0x19: service_name = "ReadDTCInformation"; break;
	case 0x22: service_name = "ReadDataByIdentifier"; break;
	case 0x23: service_name = "ReadMemoryByAddress"; break;
	case 0x24: service_name = "ReadScalingDataByIdentifier"; break;
	case 0x27: service_name = "SecurityAccess"; break;
	case 0x28: service_name = "CommunicationControl"; break;
	case 0x2A: service_name = "ReadDataByPeriodicIdentifier"; break;
	case 0x2C: service_name = "DynamicallyDefineDataIdentifier"; break;
	case 0x2E: service_name = "WriteDataByIdentifier"; break;
	case 0x2F: service_name = "InputOutputControlByIdentifier"; break;
	case 0x31: service_name = "RoutineControl"; break;
	case 0x34: service_name = "RequestDownload"; break;
	case 0x35: service_name = "RequestUpload"; break;
	case 0x36: service_name = "TransferData"; break;
	case 0x37: service_name = "RequestTransferExit"; break;
	case 0x38: service_name = "RequestFileTransfer"; break;
	case 0x3D: service_name = "WriteMemoryByAddress"; break;
	case 0x3E: service_name = "TesterPresent"; break;
	case 0x83: service_name = "AccessTimingParameter"; break;
	case 0x84: service_name = "SecuredDataTransmission"; break;
	case 0x85: service_name = "ControlDTCSetting"; break;
	case 0x86: service_name = "ResponseOnEvent"; break;
	case 0x87: service_name = "LinkControl"; break;
	case 0x7F: flag = "[NRC]";
		switch (nrc) {
		case 0x00: service_name = "positiveResponse"; break;
		case 0x10: service_name = "generalReject"; break;
		case 0x11: service_name = "serviceNotSupported"; break;
		case 0x12: service_name = "sub-functionNotSupported"; break;
		case 0x13: service_name = "incorrectMessageLengthOrInvalidFormat"; break;
		case 0x14: service_name = "responseTooLong"; break;
		case 0x21: service_name = "busyRepeatRequest"; break;
		case 0x22: service_name = "conditionsNotCorrect"; break;
		case 0x24: service_name = "requestSequenceError"; break;
		case 0x25: service_name = "noResponseFromSubnetComponent"; break;
		case 0x26: service_name = "FailurePreventsExecutionOfRequestedAction"; break;
		case 0x31: service_name = "requestOutOfRange"; break;
		case 0x33: service_name = "securityAccessDenied"; break;
		case 0x35: service_name = "invalidKey"; break;
		case 0x36: service_name = "exceedNumberOfAttempts"; break;
		case 0x37: service_name = "requiredTimeDelayNotExpired"; break;
		case 0x70: service_name = "uploadDownloadNotAccepted"; break;
		case 0x71: service_name = "transferDataSuspended"; break;
		case 0x72: service_name = "generalProgrammingFailure"; break;
		case 0x73: service_name = "wrongBlockSequenceCounter"; break;
		case 0x78: service_name = "requestCorrectlyReceived-ResponsePending"; break;
		case 0x7E: service_name = "sub-functionNotSupportedInActiveSession"; break;
		case 0x7F: service_name = "serviceNotSupportedInActiveSession"; break;
		case 0x81: service_name = "rpmTooHigh"; break;
		case 0x82: service_name = "rpmTooLow"; break;
		case 0x83: service_name = "engineIsRunning"; break;
		case 0x84: service_name = "engineIsNotRunning"; break;
		case 0x85: service_name = "engineRunTimeTooLow"; break;
		case 0x86: service_name = "temperatureTooHigh"; break;
		case 0x87: service_name = "temperatureTooLow"; break;
		case 0x88: service_name = "vehicleSpeedTooHigh"; break;
		case 0x89: service_name = "vehicleSpeedTooLow"; break;
		case 0x8A: service_name = "throttle/PedalTooHigh"; break;
		case 0x8B: service_name = "throttle/PedalTooLow"; break;
		case 0x8C: service_name = "transmissionRangeNotInNeutral"; break;
		case 0x8D: service_name = "transmissionRangeNotInGear"; break;
		case 0x8F: service_name = "brakeSwitch(es)NotClosed (Brake Pedal not pressed or not applied)"; break;
		case 0x90: service_name = "shifterLeverNotInPark"; break;
		case 0x91: service_name = "torqueConverterClutchLocked"; break;
		case 0x92: service_name = "voltageTooHigh"; break;
		case 0x93: service_name = "voltageTooLow"; break;

		default:
			if (nrc > 0x37 && nrc < 0x50) {
				service_name = "reservedByExtendedDataLinkSecurityDocument"; break;
			}
			else if (nrc > 0x93 && nrc < 0xF0) {
				service_name = "reservedForSpecificConditionsNotCorrect"; break;
			}
			else if (nrc > 0xEF && nrc < 0xFE) {
				service_name = "vehicleManufacturerSpecificConditionsNotCorrect"; break;
			}
			else {
				service_name = "ISOSAEReserved"; break;
			}
		}
		break;
	default: service_name = "Unknown";
	}
	printf("%s %s", flag, service_name);
}

int main(int argc, char **argv)
{
	int s;
	struct sockaddr_can addr;
	struct can_filter rfilter[3];
	struct canfd_frame frame;
	int nbytes, i;
	canid_t src = NO_CAN_ID;
	canid_t dst = NO_CAN_ID;
	canid_t bst = NO_CAN_ID;
	int ext = 0;
	int extaddr = 0;
	int extany = 0;
	int rx_ext = 0;
	int rx_extaddr = 0;
	int rx_extany = 0;
	int asc = 0;
	int color = 0;
	int uds_output = 0;
	int is_ff = 0;
	int timestamp = 0;
	int datidx = 0;
	unsigned long fflen = 0;
	struct timeval tv, last_tv;
	unsigned int n_pci;
	int opt;

	last_tv.tv_sec  = 0;
	last_tv.tv_usec = 0;

	while ((opt = getopt(argc, argv, "s:d:b:ax:X:ct:u?")) != -1) {
		switch (opt) {
		case 's':
			src = strtoul(optarg, NULL, 16);
			if (strlen(optarg) > 7)
				src |= CAN_EFF_FLAG;
			break;

		case 'd':
			dst = strtoul(optarg, NULL, 16);
			if (strlen(optarg) > 7)
				dst |= CAN_EFF_FLAG;
			break;

		case 'b':
			bst = strtoul(optarg, NULL, 16);
			if (strlen(optarg) > 7)
				bst |= CAN_EFF_FLAG;
			break;

		case 'c':
			color = 1;
			break;

		case 'a':
			asc = 1;
			break;

		case 'x':
			ext = 1;
			if (!strncmp(optarg, "any", 3))
				extany = 1;
			else
				extaddr = strtoul(optarg, NULL, 16) & 0xFF;
			break;

		case 'X':
			rx_ext = 1;
			if (!strncmp(optarg, "any", 3))
				rx_extany = 1;
			else
				rx_extaddr = strtoul(optarg, NULL, 16) & 0xFF;
			break;

		case 't':
			timestamp = optarg[0];
			if ((timestamp != 'a') && (timestamp != 'A') &&
			    (timestamp != 'd') && (timestamp != 'z')) {
				printf("%s: unknown timestamp mode '%c' - ignored\n",
				       basename(argv[0]), optarg[0]);
				timestamp = 0;
			}
			break;

		case 'u':
		        uds_output = 1;
			break;

		case '?':
			print_usage(basename(argv[0]));
			exit(0);
			break;

		default:
			fprintf(stderr, "Unknown option %c\n", opt);
			print_usage(basename(argv[0]));
			exit(1);
			break;
		}
	}

	if (rx_ext && !ext) {
		print_usage(basename(argv[0]));
		exit(0);
	}

	if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
		print_usage(basename(argv[0]));
		exit(0);
	}

	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
		perror("socket");
		return 1;
	}

	/* try to switch the socket into CAN FD mode */
	setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));

	if (src & CAN_EFF_FLAG) {
		rfilter[0].can_id   = src & (CAN_EFF_MASK | CAN_EFF_FLAG);
		rfilter[0].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
	} else {
		rfilter[0].can_id   = src & CAN_SFF_MASK;
		rfilter[0].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
	}

	if (dst & CAN_EFF_FLAG) {
		rfilter[1].can_id   = dst & (CAN_EFF_MASK | CAN_EFF_FLAG);
		rfilter[1].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
	} else {
		rfilter[1].can_id   = dst & CAN_SFF_MASK;
		rfilter[1].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
	}

	if (bst & CAN_EFF_FLAG) {
		rfilter[2].can_id   = bst & (CAN_EFF_MASK | CAN_EFF_FLAG);
		rfilter[2].can_mask = (CAN_EFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
	} else {
		rfilter[2].can_id   = bst & CAN_SFF_MASK;
		rfilter[2].can_mask = (CAN_SFF_MASK|CAN_EFF_FLAG|CAN_RTR_FLAG);
	}

	if (bst != NO_CAN_ID)
		setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
	else
		setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter) - sizeof(rfilter[0]));

	addr.can_family = AF_CAN;
	addr.can_ifindex = if_nametoindex(argv[optind]);
	if (!addr.can_ifindex) {
		perror("if_nametoindex");
		return 1;
	}

	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		perror("bind");
		return 1;
	}

	while (1) {
		nbytes = read(s, &frame, sizeof(frame));
		if (nbytes < 0) {
			perror("read");
			return 1;
		}
		if (nbytes != CAN_MTU && nbytes != CANFD_MTU) {
			fprintf(stderr, "read: incomplete CAN frame %zu %d\n", sizeof(frame), nbytes);
			return 1;
		}
		if (frame.can_id == src && ext && !extany &&
		    extaddr != frame.data[0])
			continue;

		if (frame.can_id == dst && rx_ext && !rx_extany &&
		    rx_extaddr != frame.data[0])
			continue;

		if (color) {
			if (frame.can_id == src)
				printf("%s", FGRED);
			else if (frame.can_id == dst)
				printf("%s", FGBLUE);
			else if (frame.can_id == bst)
				printf("%s", FGGREEN);
		}

		if (timestamp) {
			ioctl(s, SIOCGSTAMP, &tv);

			switch (timestamp) {
			case 'a': /* absolute with timestamp */
				printf("(%llu.%06llu) ", (unsigned long long)tv.tv_sec, (unsigned long long)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.%06llu) ", timestring, (unsigned long long)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("(%llu.%06llu) ", (unsigned long long)diff.tv_sec,
				       (unsigned long long)diff.tv_usec);

				if (timestamp == 'd')
					last_tv =
						tv; /* update for delta calculation */
			} break;

			default: /* no timestamp output */
				break;
			}
		}

			if (frame.can_id & CAN_EFF_FLAG)
				printf(" %s  %8X", argv[optind], frame.can_id & CAN_EFF_MASK);
			else
				printf(" %s  %3X", argv[optind], frame.can_id & CAN_SFF_MASK);

			if (ext)
				printf("{%02X}", frame.data[0]);

			if (nbytes == CAN_MTU)
				printf("  [%d]  ", frame.len);
			else
				printf(" [%02d]  ", frame.len);

			datidx = 0;
			n_pci = frame.data[ext];

			switch (n_pci & 0xF0) {
			case 0x00:
			        is_ff = 1;
				if (n_pci & 0xF) {
					printf("[SF] ln: %-4d data:", n_pci & 0xF);
					datidx = ext+1;
				} else {
					printf("[SF] ln: %-4d data:", frame.data[ext + 1]);
					datidx = ext+2;
				}
				break;

			case 0x10:
			        is_ff = 1;
				fflen = ((n_pci & 0x0F)<<8) + frame.data[ext+1];
				if (fflen)
					datidx = ext+2;
				else {
					fflen = (frame.data[ext+2]<<24) +
						(frame.data[ext+3]<<16) +
						(frame.data[ext+4]<<8) +
						frame.data[ext+5];
					datidx = ext+6;
				}
				printf("[FF] ln: %-4lu data:", fflen);
				break;

			case 0x20:
				printf("[CF] sn: %X    data:", n_pci & 0x0F);
				datidx = ext+1;
				break;

			case 0x30:
				n_pci &= 0x0F;
				printf("[FC] FC: %d ", n_pci);

				if (n_pci > 3)
					n_pci = 3;

				printf("= %s # ", fc_info[n_pci]);

				printf("BS: %d %s# ", frame.data[ext+1],
				       (frame.data[ext+1])? "":"= off ");

				i = frame.data[ext+2];
				printf("STmin: 0x%02X = ", i);

				if (i < 0x80)
					printf("%d ms", i);
				else if (i > 0xF0 && i < 0xFA)
					printf("%d us", (i & 0x0F) * 100);
				else
					printf("reserved");
				break;

			default:
				printf("[??]");
			}

			if (datidx && frame.len > datidx) {
				printf(" ");
				for (i = datidx; i < frame.len; i++) {
					printf("%02X ", frame.data[i]);
				}

				if (asc) {
					printf("%*s", ((7-ext) - (frame.len-datidx))*3 + 5 ,
					       "-  '");
					for (i = datidx; i < frame.len; i++) {
						printf("%c",((frame.data[i] > 0x1F) &&
							     (frame.data[i] < 0x7F))?
						       frame.data[i] : '.');
					}
					printf("'");
				}
				if (uds_output && is_ff) {
					int offset = 3;
					if (asc)
						offset = 1;
					printf("%*s", ((7-ext) - (frame.len-datidx))*offset + 3,
					       " - ");
					print_uds_message(frame.data[datidx], frame.data[datidx+2]);
					is_ff = 0;
				}
			}

			if (color)
				printf("%s", ATTRESET);
			printf("\n");
			fflush(stdout);
	}

	close(s);

	return 0;
}