CFLAGS += -Wall -g
-vw-bap-dump:
+vw-bap-dump: vw-bap-dump.c vw-bap.c
* by the Free Software Foundation.
*/
-#include <ctype.h>
-
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
-#include <endian.h>
-#include <sys/time.h>
-
-
-
-
-typedef unsigned char BAP_OpCode;
-typedef unsigned char BAP_SubNode;
-typedef unsigned char BAP_SubFunction;
-typedef unsigned short BAP_FrameLen;
-
-
-struct BAP_Frame {
- BAP_OpCode opcode;
- BAP_SubNode subnode;
- BAP_SubFunction function;
- BAP_FrameLen len;
- BAP_FrameLen len_done;
- char data[4096];
-};
-
-
-struct BAP_RXer {
- struct BAP_Frame *mfchannel[8];
-};
-
-
-
-
-
-static void bap_frame_dump(struct BAP_Frame *bap_frame)
-{
- unsigned i;
-
- printf("%u. %2i/%-2i .%02i --",
- bap_frame->opcode,
- bap_frame->subnode,
- bap_frame->function,
- bap_frame->len);
-
- for (i = 0; i < bap_frame->len; i++) {
- if (!(i % 4)) {
- printf(" ");
- }
- printf("%02x", (unsigned char)(bap_frame->data[i]));
- }
-
- printf("\n '");
- for (i = 0; i < bap_frame->len; i++) {
- unsigned char c = bap_frame->data[i];
- if (!isprint(c) || c == '\n' || c == '\r') {
- c = '.';
- }
- printf("%c", c);
- }
- printf("'");
-
- printf("\n");
-
- fflush(stdout);
-}
-
-
-
-
-
-static struct BAP_Frame* bap_handle_can_frame(struct BAP_RXer *bap, struct can_frame *frame)
-{
- struct BAP_Frame *bap_frame = NULL;
- unsigned short header;
- unsigned this_len;
-
- //printf("Received BAP frame from CAN ID %03x\n", frame->can_id);
-
- if (frame->can_dlc < 2) {
- printf("Error: Frame too short\n");
- }
-
- if (frame->data[0] & 0x80) {
- /* This is a multi-frame BAP message */
- int mfchannel = (frame->data[0] >> 4) & 0x3;
-
- if (!(frame->data[0] & 0x40)) {
- /* Start frame */
-
- unsigned short header;
- unsigned this_len;
-
- if (frame->can_dlc < 4) {
- printf("Error: Frame too short\n");
- }
-
- if (bap->mfchannel[mfchannel]) {
- printf("bap_handle_can_frame: new start frame for open channel\n");
- }
- bap->mfchannel[mfchannel] = NULL;
-
- bap_frame = calloc(1, sizeof(struct BAP_Frame));
- if (!bap_frame) {
- printf("bap_handle_can_frame: Failed to allocate new frame\n");
- return NULL;
- }
-
- header = (frame->data[2] << 8) | frame->data[3];
- bap_frame->opcode = (header >> 12) & 0x7;
- bap_frame->subnode = (header >> 6) & 0x3F;
- bap_frame->function = (header >> 0) & 0x3F;
-
- bap_frame->len = ((frame->data[0] & 0xF) << 8) | frame->data[1];
-
- this_len = frame->can_dlc - 4;
-
- if (this_len > bap_frame->len) {
- printf("bap_handle_can_frame: this_len > len\n");
-
- free(bap_frame);
- bap->mfchannel[mfchannel] = NULL;
-
- return NULL;
- }
-
- memcpy(&bap_frame->data[0], &frame->data[frame->can_dlc - this_len], this_len);
- bap_frame->len_done = this_len;
-
- if (bap_frame->len_done == bap_frame->len) {
- /* Frame is complete, remove from buffer */
- bap->mfchannel[mfchannel] = NULL;
- return bap_frame;
- } else {
- /* Frame is incomplete, don't emit it yet */
- bap->mfchannel[mfchannel] = bap_frame;
- return NULL;
- }
- } else {
- /* Continuation frame */
-
- bap_frame = bap->mfchannel[mfchannel];
-
- if (!bap_frame) {
- printf("bap_handle_can_frame: continuation frame for unknown mf channel %d\n",
- mfchannel);
- }
-
- this_len = frame->can_dlc - 1;
-
- if ((bap_frame->len_done + this_len) > bap_frame->len) {
- printf("bap_handle_can_frame: len_done + this_len > len\n");
-
- free(bap_frame);
- bap->mfchannel[mfchannel] = NULL;
-
- return NULL;
- }
-
- memcpy(&bap_frame->data[bap_frame->len_done],
- &frame->data[frame->can_dlc - this_len],
- this_len);
- bap_frame->len_done += this_len;
-
- if (bap_frame->len_done == bap_frame->len) {
- /* Frame is complete, remove from buffer */
- bap->mfchannel[mfchannel] = NULL;
- return bap_frame;
- } else {
- /* Frame is incomplete, don't emit it yet */
- return NULL;
- }
- }
- } else {
- /* Single-frame BAP message */
-
- bap_frame = calloc(1, sizeof(struct BAP_Frame));
- if (!bap_frame) {
- printf("bap_handle_can_frame: Failed to allocate new frame\n");
- return NULL;
- }
-
- header = (frame->data[0] << 8) | frame->data[1];
- bap_frame->opcode = (header >> 12) & 0x7;
- bap_frame->subnode = (header >> 6) & 0x3F;
- bap_frame->function = (header >> 0) & 0x3F;
-
- this_len = frame->can_dlc - 2;
-
- bap_frame->len = this_len;
-
- memcpy(&bap_frame->data[0], &frame->data[frame->can_dlc - this_len], this_len);
- bap_frame->len_done = this_len;
-
- return bap_frame;
- }
-}
+#include "vw-bap.h"
-static struct BAP_RXer* bap_alloc()
-{
- struct BAP_RXer *bap;
-
- bap = calloc(1, sizeof(*bap));
- if (!bap) {
- return NULL;
- }
-
- return bap;
-}
-
-
-
-
-static void bap_free(struct BAP_RXer *bap)
-{
- /* TODO */
- free(bap);
-}
-
-
-
-static void bap_frame_free(struct BAP_Frame *bap_frame)
-{
- /* TODO */
- free(bap_frame);
-}
-
-
-
int main(int argc, char **argv)
--- /dev/null
+#include <ctype.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <linux/can.h>
+
+#include "vw-bap.h"
+
+
+void bap_frame_dump(struct BAP_Frame *bap_frame)
+{
+ unsigned i;
+
+ printf("%u. %2i/%-2i .%02i --",
+ bap_frame->opcode,
+ bap_frame->subnode,
+ bap_frame->function,
+ bap_frame->len);
+
+ for (i = 0; i < bap_frame->len; i++) {
+ if (!(i % 4)) {
+ printf(" ");
+ }
+ printf("%02x", (unsigned char)(bap_frame->data[i]));
+ }
+
+ printf("\n '");
+ for (i = 0; i < bap_frame->len; i++) {
+ unsigned char c = bap_frame->data[i];
+ if (!isprint(c) || c == '\n' || c == '\r') {
+ c = '.';
+ }
+ printf("%c", c);
+ }
+ printf("'");
+
+ printf("\n");
+
+ fflush(stdout);
+}
+
+
+
+
+
+struct BAP_Frame* bap_handle_can_frame(struct BAP_RXer *bap, struct can_frame *frame)
+{
+ struct BAP_Frame *bap_frame = NULL;
+ unsigned short header;
+ unsigned this_len;
+
+ //printf("Received BAP frame from CAN ID %03x\n", frame->can_id);
+
+ if (frame->can_dlc < 2) {
+ printf("Error: Frame too short\n");
+ }
+
+ if (frame->data[0] & 0x80) {
+ /* This is a multi-frame BAP message */
+ int mfchannel = (frame->data[0] >> 4) & 0x3;
+
+ if (!(frame->data[0] & 0x40)) {
+ /* Start frame */
+
+ unsigned short header;
+ unsigned this_len;
+
+ if (frame->can_dlc < 4) {
+ printf("Error: Frame too short\n");
+ }
+
+ if (bap->mfchannel[mfchannel]) {
+ printf("bap_handle_can_frame: new start frame for open channel\n");
+ }
+ bap->mfchannel[mfchannel] = NULL;
+
+ bap_frame = calloc(1, sizeof(struct BAP_Frame));
+ if (!bap_frame) {
+ printf("bap_handle_can_frame: Failed to allocate new frame\n");
+ return NULL;
+ }
+
+ header = (frame->data[2] << 8) | frame->data[3];
+ bap_frame->opcode = (header >> 12) & 0x7;
+ bap_frame->subnode = (header >> 6) & 0x3F;
+ bap_frame->function = (header >> 0) & 0x3F;
+
+ bap_frame->len = ((frame->data[0] & 0xF) << 8) | frame->data[1];
+
+ this_len = frame->can_dlc - 4;
+
+ if (this_len > bap_frame->len) {
+ printf("bap_handle_can_frame: this_len > len\n");
+
+ free(bap_frame);
+ bap->mfchannel[mfchannel] = NULL;
+
+ return NULL;
+ }
+
+ memcpy(&bap_frame->data[0], &frame->data[frame->can_dlc - this_len], this_len);
+ bap_frame->len_done = this_len;
+
+ if (bap_frame->len_done == bap_frame->len) {
+ /* Frame is complete, remove from buffer */
+ bap->mfchannel[mfchannel] = NULL;
+ return bap_frame;
+ } else {
+ /* Frame is incomplete, don't emit it yet */
+ bap->mfchannel[mfchannel] = bap_frame;
+ return NULL;
+ }
+ } else {
+ /* Continuation frame */
+
+ bap_frame = bap->mfchannel[mfchannel];
+
+ if (!bap_frame) {
+ printf("bap_handle_can_frame: continuation frame for unknown mf channel %d\n",
+ mfchannel);
+ }
+
+ this_len = frame->can_dlc - 1;
+
+ if ((bap_frame->len_done + this_len) > bap_frame->len) {
+ printf("bap_handle_can_frame: len_done + this_len > len\n");
+
+ free(bap_frame);
+ bap->mfchannel[mfchannel] = NULL;
+
+ return NULL;
+ }
+
+ memcpy(&bap_frame->data[bap_frame->len_done],
+ &frame->data[frame->can_dlc - this_len],
+ this_len);
+ bap_frame->len_done += this_len;
+
+ if (bap_frame->len_done == bap_frame->len) {
+ /* Frame is complete, remove from buffer */
+ bap->mfchannel[mfchannel] = NULL;
+ return bap_frame;
+ } else {
+ /* Frame is incomplete, don't emit it yet */
+ return NULL;
+ }
+ }
+ } else {
+ /* Single-frame BAP message */
+
+ bap_frame = calloc(1, sizeof(struct BAP_Frame));
+ if (!bap_frame) {
+ printf("bap_handle_can_frame: Failed to allocate new frame\n");
+ return NULL;
+ }
+
+ header = (frame->data[0] << 8) | frame->data[1];
+ bap_frame->opcode = (header >> 12) & 0x7;
+ bap_frame->subnode = (header >> 6) & 0x3F;
+ bap_frame->function = (header >> 0) & 0x3F;
+
+ this_len = frame->can_dlc - 2;
+
+ bap_frame->len = this_len;
+
+ memcpy(&bap_frame->data[0], &frame->data[frame->can_dlc - this_len], this_len);
+ bap_frame->len_done = this_len;
+
+ return bap_frame;
+ }
+}
+
+
+
+
+
+struct BAP_RXer* bap_alloc()
+{
+ struct BAP_RXer *bap;
+
+ bap = calloc(1, sizeof(*bap));
+ if (!bap) {
+ return NULL;
+ }
+
+ return bap;
+}
+
+
+
+
+void bap_free(struct BAP_RXer *bap)
+{
+ /* TODO */
+ free(bap);
+}
+
+
+
+void bap_frame_free(struct BAP_Frame *bap_frame)
+{
+ /* TODO */
+ free(bap_frame);
+}
--- /dev/null
+#ifndef __VW_BAP_H__
+#define __VW_BAP_H__
+
+#include <linux/can.h>
+
+
+typedef unsigned char BAP_OpCode;
+typedef unsigned char BAP_SubNode;
+typedef unsigned char BAP_SubFunction;
+typedef unsigned short BAP_FrameLen;
+
+
+struct BAP_Frame {
+ BAP_OpCode opcode;
+ BAP_SubNode subnode;
+ BAP_SubFunction function;
+ BAP_FrameLen len;
+ BAP_FrameLen len_done;
+ char data[4096];
+};
+
+
+struct BAP_RXer {
+ struct BAP_Frame *mfchannel[8];
+};
+
+
+
+
+
+void bap_frame_dump(struct BAP_Frame *bap_frame);
+
+struct BAP_Frame* bap_handle_can_frame(struct BAP_RXer *bap, struct can_frame *frame);
+
+struct BAP_RXer* bap_alloc();
+void bap_free(struct BAP_RXer *bap);
+void bap_frame_free(struct BAP_Frame *bap_frame);
+
+
+
+#endif
projects / revag-bap.git / commitdiff