6 * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
8 * Copyright (c) 2002-2005 Volkswagen Group Electronic Research
11 * Redistribution and use in source and binary forms, with or without
12 * modification, are permitted provided that the following conditions
14 * 1. Redistributions of source code must retain the above copyright
15 * notice, this list of conditions, the following disclaimer and
16 * the referenced file 'COPYING'.
17 * 2. Redistributions in binary form must reproduce the above copyright
18 * notice, this list of conditions and the following disclaimer in the
19 * documentation and/or other materials provided with the distribution.
20 * 3. Neither the name of Volkswagen nor the names of its contributors
21 * may be used to endorse or promote products derived from this software
22 * without specific prior written permission.
24 * Alternatively, provided that this notice is retained in full, this
25 * software may be distributed under the terms of the GNU General
26 * Public License ("GPL") version 2 as distributed in the 'COPYING'
27 * file from the main directory of the linux kernel source.
29 * The provided data structures and external interfaces from this code
30 * are not restricted to be used by modules with a GPL compatible license.
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45 * Send feedback to <socketcan-users@lists.berlios.de>
55 #include <sys/ioctl.h>
57 #include <linux/can.h>
58 #include <linux/can/raw.h>
62 int main(int argc, char **argv)
64 int s; /* can raw socket */
66 struct sockaddr_can addr;
67 struct can_frame frame;
70 /* check command line options */
72 fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
77 if (parse_canframe(argv[2], &frame)){
78 fprintf(stderr, "\nWrong CAN-frame format!\n\n");
79 fprintf(stderr, "Try: <can_id>#{R|data}\n");
80 fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
81 fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
82 fprintf(stderr, " be seperated by '.'\n\n");
83 fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
84 fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
85 fprintf(stderr, "for remote transmission request.\n\n");
90 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
95 strcpy(ifr.ifr_name, argv[1]);
96 ioctl(s, SIOCGIFINDEX, &ifr);
98 addr.can_family = AF_CAN;
99 addr.can_ifindex = ifr.ifr_ifindex;
101 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
107 if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
112 //fprint_canframe(stdout, &frame, "\n");