From: Radek Matějka <radek.matejka@gmail.com>
Date: Wed, 28 Nov 2012 21:09:21 +0000 (-0600)
Subject: PowerPC benchmark
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-eth-gw.git/commitdiff_plain/a47bbbef78ce185d9c795150c8c0f7c1bc31b82d?ds=sidebyside

PowerPC benchmark

ppc folder was added. ppc folder contains files
used for benchmark on PowerPC. (eg. ppc executables, modified
sources, results)
---

diff --git a/ppc/bench-kernel b/ppc/bench-kernel
new file mode 100755
index 0000000..22180af
--- /dev/null
+++ b/ppc/bench-kernel
@@ -0,0 +1,25 @@
+#!/bin/sh
+N=100
+MODE=oneattime
+SLEEP=1
+LOGANDPRINT="tee -a result | cut -c 2-"
+RESULTFILE=/dev/null
+SENDRES=0
+
+if test $# -eq 1; then
+	RESULTFILE=$1
+	SENDRES=1
+fi
+
+#-----------------
+# bench kernel
+#-----------------
+
+sleep $SLEEP
+echo "#kernel udp->can: " | tee -a result | cut -c 2-
+cegwbench -s udp@127.0.0.1:10501 -d can@vcan0 -n $N -m $MODE -t 1 >> $RESULTFILE
+
+sleep $SLEEP
+echo "#kernel can->udp: " | tee -a result | cut -c 2-
+cegwbench -s can@vcan0 -d udp@127.0.0.1:10502 -n $N -m $MODE -t 1 >> $RESULTFILE
+
diff --git a/ppc/cegw-ppc/Makefile b/ppc/cegw-ppc/Makefile
new file mode 100644
index 0000000..b8214a9
--- /dev/null
+++ b/ppc/cegw-ppc/Makefile
@@ -0,0 +1,5 @@
+all:
+	powerpc-linux-gnu-gcc -Wall -ggdb -ocegw -I../../kernel cegw.c
+install: all
+	scp cegw glab:/srv/nfs/root-shark/home/matejra4
+
diff --git a/ppc/cegw-ppc/cegw b/ppc/cegw-ppc/cegw
new file mode 100755
index 0000000..5a62abe
Binary files /dev/null and b/ppc/cegw-ppc/cegw differ
diff --git a/ppc/cegw-ppc/cegw.c b/ppc/cegw-ppc/cegw.c
new file mode 100644
index 0000000..86ac0ee
--- /dev/null
+++ b/ppc/cegw-ppc/cegw.c
@@ -0,0 +1,559 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <libgen.h>
+#include <string.h>
+#include <getopt.h>
+#include <errno.h>
+#include <sys/socket.h>
+#include <net/if.h>
+//#include <libnetlink.h>
+#include <linux/netlink.h>
+#include <linux/rtnetlink.h>
+#include <arpa/inet.h>
+#include <linux/can.h>
+#include <linux/types.h>
+#include <unistd.h>
+#include "canethgw.h"
+
+/**
+ * ToDo:
+ * [ ] print usage, on -h and plain execution
+ * [ ] start/stop listening
+ * [ ] split to files
+ */
+
+#define CEGW_CMD_ADD     1
+#define CEGW_CMD_LIST    2
+#define CEGW_CMD_FLUSH   4
+#define CEGW_CMD_LISTEN  8
+
+/* PowerPC encore */
+#define RTCAN_RTA(r)  ((struct rtattr*)(((char*)(r)) + NLMSG_ALIGN(sizeof(struct rtcanmsg))))
+#define RTCAN_PAYLOAD(n) NLMSG_PAYLOAD(n,sizeof(struct rtcanmsg))
+
+/* some netlink helpers stolen from iproute2 package */
+#define NLMSG_TAIL(nmsg) \
+        ((struct rtattr *)(((void *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len)))
+#define AF_CAN 29
+
+int addattr_l(struct nlmsghdr *n, int maxlen, int type, const void *data,
+              int alen)
+{
+        int len = RTA_LENGTH(alen);
+        struct rtattr *rta;
+
+        if (NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len) > maxlen) {
+                fprintf(stderr, "addattr_l: message exceeded bound of %d\n",
+                        maxlen);
+                return -1;
+        }
+        rta = NLMSG_TAIL(n);
+        rta->rta_type = type;
+        rta->rta_len = len;
+        memcpy(RTA_DATA(rta), data, alen);
+        n->nlmsg_len = NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len);
+        return 0;
+}
+
+int addattr32(struct nlmsghdr *n, int maxlen, int type, __u32 data)
+{
+        return addattr_l(n, maxlen, type, &data, sizeof(__u32));
+}
+
+enum
+{
+	IF_UNDEF,
+	IF_CAN,
+	IF_ETH_UDP
+};
+
+struct cegw_data
+{
+	int content;
+	int src_if, dst_if;
+	int can_ifidx;
+	struct in_addr eth_addr;
+	unsigned short eth_port;
+	struct in_addr eth_listen_addr;
+	unsigned short eth_listen_port;
+};
+
+struct cegw_nlmsg 
+{
+	struct nlmsghdr nh;
+	struct rtmsg rt;
+	char buf[768]; /* enough? */
+};
+
+struct list_item
+{
+	int type;
+	int can;
+	struct in_addr ip;
+	unsigned short port;
+};
+
+unsigned int cegw_errno = 0;
+
+enum 
+{
+	CEGW_ERR_UNKNOWN,
+	CEGW_ERR_IF_UNSPEC,
+	CEGW_ERR_IF_SAME,
+	CEGW_ERR_IF_TYPE,
+	CEGW_ERR_IF_CAN,
+	CEGW_ERR_IF_ETH,
+	CEGW_ERR_COLON,
+	CEGW_ERR_ATON,
+	CEGW_ERR_PORT
+};
+
+char* cegw_errlist[] =
+{
+	[ CEGW_ERR_UNKNOWN   ] = "",
+	[ CEGW_ERR_IF_UNSPEC ] = "source or destination not specified",
+	[ CEGW_ERR_IF_SAME   ] = "source and destination have same interface type",
+	[ CEGW_ERR_IF_TYPE   ] = "unknown interface type",
+	[ CEGW_ERR_IF_CAN    ] = "invalid can interface",
+	[ CEGW_ERR_IF_ETH    ] = "invalid eth interface",
+	[ CEGW_ERR_COLON     ] = "expected ':' (<ip>:<port>)",
+	[ CEGW_ERR_ATON      ] = "ip address mismatch",
+	[ CEGW_ERR_PORT      ] = "port number"
+};
+
+static void perr( char* s )
+{
+	if( s )
+	{
+		if( cegw_errno == 0 )
+		{
+			fprintf( stderr, "error: %s\n", s );
+
+		} else
+		{
+			fprintf( stderr, "error: %s, %s\n", s,
+			         cegw_errlist[ cegw_errno ] );
+		}
+		return;
+	}
+
+	fprintf( stderr, "error: %s\n", cegw_errlist[ cegw_errno ] );
+}
+
+/**
+ * read_addrport - parses @in for eth address. 
+ * Valid input is e.g. udp@127.0.0.1:10502 or can@vcan0.
+ *
+ * @param[in]  in   string to search in
+ * @param[out] addr ip address
+ * @param[out] port transport layer port
+ * @return 0 on success, -1 otherwise
+ */
+int read_addrport( char* in, struct in_addr* addr, unsigned short* port )
+{
+	char* delim = NULL;
+	char addrstr[16];
+	int addrlen;
+	
+	if( (delim = strchr( in, ':' )) == NULL )
+	{
+		cegw_errno = CEGW_ERR_COLON;
+		return -1;
+	}
+
+	/* get address */
+	/* ToDo: overflow */
+	addrlen = delim - in;
+	memcpy( addrstr, in, addrlen );
+	addrstr[addrlen] = '\0';
+	if( inet_aton( addrstr, addr ) == 0 )
+	{
+		cegw_errno = CEGW_ERR_ATON;
+		return -1;
+	}
+
+	/* get port */
+	if( sscanf( delim, ":%hu", port ) != 1 ) /* ToDo: handle overflow */
+	{
+		cegw_errno = CEGW_ERR_PORT;
+		return -1;
+	}
+
+	return 0;
+}
+
+/**
+ * read_iftype - reads @in for iftype
+ * Iftype type is e.g. "can@" or "udp@".
+ *
+ * @param[in] in string to search in
+ * @param[out] iftype iftype detected
+ * @return pointer to @in after iftype on success, NULL otherwise
+ */
+char* read_iftype( char* in, int* iftype )
+{
+	char* ret = in+4;
+	
+	if( strncmp( "udp@", optarg, 4 ) == 0 )
+	{
+		*iftype = IF_ETH_UDP;
+		return ret;
+	}
+	/*
+	if( strncmp( "tcp@", optarg, 4 ) == 0 )
+	{
+		return NULL;
+	}
+	*/
+	if( strncmp( "can@", optarg, 4 ) == 0 )
+	{
+		*iftype = IF_CAN;
+		return ret;
+	}
+	
+	cegw_errno = CEGW_ERR_IF_TYPE;
+	return NULL;
+}
+
+/* ToDo: move to common */
+
+/**
+ * read_if - reads interface from @in
+ * Function analyzes @in for interface specification in format
+ * <if>@<ip>:<port>, where <if> is can or udp, <ip> is address in dotted
+ * format
+ *
+ * @param[in]  in string to search in
+ * @param[out] iftype interface type (IF_CAN or IF_ETH_UDP)
+ * @param[out] d ip and port is stored to @d
+ */
+int read_if( char* in, int* iftype, struct cegw_data* d )
+{
+	char* optstr = NULL;
+
+	if( (optstr = read_iftype( in, iftype )) == NULL )
+	{
+		return -1;
+	}
+
+	switch( *iftype )
+	{
+		case IF_CAN:
+			d->can_ifidx = if_nametoindex( optstr );
+			if( d->can_ifidx == 0 )
+			{
+				cegw_errno = CEGW_ERR_IF_CAN;
+				return -1;
+			}
+			break;
+		case IF_ETH_UDP:
+			if( read_addrport( optstr, &d->eth_addr, &d->eth_port ) != 0 )
+			{
+				return -1;
+			}
+			break;
+		default:
+			return -1;
+			break;
+	}
+
+	return 0;
+}
+
+inline static int cegw_add( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+	int gwtype = 0;
+
+	req->nh.nlmsg_type  = RTM_NEWROUTE;
+	if( (d->src_if == 0 || d->dst_if == 0) )
+	{
+		cegw_errno = CEGW_ERR_IF_UNSPEC;
+		return -cegw_errno;
+	}
+
+	if( d->src_if == d->dst_if )
+	{
+		cegw_errno = CEGW_ERR_IF_SAME;
+		return -cegw_errno;
+	}
+
+	gwtype = (d->src_if == IF_CAN) ? CEGW_RULE_CAN_ETH : CEGW_RULE_ETH_CAN;
+	addattr_l( &req->nh, sizeof(*req), CEGW_CAN_IFINDEX, &d->can_ifidx, sizeof(d->can_ifidx) );
+	addattr_l( &req->nh, sizeof(*req), CEGW_ETH_IP, &d->eth_addr, sizeof(d->eth_addr) );
+	addattr_l( &req->nh, sizeof(*req), CEGW_ETH_PORT, &d->eth_port, sizeof(d->eth_port) );
+	addattr32( &req->nh, sizeof(*req), CEGW_CMD_INFO, gwtype );
+
+	return 0;
+}
+
+inline static int cegw_listen( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+	req->nh.nlmsg_type = RTM_NEWROUTE;
+	addattr32( &req->nh, sizeof(*req), CEGW_CMD_INFO, CEGW_LISTEN );
+	addattr_l( &req->nh, sizeof(*req), CEGW_ETH_IP, &d->eth_listen_addr, sizeof(d->eth_listen_addr) );
+	addattr_l( &req->nh, sizeof(*req), CEGW_ETH_PORT, &d->eth_listen_port, sizeof(d->eth_listen_port) );
+
+	return 0;
+}
+
+inline static int cegw_list( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+	req->nh.nlmsg_type = RTM_GETROUTE;
+	req->nh.nlmsg_flags = NLM_F_REQUEST | NLM_F_DUMP;
+	
+	return 0;
+}
+
+inline static int cegw_flush( struct cegw_nlmsg* req, struct cegw_data* d )
+{
+	addattr32( &req->nh, sizeof(*req), CEGW_CMD_INFO, CEGW_FLUSH );
+	req->nh.nlmsg_type  = RTM_DELROUTE;
+	return 0;
+}
+
+void print_list_item( struct list_item* li )
+{
+	char ifname[IF_NAMESIZE];
+	const char src_width = 21;
+	char* dotaddr;
+	int tmp;
+
+	if( if_indextoname( li->can, ifname ) == NULL )
+	{
+		strncpy( ifname, "unknown", IF_NAMESIZE );
+	}
+
+	/* ToDo listening at */
+	switch( li->type )
+	{
+		case CEGW_RULE_CAN_ETH:
+			printf( "can@%-*s -> udp@%s:%hu\n", src_width, ifname, \
+			         inet_ntoa(li->ip), li->port );
+			break;
+		case CEGW_RULE_ETH_CAN:
+			dotaddr = inet_ntoa(li->ip);
+			tmp = src_width - strlen(dotaddr) - 1;
+			printf( "udp@%s:%-*hu -> can@%s\n", inet_ntoa(li->ip), \
+			         tmp, li->port, ifname );
+			break;
+	}
+}
+
+int main( int argc, char* argv[] )
+{
+	int s;
+	int tmp = 0;
+	int cmd = 0;
+	char* optstr;
+	char opt;
+	struct sockaddr_nl nladdr;
+	int err = 0;
+	struct cegw_nlmsg req;
+	struct cegw_data d;
+	char rxbuf[8192]; /* ToDo: /linux/netlink.h? */
+	int rsize = 0;
+	struct nlmsghdr* nlh;
+	struct nlmsgerr* rte;
+	struct rtattr* rta;
+	int len;
+	struct list_item li;
+
+	memset( &d, 0, sizeof(d) );
+
+	struct option long_opt[] =
+	{
+		{ "add"   , 0, NULL, 'A' },
+		{ "flush" , 0, NULL, 'F' },
+		{ "list"  , 0, NULL, 'L' },
+		{ "listen", 1, NULL, 'l' },
+		{ 0, 0, 0, 0 }
+	};
+
+	while( 1 )
+	{
+		opt = getopt_long( argc, argv, "AFLl:s:d:", long_opt, NULL );
+		if( opt == -1 )
+			break;
+
+		//printf( "optarg=%s\n", optarg );
+		switch( opt )
+		{
+			case 'A':
+				cmd |= CEGW_CMD_ADD;
+				break;
+			case 'F':
+				cmd |= CEGW_CMD_FLUSH;
+				break;
+			case 'L':
+				cmd |= CEGW_CMD_LIST;
+				break;
+			case 'l':
+				cmd |= CEGW_CMD_LISTEN;
+				if( (optstr = read_iftype( optarg, &tmp )) == NULL )
+				{
+					perr( "'--listen'" );
+					return -1;
+				}	
+				if( tmp != IF_ETH_UDP )
+				{
+					perr( "'--listen' expects udp interface" );
+					return -1;
+				}	
+				if( read_addrport( optstr, &d.eth_listen_addr, &d.eth_listen_port ) )
+				{
+					perr( "'--listen'" );
+					return -1;
+				}
+				break;
+			case 's':
+				if( read_if( optarg, &d.src_if, &d ) != 0 )
+				{
+					perr( "'-s'" );
+					return -1;
+				}
+				break;
+			case 'd':
+				if( read_if( optarg, &d.dst_if, &d ) != 0 )
+				{
+					perr( "'-d'" );
+					return -1;
+				}
+				break;
+			case '?':
+				return -1;
+				break;
+			default:
+				//fprintf( stderr, "unknown option: %u\n", opt );
+				goto while_break;
+				//return -1;
+				break;
+		}				
+	}
+
+	while_break:
+
+	/* prepare netlink message */
+	req.nh.nlmsg_len   = NLMSG_LENGTH( sizeof(struct rtmsg) );
+	//req.nh.nlmsg_type;
+	req.nh.nlmsg_flags = NLM_F_REQUEST | NLM_F_ACK;
+	req.nh.nlmsg_seq   = 0;
+	req.nh.nlmsg_pid   = 0; /* ? */
+
+	memset( &req.rt, 0, sizeof(req.rt) );
+	req.rt.rtm_family = AF_CAN;
+
+	switch( cmd )
+	{
+		case 0:
+			perr( "command not specified" );
+			return -1;
+			break;
+		case CEGW_CMD_ADD:
+			if( cegw_add( &req, &d ) != 0 )
+			{
+				perr( "'--add'" );
+				return -1;
+			}
+			break;
+		case CEGW_CMD_FLUSH:
+			cegw_flush( &req, &d );
+			break;
+		case CEGW_CMD_LIST:
+			cegw_list( &req, &d );
+			break;
+		case CEGW_CMD_LISTEN:
+			cegw_listen( &req, &d );
+			break;
+		default:
+			perr( "command mismatch" );
+			break;
+	}
+
+	/* send over netlink socket */
+	s = socket( PF_NETLINK, SOCK_RAW, NETLINK_ROUTE ); /* chck */
+	
+	memset( &nladdr, 0, sizeof(nladdr) );
+	nladdr.nl_family = AF_NETLINK;
+	nladdr.nl_pad = 0;
+	nladdr.nl_pid = 0;
+	nladdr.nl_groups = 0;
+
+	err = sendto( s, &req, req.nh.nlmsg_len, 0, 
+	              (struct sockaddr*)&nladdr, sizeof(nladdr) );
+	if( err < 0 )
+	{
+		perror( "netlink sendto" );
+		return -1;
+	}
+	
+	/* recv */
+	rsize = recv( s, &rxbuf, sizeof(rxbuf), 0 );
+	if( rsize < 0 )
+	{
+		perr( "recv" );
+		return -1;
+	}
+	nlh = (struct nlmsghdr*)rxbuf;
+
+	if( nlh->nlmsg_type == NLMSG_ERROR )
+	{
+		rte = (struct nlmsgerr*)NLMSG_DATA( nlh );
+		err = rte->error;
+
+		if( err == 0  )
+		{
+			printf( "%s\n", strerror(abs(err)) );
+			return 0;
+		} else
+		{
+			printf( "netlink error: %s\n", strerror(abs(err)) );
+			return -1;
+		}
+	}
+
+	if( cmd & CEGW_CMD_LIST )
+	{
+		/* ToDo recv while */
+		printf( "%10ssource%20sdestination\n", "", "" );
+		while( 1 )
+		{
+			if( !NLMSG_OK( nlh, rsize ) )
+			{
+				break;
+			}
+			if( nlh->nlmsg_type == NLMSG_DONE )
+			{
+				break;
+			}
+			/* ToDo: NLMSG_ERR */
+			rta = NLMSG_DATA( nlh );
+			len = NLMSG_PAYLOAD( nlh, 0 );
+			for( ;RTA_OK(rta, len); rta = RTA_NEXT(rta,len) )
+			{
+				switch( rta->rta_type )
+				{
+					case CEGW_TYPE:
+						li.type = *(int*)RTA_DATA(rta);
+						break;
+					case CEGW_CAN_IFINDEX:
+						li.can = *(int*)RTA_DATA(rta);
+						break;
+					case CEGW_ETH_IP:
+						li.ip = *(struct in_addr*)RTA_DATA(rta);
+						break;
+					case CEGW_ETH_PORT:
+						li.port = *(unsigned short*)RTA_DATA(rta);
+						break;
+					/* case CGW_ETH_PROTO */
+				}
+			}
+
+			print_list_item( &li );
+
+			nlh = NLMSG_NEXT( nlh, rsize );
+		}
+	}
+
+	return 0;
+}
+
diff --git a/ppc/cesend/Makefile b/ppc/cesend/Makefile
new file mode 100644
index 0000000..4e05b6f
--- /dev/null
+++ b/ppc/cesend/Makefile
@@ -0,0 +1,3 @@
+all:
+	gcc -Wall -ocesend cesend.c
+
diff --git a/ppc/cesend/cesend b/ppc/cesend/cesend
new file mode 100755
index 0000000..5480c96
Binary files /dev/null and b/ppc/cesend/cesend differ
diff --git a/ppc/cesend/cesend.c b/ppc/cesend/cesend.c
new file mode 100644
index 0000000..fb36d92
--- /dev/null
+++ b/ppc/cesend/cesend.c
@@ -0,0 +1,145 @@
+/*
+ * cesend.c - simple command line tool to send CAN-frames via udp
+ * cesend is a fork of cansend from Socket-CAN project.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <arpa/inet.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define CANID_DELIM '#'
+#define DATA_SEPERATOR '.'
+
+unsigned char asc2nibble(char c) {
+
+	if ((c >= '0') && (c <= '9'))
+		return c - '0';
+
+	if ((c >= 'A') && (c <= 'F'))
+		return c - 'A' + 10;
+
+	if ((c >= 'a') && (c <= 'f'))
+		return c - 'a' + 10;
+
+	return 16; /* error */
+}
+
+int parse_canframe(char *cs, struct can_frame *cf) {
+	/* documentation see lib.h */
+
+	int i, idx, dlc, len;
+	unsigned char tmp;
+
+	len = strlen(cs);
+	//printf("'%s' len %d\n", cs, len);
+
+	memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
+
+	if (len < 4)
+		return 1;
+
+	if (cs[3] == CANID_DELIM) { /* 3 digits */
+
+		idx = 4;
+		for (i=0; i<3; i++){
+			if ((tmp = asc2nibble(cs[i])) > 0x0F)
+				return 1;
+			cf->can_id |= (tmp << (2-i)*4);
+		}
+
+	} else if (cs[8] == CANID_DELIM) { /* 8 digits */
+
+		idx = 9;
+		for (i=0; i<8; i++){
+			if ((tmp = asc2nibble(cs[i])) > 0x0F)
+				return 1;
+			cf->can_id |= (tmp << (7-i)*4);
+		}
+		if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe?  */
+			cf->can_id |= CAN_EFF_FLAG;   /* then it is an extended frame */
+
+	} else
+		return 1;
+
+	if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
+		cf->can_id |= CAN_RTR_FLAG;
+		return 0;
+	}
+
+	for (i=0, dlc=0; i<8; i++){
+
+		if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
+			idx++;
+
+		if(idx >= len) /* end of string => end of data */
+			break;
+
+		if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+			return 1;
+		cf->data[i] = (tmp << 4);
+		if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
+			return 1;
+		cf->data[i] |= tmp;
+		dlc++;
+	}
+
+	cf->can_dlc = dlc;
+
+	return 0;
+}
+
+int main(int argc, char **argv)
+{
+	int s; /* can raw socket */ 
+	int nbytes;
+	struct sockaddr_in addr;
+	struct can_frame frame;
+
+	/* check command line options */
+	if (argc != 2) {
+		fprintf(stderr, "Usage: %s <can_frame>.\n", argv[0]);
+		return 1;
+	}
+
+	/* parse CAN frame */
+	if (parse_canframe(argv[1], &frame)){
+		fprintf(stderr, "\nWrong CAN-frame format!\n\n");
+		fprintf(stderr, "Try: <can_id>#{R|data}\n");
+		fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
+		fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
+		fprintf(stderr, " be seperated by '.'\n\n");
+		fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
+		fprintf(stderr, "5AA# /\n     1F334455#1122334455667788 / 123#R ");
+		fprintf(stderr, "for remote transmission request.\n\n");
+		return 1;
+	}
+
+	/* open socket */
+	if(( s = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP)) < 0 ) {
+		perror("socket");
+		return 1;
+	}
+
+	addr.sin_family = AF_INET;
+	inet_aton( "192.168.2.3", &addr.sin_addr );
+	addr.sin_port = htons( 10501 );
+
+	/* send frame */
+	if ((nbytes = sendto(s, &frame, sizeof(frame), 0, (struct sockaddr*)&addr, sizeof(addr))) != sizeof(frame)) {
+		perror("write");
+		return 1;
+	}
+
+	close(s);
+
+	return 0;
+}
+
diff --git a/ppc/gw-kernel b/ppc/gw-kernel
new file mode 100755
index 0000000..96caffe
--- /dev/null
+++ b/ppc/gw-kernel
@@ -0,0 +1,8 @@
+# setup kernel canethgw
+
+insmod canethgw.ko
+
+./cegw --listen udp@127.0.0.1:10501
+./cegw --add -s can@can0 -d udp@127.0.0.1:10502
+./cegw --add -s udp@127.0.0.1:10502 -d can@can0
+
diff --git a/ppc/gw-user b/ppc/gw-user
new file mode 100755
index 0000000..0d54deb
--- /dev/null
+++ b/ppc/gw-user
@@ -0,0 +1,5 @@
+#!/bin/sh
+
+# user
+canethgw -s can@can0 -d udp@127.0.0.1:10502 -l udp@127.0.0.1:10501
+
diff --git a/ppc/res/ncrcv b/ppc/res/ncrcv
new file mode 100755
index 0000000..f9e39d5
--- /dev/null
+++ b/ppc/res/ncrcv
@@ -0,0 +1,18 @@
+#!/bin/bash
+PORT=10600
+ID=`ls -1 result | tail -1 | grep -o "[0-9]*\." | sed "s/\.//"`
+echo -n "nc listening on $PORT: "
+nc -l -p $PORT > res
+
+if [ -z $ID ]; then
+	let id=1
+else
+	let id=ID+1
+fi;
+
+FILENAME=result$id
+mv res result/$FILENAME.dat
+cd result
+sed /^#/d $FILENAME.dat > $FILENAME.raw
+echo "done"
+
diff --git a/ppc/res/plotres.m b/ppc/res/plotres.m
new file mode 100644
index 0000000..e256337
--- /dev/null
+++ b/ppc/res/plotres.m
@@ -0,0 +1,31 @@
+function [] = plotres( filename )
+% plots canethgw benchmark data
+data = dlmread( ["result/" filename ".raw"] );
+
+figure;
+hold on;
+semilogy( data(1,:), "r" );
+semilogy( data(2,:), "g" );
+semilogy( data(3,:), "b" );
+semilogy( data(4,:), "m" );
+axis tight;
+
+title( 'can-eth-gw performance' );
+legend( "kernel udp->can", "kernel can->udp", "user udp->can",\
+        "user can->udp");
+xlabel( "can frame [id]" );
+ylabel( "transmission duration [ns]" );
+
+kern_udp_can_mean = mean( data(1,:), 2 );
+kern_can_udp_mean = mean( data(2,:), 2 );
+user_udp_can_mean = mean( data(3,:), 2 );
+user_can_udp_mean = mean( data(4,:), 2 );
+printf( "kern_udp_can_mean/user_udp_can_mean=%f\n", kern_udp_can_mean/user_udp_can_mean );
+printf( "kern_can_udp_mean/user_can_udp_mean=%f\n", kern_can_udp_mean/user_can_udp_mean );
+
+kern_mean = mean( [data(1,:) data(2,:)], 2 )
+user_mean = mean( [data(3,:) data(4,:)], 2 )
+printf( "kern_mean/user_mean=%f\n", kern_mean/user_mean );
+
+end
+
diff --git a/ppc/res/res.tar b/ppc/res/res.tar
new file mode 100644
index 0000000..b01f8ed
Binary files /dev/null and b/ppc/res/res.tar differ
diff --git a/ppc/res/res1 b/ppc/res/res1
new file mode 100644
index 0000000..ad3a858
--- /dev/null
+++ b/ppc/res/res1
@@ -0,0 +1,4 @@
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1 
+508509.000000	366680.000000	369080.000000	381298.000000	369731.000000	366255.000000	370514.000000	371171.000000	369407.000000	371704.000000	369084.000000	368790.000000	369425.000000	466102.000000	369236.000000	369278.000000	371878.000000	369913.000000	372870.000000	370063.000000	369894.000000	369238.000000	372297.000000	368651.000000	382257.000000	373439.000000	373781.000000	371012.000000	374773.000000	370796.000000	371468.000000	371678.000000	368997.000000	364622.000000	453608.000000	366568.000000	364999.000000	365181.000000	365014.000000	363227.000000	370870.000000	365133.000000	363718.000000	364894.000000	364267.000000	370624.000000	361623.000000	362974.000000	378344.000000	364764.000000	365786.000000	365943.000000	364707.000000	361852.000000	364319.000000	470610.000000	364886.000000	363546.000000	361827.000000	363505.000000	365344.000000	363767.000000	365673.000000	363737.000000	
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1 
+472405.000000	382137.000000	383320.000000	381887.000000	442729.000000	378265.000000	383522.000000	382792.000000	382956.000000	382642.000000	383235.000000	382159.000000	383241.000000	383060.000000	415087.000000	384347.000000	381718.000000	382535.000000	383793.000000	382822.000000	383273.000000	383608.000000	395475.000000	378440.000000	414958.000000	383323.000000	382788.000000	393884.000000	378269.000000	383472.000000	383899.000000	382597.000000	383577.000000	382869.000000	699382.000000	405599.000000	383151.000000	383817.000000	384809.000000	382853.000000	383912.000000	382419.000000	384268.000000	383471.000000	298357.000000	377119.000000	385298.000000	385216.000000	385242.000000	385878.000000	386027.000000	385597.000000	386266.000000	384709.000000	416221.000000	383715.000000	382596.000000	382802.000000	384368.000000	382677.000000	383860.000000	383526.000000	383937.000000	383295.000000	
diff --git a/ppc/res/res2 b/ppc/res/res2
new file mode 100644
index 0000000..7137d49
--- /dev/null
+++ b/ppc/res/res2
@@ -0,0 +1,4 @@
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1 
+500260.000000	365021.000000	372033.000000	387458.000000	368296.000000	365707.000000	386015.000000	483808.000000	344690.000000	343036.000000	340453.000000	338133.000000	339172.000000	385992.000000	373235.000000	365865.000000	369685.000000	367056.000000	398233.000000	368394.000000	370864.000000	370586.000000	370965.000000	374419.000000	372999.000000	370180.000000	371710.000000	369308.000000	459231.000000	370657.000000	376748.000000	368383.000000	367916.000000	367834.000000	365449.000000	363782.000000	363776.000000	363733.000000	364341.000000	402966.000000	360782.000000	367260.000000	365210.000000	364919.000000	363833.000000	363570.000000	364026.000000	362874.000000	364844.000000	363593.000000	339372.000000	367485.000000	366399.000000	363945.000000	365195.000000	362742.000000	364344.000000	365187.000000	364465.000000	375529.000000	453635.000000	364567.000000	371492.000000	365629.000000	
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1 
+478155.000000	387482.000000	388466.000000	389489.000000	388966.000000	389578.000000	387678.000000	390322.000000	475484.000000	401216.000000	389009.000000	389742.000000	389658.000000	389767.000000	388703.000000	385375.000000	387442.000000	389856.000000	475104.000000	395687.000000	385354.000000	388908.000000	389711.000000	389453.000000	402621.000000	384565.000000	388038.000000	389544.000000	420445.000000	391400.000000	388940.000000	389805.000000	388660.000000	390145.000000	400934.000000	382027.000000	388426.000000	390410.000000	420732.000000	391938.000000	388925.000000	390831.000000	389303.000000	389658.000000	401676.000000	382205.000000	391506.000000	392286.000000	422484.000000	392848.000000	391315.000000	392313.000000	392428.000000	390653.000000	390728.000000	389022.000000	388530.000000	390065.000000	420130.000000	390541.000000	389121.000000	390083.000000	389024.000000	390111.000000	
diff --git a/ppc/res/res3 b/ppc/res/res3
new file mode 100644
index 0000000..f8cf2b0
--- /dev/null
+++ b/ppc/res/res3
@@ -0,0 +1,4 @@
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1 
+474596.000000	367429.000000	368155.000000	371446.000000	377213.000000	369393.000000	369757.000000	379663.000000	463456.000000	375854.000000	370329.000000	367949.000000	368000.000000	365562.000000	372220.000000	367093.000000	370200.000000	368279.000000	369815.000000	380477.000000	383617.000000	364807.000000	368976.000000	368178.000000	389906.000000	368600.000000	369475.000000	369867.000000	368989.000000	398289.000000	373103.000000	369835.000000	371471.000000	362925.000000	366396.000000	366023.000000	365509.000000	362832.000000	365325.000000	362404.000000	401411.000000	361977.000000	365241.000000	365943.000000	364765.000000	361749.000000	363387.000000	360916.000000	367526.000000	363239.000000	458649.000000	364484.000000	365791.000000	366359.000000	365432.000000	365579.000000	365552.000000	374369.000000	364921.000000	363723.000000	367383.000000	406038.000000	366299.000000	363605.000000	
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1 
+460820.000000	384512.000000	385838.000000	407754.000000	382736.000000	384663.000000	488640.000000	380106.000000	386253.000000	385823.000000	385113.000000	385955.000000	385807.000000	387643.000000	384018.000000	386253.000000	477010.000000	387663.000000	385508.000000	386029.000000	386890.000000	396456.000000	381902.000000	387371.000000	383811.000000	385328.000000	428820.000000	381787.000000	386112.000000	385706.000000	386679.000000	385377.000000	385629.000000	387057.000000	384043.000000	386464.000000	471948.000000	387701.000000	386662.000000	386481.000000	386329.000000	397635.000000	379800.000000	387458.000000	384717.000000	387483.000000	430649.000000	381611.000000	387860.000000	388770.000000	388056.000000	389123.000000	387609.000000	387737.000000	385021.000000	385686.000000	470605.000000	389097.000000	386284.000000	385150.000000	386393.000000	392780.000000	382870.000000	386906.000000	
diff --git a/ppc/res/res_u1 b/ppc/res/res_u1
new file mode 100644
index 0000000..9bc9004
--- /dev/null
+++ b/ppc/res/res_u1
@@ -0,0 +1,4 @@
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1 
+569117.000000	445029.000000	406026.000000	450723.000000	412977.000000	403275.000000	404396.000000	398667.000000	405548.000000	404127.000000	529507.000000	534719.000000	421538.000000	405489.000000	404986.000000	402724.000000	404648.000000	400519.000000	403534.000000	496821.000000	414321.000000	404835.000000	401422.000000	404789.000000	407624.000000	407788.000000	404842.000000	404570.000000	420453.000000	453340.000000	417036.000000	411885.000000	404864.000000	401060.000000	402221.000000	397697.000000	404325.000000	401678.000000	495466.000000	404493.000000	403394.000000	398816.000000	399600.000000	401035.000000	405883.000000	403005.000000	403009.000000	398826.000000	430346.000000	397971.000000	403027.000000	396967.000000	404594.000000	417999.000000	400145.000000	397699.000000	401815.000000	403035.000000	400283.000000	413487.000000	412221.000000	403473.000000	399506.000000	402272.000000	
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1 
+501823.000000	447632.000000	452955.000000	454020.000000	453817.000000	453735.000000	484704.000000	462224.000000	444710.000000	451900.000000	455313.000000	452260.000000	453549.000000	453692.000000	454835.000000	470707.000000	458149.000000	451630.000000	454100.000000	454887.000000	454681.000000	455154.000000	454050.000000	532459.000000	455581.000000	453478.000000	453077.000000	453833.000000	454764.000000	453515.000000	455714.000000	454427.000000	370950.000000	456705.000000	452922.000000	453302.000000	454434.000000	454039.000000	454081.000000	453643.000000	454800.000000	340729.000000	455031.000000	452959.000000	454275.000000	452304.000000	465016.000000	441042.000000	454640.000000	549677.000000	443658.000000	454118.000000	452257.000000	453022.000000	454409.000000	453581.000000	454850.000000	453386.000000	485272.000000	464241.000000	444426.000000	454427.000000	453272.000000	452758.000000	
diff --git a/ppc/res/res_u2 b/ppc/res/res_u2
new file mode 100644
index 0000000..079ec40
--- /dev/null
+++ b/ppc/res/res_u2
@@ -0,0 +1,4 @@
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1 
+529349.000000	451935.000000	405628.000000	413999.000000	417903.000000	401221.000000	407650.000000	401703.000000	405608.000000	407901.000000	493503.000000	422558.000000	418304.000000	413734.000000	411335.000000	410023.000000	410523.000000	403459.000000	423850.000000	412875.000000	437524.000000	406296.000000	404971.000000	404238.000000	405918.000000	405934.000000	407110.000000	401808.000000	403102.000000	499924.000000	406670.000000	415484.000000	414733.000000	400769.000000	402363.000000	397852.000000	402063.000000	414556.000000	411774.000000	425500.000000	397573.000000	401783.000000	401167.000000	399955.000000	401291.000000	399005.000000	403280.000000	400938.000000	401046.000000	367056.000000	404718.000000	402843.000000	402014.000000	401951.000000	402931.000000	402552.000000	403219.000000	401931.000000	493074.000000	406797.000000	418271.000000	405870.000000	399057.000000	406051.000000	
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1 
+502779.000000	437088.000000	448443.000000	448987.000000	449350.000000	533099.000000	446495.000000	448844.000000	449794.000000	448188.000000	449629.000000	448719.000000	448765.000000	448591.000000	479926.000000	450402.000000	450717.000000	450216.000000	449044.000000	451006.000000	450339.000000	450598.000000	449161.000000	453954.000000	450456.000000	452221.000000	446443.000000	449961.000000	449182.000000	449337.000000	450482.000000	450570.000000	339469.000000	449061.000000	451426.000000	448661.000000	450207.000000	449550.000000	450506.000000	449415.000000	449233.000000	339977.000000	449856.000000	450870.000000	449059.000000	449188.000000	450571.000000	450107.000000	449731.000000	449766.000000	339663.000000	449004.000000	449874.000000	448032.000000	449933.000000	450289.000000	449109.000000	449821.000000	448899.000000	337417.000000	448688.000000	449713.000000	447722.000000	448302.000000	
diff --git a/ppc/res/res_u3 b/ppc/res/res_u3
new file mode 100644
index 0000000..04fad78
--- /dev/null
+++ b/ppc/res/res_u3
@@ -0,0 +1,4 @@
+#./cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n 64 -m oneattime -t 1 
+695094.000000	423695.000000	405358.000000	418025.000000	414250.000000	400623.000000	405460.000000	400753.000000	403548.000000	498053.000000	406373.000000	405727.000000	405458.000000	400538.000000	407129.000000	399950.000000	417364.000000	413604.000000	408999.000000	433658.000000	404857.000000	402937.000000	405438.000000	401953.000000	403295.000000	402603.000000	404633.000000	400570.000000	496332.000000	384544.000000	383630.000000	398434.000000	378124.000000	387190.000000	378600.000000	377577.000000	377274.000000	377641.000000	376861.000000	436961.000000	398959.000000	400046.000000	401326.000000	413157.000000	413517.000000	397229.000000	403240.000000	400614.000000	493555.000000	380917.000000	380047.000000	380281.000000	380706.000000	377072.000000	375401.000000	375862.000000	375885.000000	376532.000000	533943.000000	404556.000000	411914.000000	409720.000000	401314.000000	400437.000000	
+#./cegwbench -s can@can0 -d udp@0.0.0.0:10502 -n 64 -m oneattime -t 1 
+495020.000000	428264.000000	440632.000000	455448.000000	431200.000000	442588.000000	714755.000000	462081.000000	443047.000000	454305.000000	430635.000000	443390.000000	442610.000000	444052.000000	474234.000000	444617.000000	443340.000000	445032.000000	441325.000000	444522.000000	444167.000000	443013.000000	443401.000000	373511.000000	390381.000000	388182.000000	390410.000000	391070.000000	389230.000000	389655.000000	389333.000000	389567.000000	389306.000000	533271.000000	465790.000000	443877.000000	444340.000000	441586.000000	442002.000000	443691.000000	442513.000000	535594.000000	434522.000000	454517.000000	442867.000000	431694.000000	442458.000000	443362.000000	442284.000000	442940.000000	533714.000000	447634.000000	442829.000000	444551.000000	442213.000000	443303.000000	443418.000000	442979.000000	442876.000000	487455.000000	442772.000000	441957.000000	443595.000000	442114.000000	
diff --git a/ppc/res/result/res1.raw b/ppc/res/result/res1.raw
new file mode 100644
index 0000000..5d2194b
--- /dev/null
+++ b/ppc/res/result/res1.raw
@@ -0,0 +1,4 @@
+508509.000000	366680.000000	369080.000000	381298.000000	369731.000000	366255.000000	370514.000000	371171.000000	369407.000000	371704.000000	369084.000000	368790.000000	369425.000000	466102.000000	369236.000000	369278.000000	371878.000000	369913.000000	372870.000000	370063.000000	369894.000000	369238.000000	372297.000000	368651.000000	382257.000000	373439.000000	373781.000000	371012.000000	374773.000000	370796.000000	371468.000000	371678.000000	368997.000000	364622.000000	453608.000000	366568.000000	364999.000000	365181.000000	365014.000000	363227.000000	370870.000000	365133.000000	363718.000000	364894.000000	364267.000000	370624.000000	361623.000000	362974.000000	378344.000000	364764.000000	365786.000000	365943.000000	364707.000000	361852.000000	364319.000000	470610.000000	364886.000000	363546.000000	361827.000000	363505.000000	365344.000000	363767.000000	365673.000000	363737.000000	
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diff --git a/ppc/res/result/res2.raw b/ppc/res/result/res2.raw
new file mode 100644
index 0000000..2d93827
--- /dev/null
+++ b/ppc/res/result/res2.raw
@@ -0,0 +1,2 @@
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diff --git a/ppc/res/result/res3.raw b/ppc/res/result/res3.raw
new file mode 100644
index 0000000..fc524c0
--- /dev/null
+++ b/ppc/res/result/res3.raw
@@ -0,0 +1,2 @@
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diff --git a/ppc/res/result/res_k1.raw b/ppc/res/result/res_k1.raw
new file mode 100644
index 0000000..bae73b1
--- /dev/null
+++ b/ppc/res/result/res_k1.raw
@@ -0,0 +1,2 @@
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diff --git a/ppc/res/result/res_u1.raw b/ppc/res/result/res_u1.raw
new file mode 100644
index 0000000..eed9923
--- /dev/null
+++ b/ppc/res/result/res_u1.raw
@@ -0,0 +1,2 @@
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diff --git a/ppc/res/result/res_u2.raw b/ppc/res/result/res_u2.raw
new file mode 100644
index 0000000..40925cb
--- /dev/null
+++ b/ppc/res/result/res_u2.raw
@@ -0,0 +1,2 @@
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diff --git a/ppc/res/result/res_u3.raw b/ppc/res/result/res_u3.raw
new file mode 100644
index 0000000..adae3dc
--- /dev/null
+++ b/ppc/res/result/res_u3.raw
@@ -0,0 +1,2 @@
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diff --git a/ppc/shark_home.tar b/ppc/shark_home.tar
new file mode 100644
index 0000000..9e42605
Binary files /dev/null and b/ppc/shark_home.tar differ
diff --git a/ppc/test b/ppc/test
new file mode 100755
index 0000000..ef70399
--- /dev/null
+++ b/ppc/test
@@ -0,0 +1,26 @@
+#!/bin/sh
+N=10
+MODE=oneattime
+
+evalmsg()
+{
+	if test $1 -eq 0; then
+		echo -e "\033[32mOK"
+	else
+		echo -e "\033[31mFAIL"
+	fi;
+		echo -ne "\033[0m"
+}
+
+if test $# -ne 0; then
+	N=$1;
+fi
+
+echo -n "Testing eth->can: "
+cegwbench -s udp@192.168.2.3:10501 -d can@can0 -n $N -m $MODE -t 1 &> /dev/zero
+evalmsg $?
+
+echo -n "Testing can->eth: "
+cegwbench -s can@vcan0 -d udp@127.0.0.1:10502 -n $N -m $MODE -t 1 &> /dev/zero
+evalmsg $?
+
diff --git a/ppc/user/Makefile b/ppc/user/Makefile
new file mode 100644
index 0000000..4d1b6d2
--- /dev/null
+++ b/ppc/user/Makefile
@@ -0,0 +1,5 @@
+PROGRAM=canethgw
+
+all:
+	powerpc-linux-gnu-gcc -Wall -o${PROGRAM} -I../../utils/common/include/ canethgw.c ../../utils/common/cegwerr.c ../../utils/common/readif.c
+
diff --git a/ppc/user/canethgw b/ppc/user/canethgw
new file mode 100755
index 0000000..75fe397
Binary files /dev/null and b/ppc/user/canethgw differ
diff --git a/ppc/user/canethgw.c b/ppc/user/canethgw.c
new file mode 100644
index 0000000..09cae5c
--- /dev/null
+++ b/ppc/user/canethgw.c
@@ -0,0 +1,279 @@
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <netinet/in.h>
+#include <signal.h>
+#include <getopt.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <poll.h>
+#include "readif.h"
+#include "cegwerr.h"
+
+/**
+ * ToDo:
+ * [ ] print usage
+ */
+//#define GW_DEBUG
+
+/* powerpc encore */
+#define AF_CAN 29
+#define PF_CAN AF_CAN
+
+#ifdef GW_DEBUG
+#define printdbg(x) printf(x)
+#else
+#define printdbg(x)
+#endif
+
+#define GW_POLL_ETH 0
+#define GW_POLL_CAN 1
+
+#define GW_FLAG_SRC 1
+#define GW_FLAG_DST 2
+#define GW_FLAG_LISTEN 4
+#define GW_FLAG_FILTER 8
+
+unsigned int opt_flag = 0;
+int sock_udp;
+int sock_can;
+struct can_filter flt;
+struct sockaddr_in udp_dest;
+
+/**
+ * filter_check
+ * @return true if frame should be dropped
+ */
+bool filter_check( struct can_frame* cf )
+{
+	if( !(opt_flag & GW_FLAG_FILTER) )
+		return false;
+
+	return ( (cf->can_id & flt.can_mask) == (flt.can_id & flt.can_mask) );
+}
+
+void send_to_can()
+{
+	struct can_frame cf;
+
+	read( sock_udp, &cf, sizeof(cf) );
+
+	if( filter_check( &cf ) )
+	{
+		printdbg( "filter: drop\n" );
+		return;
+	}
+	
+	write( sock_can, &cf, sizeof(cf) );
+	
+	printdbg( "eth -> can\n" );
+}
+
+void send_to_eth()
+{
+	struct can_frame cf;
+
+	read( sock_can, &cf, sizeof(cf) );
+
+	if( filter_check( &cf ) )
+	{
+		printdbg( "filter: drop\n" );
+		return;
+	}
+
+	sendto( sock_udp, &cf, sizeof(cf), 0, (struct sockaddr*) &udp_dest, sizeof(udp_dest) );
+
+	printdbg( "can -> eth\n" );
+}
+
+void signal_exit( int sig )
+{
+	close( sock_udp );
+	close( sock_can );
+	printf( "exiting\n" );
+
+	exit( 0 );
+}
+
+int main( int argc, char* argv[] )
+{
+	struct sockaddr_in udp_addr;
+	struct sockaddr_can can_addr;
+	struct pollfd pfd[2];
+	int polret;
+	int opt;
+	struct cegw_if ceif[2], iflisten;
+	struct cegw_if* ifcan,* ifeth;
+
+	flt.can_id = 0;
+	flt.can_mask = 0;
+
+	struct option longopt[] =
+	{
+		{"listen", 1, NULL, 'l'},
+		{ 0, 0, 0, 0 }
+	};
+
+	while( (opt = getopt_long( argc, argv, "s:d:l:f:i:", longopt, NULL )) != -1 )
+	{
+		switch( opt )
+		{
+			case 's':
+				if( read_if(optarg, &ceif[0]) != 0 )
+				{
+					perr( "'-s'" );
+					return -1;
+				}
+				opt_flag |= GW_FLAG_SRC;
+				break;
+			case 'd':
+				if( read_if(optarg, &ceif[1]) != 0 )
+				{
+					perr( "'-d'" );
+					return -1;
+				}
+				opt_flag |= GW_FLAG_DST;
+				break;
+			case 'l':
+				if( read_if(optarg, &iflisten) != 0 )
+				{				
+					perr( "'-l'" );
+					return -1;
+				}
+				if( iflisten.type != IF_ETH_UDP )
+				{
+					perr( "'-l' udp interface expected" );
+					return -1;
+				}
+				opt_flag |= GW_FLAG_LISTEN;
+				break;
+			case 'f':
+				if( sscanf( optarg, "%x:%x", &flt.can_id,
+				   &flt.can_mask ) != 2 ) 
+				{
+					perr( "bad filter format");
+					return -1;
+				}
+				opt_flag |= GW_FLAG_FILTER;
+				break;
+			case '?':
+				return -1;
+				break;
+		}
+	}
+
+	if( !((opt_flag & GW_FLAG_SRC) && (opt_flag & GW_FLAG_DST) 
+		&& (opt_flag & GW_FLAG_LISTEN)) )
+	{
+		perr( "'s', 'd' and 'l' are mandatory" ); 
+		/* ToDo: usage? */
+		return -1;
+	}
+
+	if( !(ceif[0].type == IF_CAN     && ceif[1].type == IF_ETH_UDP) &&
+	    !(ceif[0].type == IF_ETH_UDP && ceif[1].type == IF_CAN    )    )
+	{
+		perr( "'-s' and '-d' should be different interface type" );
+		return -1;
+	}
+
+	if( ceif[0].type == IF_CAN )
+	{
+		ifcan = &ceif[0];
+		ifeth = &ceif[1];
+	} else
+	{
+		ifcan = &ceif[1];
+		ifeth = &ceif[0];
+	}
+
+	signal( SIGINT, signal_exit );
+
+	/* prepare udp destination */
+	udp_dest.sin_family = AF_INET;
+	udp_dest.sin_port = htons(ifeth->eth.port);
+	udp_dest.sin_addr = ifeth->eth.ip;
+
+	/* udp socket */
+	sock_udp = socket( PF_INET, SOCK_DGRAM, IPPROTO_UDP );
+	if( sock_udp < 0 )
+	{
+		perr( "udp socket creation failed" );
+		return -1;
+	}
+
+	udp_addr.sin_family = AF_INET;
+	udp_addr.sin_port = htons(iflisten.eth.port);
+	udp_addr.sin_addr = iflisten.eth.ip;
+
+	if( bind( sock_udp, (struct sockaddr*) &udp_addr, sizeof(udp_addr) ) < 0 )
+	{
+		perr( "udp socket binding failed" );
+		close( sock_udp );
+		return -1;
+	}
+
+	/* can socket */
+	sock_can = socket( PF_CAN, SOCK_RAW, CAN_RAW );
+	if( sock_can < 0 )
+	{
+		perr( "can socket creation failed");
+		close( sock_can );
+		return -1;
+	}
+
+	can_addr.can_family = AF_CAN;
+	can_addr.can_ifindex = ifcan->can.ifindex;
+
+	if( bind( sock_can, (struct sockaddr*) &can_addr, sizeof(can_addr) ) < 0 )
+	{
+		perr( "can socket binding failed" );
+		return -1;
+	}
+
+	/* poll */
+	pfd[GW_POLL_ETH].fd = sock_udp;
+	pfd[GW_POLL_ETH].events = POLLIN | POLLPRI;
+	pfd[GW_POLL_ETH].revents = 0;
+
+	pfd[GW_POLL_CAN].fd = sock_can;
+	pfd[GW_POLL_CAN].events = POLLIN | POLLPRI;
+	pfd[GW_POLL_CAN].revents = 0;
+
+	printf( "canethgw is running\n" );
+
+	while( 1 )
+	{
+		printdbg( "polling\n" );
+		polret = poll( pfd, 2, -1 );
+		if( polret < 0 )
+		{
+			perr( "poll(..) failed" );
+			close( sock_udp );
+			close( sock_can );
+			return -1;
+		}
+
+		if( pfd[GW_POLL_ETH].revents != 0 )
+		{
+			send_to_can();
+		}
+		if( pfd[GW_POLL_CAN].revents != 0 )
+		{
+			send_to_eth();
+		}
+
+		pfd[GW_POLL_ETH].revents = 0;
+		pfd[GW_POLL_CAN].revents = 0;
+	}
+
+	return 0;
+}
+