-/*
- * $Id$
- */
-
/*
* cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
*
#include <net/if.h>
#include <sys/ioctl.h>
+#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
int main(int argc, char **argv)
{
int s; /* can raw socket */
- int nbytes;
+ int required_mtu;
+ int mtu;
+ int enable_canfd = 1;
struct sockaddr_can addr;
- struct can_frame frame;
+ struct canfd_frame frame;
struct ifreq ifr;
/* check command line options */
}
/* parse CAN frame */
- if (parse_canframe(argv[2], &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 ");
+ required_mtu = parse_canframe(argv[2], &frame);
+ if (!required_mtu){
+ fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
+ fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 frames\n");
+ fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
+ fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
+ fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
+ fprintf(stderr, " separated by '.')\n");
+ fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
+ fprintf(stderr, " canfd_frame.flags\n\n");
+ fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
+ fprintf(stderr, "123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
return 1;
}
- addr.can_family = AF_CAN;
-
- strcpy(ifr.ifr_name, argv[1]);
- if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
- perror("SIOCGIFINDEX");
+ strncpy(ifr.ifr_name, argv[1], IFNAMSIZ - 1);
+ ifr.ifr_name[IFNAMSIZ - 1] = '\0';
+ ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
+ if (!ifr.ifr_ifindex) {
+ perror("if_nametoindex");
return 1;
}
+
+ addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
+ if (required_mtu > CAN_MTU) {
+
+ /* check if the frame fits into the CAN netdevice */
+ if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+ perror("SIOCGIFMTU");
+ return 1;
+ }
+ mtu = ifr.ifr_mtu;
+
+ if (mtu != CANFD_MTU) {
+ printf("CAN interface ist not CAN FD capable - sorry.\n");
+ return 1;
+ }
+
+ /* interface is ok - try to switch the socket into CAN FD mode */
+ if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+ &enable_canfd, sizeof(enable_canfd))){
+ printf("error when enabling CAN FD support\n");
+ return 1;
+ }
+
+ /* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
+ frame.len = can_dlc2len(can_len2dlc(frame.len));
+ }
+
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
}
/* send frame */
- if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
+ if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
}
- //fprint_long_canframe(stdout, &frame, "\n", 0);
-
close(s);
return 0;