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added support for canfd frames #72

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b64ecdb
added support for canfd frames for SavvyCan V220 app
victors21 Jun 5, 2025
15e9539
added support for canfd frames for SavvyCan V220 app with
victors21 Jun 5, 2025
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12 changes: 9 additions & 3 deletions src/socketcand.c
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ int cmd_index = 0;
char *description;
char *afuxname;
int more_elements = 0;
int can_fd_mode_flag = 0;
can_err_mask_t error_mask = 0;
struct sockaddr_in saddr, broadcast_addr;
struct sockaddr_un unaddr;
Expand Down Expand Up @@ -214,6 +215,7 @@ int main(int argc, char **argv)
{ "version", no_argument, 0, 'z' },
{ "no-beacon", no_argument, 0, 'n' },
{ "error-mask", required_argument, 0, 'e' },
{ "can-fd", no_argument, 0, 'f' },
{ "help", no_argument, 0, 'h' },
{ 0, 0, 0, 0 }
};
Expand Down Expand Up @@ -278,11 +280,14 @@ int main(int argc, char **argv)
case 'h':
print_usage();
return 0;


case 'f':
can_fd_mode_flag = 1;
break;

case '?':
print_usage();
return 0;

default:
print_usage();
return -1;
Expand Down Expand Up @@ -648,7 +653,7 @@ void print_usage(void)
{
printf("%s Version %s\n", PACKAGE_NAME, PACKAGE_VERSION);
printf("Report bugs to %s\n\n", PACKAGE_BUGREPORT);
printf("Usage: socketcand [-v | --verbose] [-i interfaces | --interfaces interfaces]\n\t\t[-p port | --port port] [-q | --quick-ack]\n\t\t[-l interface | --listen interface] [-u name | --afuxname name]\n\t\t[-e error_mask | --error-mask error_mask]\n\t\t[-n | --no-beacon] [-d | --daemon] [-h | --help]\n\n");
printf("Usage: socketcand [-v | --verbose] [-i interfaces | --interfaces interfaces]\n\t\t[-p port | --port port] [-q | --quick-ack]\n\t\t[-l interface | --listen interface] [-u name | --afuxname name]\n\t\t[-e error_mask | --error-mask error_mask]\n\t\t[-n | --no-beacon] [-f | --can-fd] [-d | --daemon] [-h | --help]\n\n");
printf("Options:\n");
printf("\t-v (activates verbose output to STDOUT)\n");
printf("\t-i <interfaces> (comma separated list of CAN interfaces the daemon\n\t\tshall provide access to e.g. '-i can0,vcan1' - default: %s)\n", DEFAULT_BUSNAME);
Expand All @@ -657,6 +662,7 @@ void print_usage(void)
printf("\t-l <interface> (changes the default network interface the daemon will\n\t\tbind to - default: %s)\n", DEFAULT_INTERFACE);
printf("\t-u <name> (the AF_UNIX socket path - an abstract name is used when\n\t\tthe leading '/' is missing. N.B. the AF_UNIX binding will\n\t\tsupersede the port/interface settings)\n");
printf("\t-n (deactivates the discovery beacon)\n");
printf("\t-f (allow CAN-FD frames in socket raw mode. Use only if your harware support it)\n");
printf("\t-e <error_mask> (enable CAN error frames in raw mode providing an\n\t\thexadecimal error mask, e.g: 0x1FFFFFFF)\n");
printf("\t-d (set this flag if you want log to syslog instead of STDOUT)\n");
printf("\t-h (prints this message)\n");
Expand Down
1 change: 1 addition & 0 deletions src/socketcand.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@ extern int interface_count;
extern int port;
extern int verbose_flag;
extern int daemon_flag;
extern int can_fd_mode_flag;
extern int state;
extern int previous_state;
extern char bus_name[];
Expand Down
105 changes: 79 additions & 26 deletions src/state_raw.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,11 +27,44 @@ static int raw_socket;
static struct ifreq ifr;
static struct sockaddr_can addr;
static struct msghdr msg;
static struct can_frame frame;
static struct canfd_frame frame;
static struct iovec iov;
static char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
static struct timeval tv;
static struct cmsghdr *cmsg;
static struct cmsghdr *cmsg;


/* CAN DLC to real data length conversion helpers */

static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
8, 12, 16, 20, 24, 32, 48, 64};

/* get data length from raw data length code (DLC) */
unsigned char can_fd_dlc2len(unsigned char dlc)
{
return dlc2len[dlc & 0x0F];
}

static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, /* 0 - 8 */
9, 9, 9, 9, /* 9 - 12 */
10, 10, 10, 10, /* 13 - 16 */
11, 11, 11, 11, /* 17 - 20 */
12, 12, 12, 12, /* 21 - 24 */
13, 13, 13, 13, 13, 13, 13, 13, /* 25 - 32 */
14, 14, 14, 14, 14, 14, 14, 14, /* 33 - 40 */
14, 14, 14, 14, 14, 14, 14, 14, /* 41 - 48 */
15, 15, 15, 15, 15, 15, 15, 15, /* 49 - 56 */
15, 15, 15, 15, 15, 15, 15, 15}; /* 57 - 64 */

/* map the sanitized data length to an appropriate data length code */
unsigned char can_fd_len2dlc(unsigned char len)
{
if (len > 64)
return 0xF;

return len2dlc[len];
}


void state_raw(void)
{
Expand Down Expand Up @@ -62,7 +95,14 @@ void state_raw(void)
state = STATE_SHUTDOWN;
return;
}

if (can_fd_mode_flag != 0) {
int enable = 1;
if (setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable, sizeof(enable)) < 0) {
PRINT_ERROR("Could not enable CAN FD\n");
state = STATE_SHUTDOWN;
return;
}
}
if (error_mask != 0) {
can_err_mask_t err_mask = (error_mask & CAN_ERR_MASK);
if (setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof(err_mask)) < 0) {
Expand Down Expand Up @@ -142,7 +182,7 @@ void state_raw(void)
ret = sprintf(buf, "< frame %03X %lld.%06lld ", frame.can_id & CAN_SFF_MASK,
(signed long long) tv.tv_sec, (signed long long) tv.tv_usec);
}
for (i = 0; i < frame.can_dlc; i++) {
for (i = 0; i < frame.len; i++) {
ret += sprintf(buf + ret, "%02X", frame.data[i]);
}
sprintf(buf + ret, " >");
Expand Down Expand Up @@ -171,37 +211,50 @@ void state_raw(void)
}

/* Send a single frame */
if (!strncmp("< send ", buf, 7)) {
items = sscanf(buf, "< %*s %x %hhu "
"%hhx %hhx %hhx %hhx %hhx %hhx "
"%hhx %hhx >",
&frame.can_id,
&frame.can_dlc,
&frame.data[0],
&frame.data[1],
&frame.data[2],
&frame.data[3],
&frame.data[4],
&frame.data[5],
&frame.data[6],
&frame.data[7]);
if (!strncmp("< send ", buf, 7)) {
//int id_len = element_length(buf, 2);
frame.can_id = 0;
frame.flags = CANFD_FDF;
long long unsigned int header_id = 0;
items = sscanf(buf, "< %*s %llx %hhu"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx"
"%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx >",
&header_id,
&frame.len,
&frame.data[0],&frame.data[1],&frame.data[2],&frame.data[3],&frame.data[4],&frame.data[5],&frame.data[6],&frame.data[7],
&frame.data[8],&frame.data[9],&frame.data[10],&frame.data[11],&frame.data[12],&frame.data[13],&frame.data[14],&frame.data[15],
&frame.data[16],&frame.data[17],&frame.data[18],&frame.data[19],&frame.data[20],&frame.data[21],&frame.data[22],&frame.data[23],
&frame.data[24],&frame.data[25],&frame.data[26],&frame.data[27],&frame.data[28],&frame.data[29],&frame.data[30],&frame.data[31],
&frame.data[32],&frame.data[33],&frame.data[34],&frame.data[35],&frame.data[36],&frame.data[37],&frame.data[38],&frame.data[39],
&frame.data[40],&frame.data[41],&frame.data[42],&frame.data[43],&frame.data[44],&frame.data[45],&frame.data[46],&frame.data[47],
&frame.data[48],&frame.data[49],&frame.data[50],&frame.data[51],&frame.data[52],&frame.data[53],&frame.data[54],&frame.data[55],
&frame.data[56],&frame.data[57],&frame.data[58],&frame.data[59],&frame.data[60],&frame.data[61],&frame.data[62],&frame.data[63]);

if ((items < 2) ||
(frame.can_dlc > 8) ||
(items != 2 + frame.can_dlc)) {
PRINT_ERROR("Syntax error in send command\n");
(frame.len > CANFD_MAX_DLEN) ||
(items != 2 + frame.len)) {
strcpy(buf, "< Syntax error in send command >");
send(client_socket, buf, strlen(buf), 0);
tcp_quickack(client_socket);
PRINT_ERROR("Syntax error in send command\n");
return;
}

frame.can_id |= (header_id&0xFFFFFFFF);
/* < send XXXXXXXX ... > check for extended identifier */
if (element_length(buf, 2) == 8)
if (frame.can_id > 0x7FF)
frame.can_id |= CAN_EFF_FLAG;

ret = send(raw_socket, &frame, sizeof(struct can_frame), 0);
frame.len = can_fd_dlc2len(can_fd_len2dlc(frame.len));
ret = send(raw_socket, &frame, sizeof(frame), 0);
if (ret == -1) {
state = STATE_SHUTDOWN;
return;
}
}

} else {
PRINT_ERROR("unknown command '%s'\n", buf);
Expand Down
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