#include <stdio.h>
-#include <fcntl.h>
+#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
+#include <signal.h>
+#include <getopt.h>
+#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
-#include <signal.h>
+#include <sys/ioctl.h>
#include "../include/can.h"
int fd;
+struct canfilt_t canfilt = {
+ .flags = 0,
+ .queid = 0,
+ .cob = 0,
+ .id = 0,
+ .mask = 0
+};
+
+int canfilt_fl;
+
+int query_fl;
+
+int can_wait_sec = 5;
+
+char *can_dev_name = "/dev/can0";
+
+#define PRT_PREFIX_SIZE 40
+char prt_prefix[PRT_PREFIX_SIZE];
+
+char *prt_prefix_in = "CAN %s : ";
+
int can_fd_wait(int fd, int wait_sec)
{
- int ret;
- struct timeval timeout;
- fd_set set;
-
- FD_ZERO (&set);
- FD_SET (fd, &set);
- timeout.tv_sec = wait_sec;
- timeout.tv_usec = 0;
- while ((ret=select(FD_SETSIZE,&set, NULL, NULL,&timeout))==-1
+ int ret;
+ struct timeval timeout;
+ fd_set set;
+
+ FD_ZERO (&set);
+ FD_SET (fd, &set);
+ timeout.tv_sec = wait_sec;
+ timeout.tv_usec = 0;
+ while ((ret=select(FD_SETSIZE,&set, NULL, NULL,&timeout))==-1
&&errno==-EINTR);
- return ret;
+ return ret;
}
/*--- handler on SIGINT signal : the program quit with CTL-C ---*/
void sortie(int sig)
- {
+{
close(fd);
printf("Terminated by user\n");
exit(0);
- }
+}
+
+static void
+usage(void)
+{
+ printf("usage: readburst\n");
+ printf(" -d, --device <name> name of CAN device [/dev/can0]\n");
+ printf(" -m, --mask <num> CAN filter mask\n");
+ printf(" -i, --id <num> CAN filter message ID\n");
+ printf(" -f, --flags <num> CAN filter flags\n");
+ printf(" -w, --wait <num> number of seconds to wait in select call\n");
+ printf(" -p, --prefix <str> string prefix for output\n");
+ printf(" -q, --query query driver features\n");
+ printf(" -V, --version show version\n");
+ printf(" -h, --help this usage screen\n");
+}
+
+
+int main(int argc, char *argv[])
+{
+ static struct option long_opts[] = {
+ { "uldev", 1, 0, 'd' },
+ { "mask", 1, 0, 'm' },
+ { "id", 1, 0, 'i' },
+ { "flags", 1, 0, 'f' },
+ { "wait", 1, 0, 'w' },
+ { "prefix",1, 0, 'p' },
+ { "query" ,0 ,0, 'q' },
+ { "version",0,0, 'V' },
+ { "help", 0, 0, 'h' },
+ { 0, 0, 0, 0}
+ };
+ int opt;
-int main(void)
- {
int n,ret;
unsigned long i=0;
+ #ifdef CAN_MSG_VERSION_2
+ struct canmsg_t readmsg={0,0,5,{0,0},0,{0,}};
+ #else /* CAN_MSG_VERSION_2 */
struct canmsg_t readmsg={0,0,5,0,0,{0,}};
+ #endif /* CAN_MSG_VERSION_2 */
struct sigaction act;
+
+ while ((opt = getopt_long(argc, argv, "d:m:i:f:w:p:qVh",
+ &long_opts[0], NULL)) != EOF) switch (opt) {
+ case 'd':
+ can_dev_name=optarg;
+ break;
+ case 'm':
+ canfilt_fl=1;
+ canfilt.mask = strtol(optarg,NULL,0);
+ break;
+ case 'i':
+ canfilt_fl=1;
+ canfilt.id = strtol(optarg,NULL,0);
+ break;
+ case 'f':
+ canfilt_fl=1;
+ canfilt.flags = strtol(optarg,NULL,0);
+ break;
+ case 'w':
+ can_wait_sec = strtol(optarg,NULL,0);
+ break;
+ case 'p':
+ prt_prefix_in = optarg;
+ break;
+ case 'q':
+ query_fl=1;
+ break;
+ case 'V':
+ fputs("LinCAN utilities v0.2\n", stdout);
+ exit(0);
+ case 'h':
+ default:
+ usage();
+ exit(opt == 'h' ? 0 : 1);
+ }
+
+
/*------- register handler on SIGINT signal -------*/
act.sa_handler=sortie;
sigemptyset(&act.sa_mask);
sigaction(SIGINT,&act,0);
/*---------------------------------------*/
- if ((fd=open("/dev/can0",O_RDWR)) < 0)
- {
+ if ((fd=open(can_dev_name, O_RDWR)) < 0) {
perror("open");
- printf("Error opening /dev/can0\n");
+ printf("Error opening %s\n", can_dev_name);
exit(1);
+ }
+
+ if (query_fl) {
+ n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_BRANCH);
+ printf("CAN driver branch: %c%c%c%c\n",(n>>24)&0xff,(n>>16)&0xff,(n>>8)&0xff,n&0xff);
+ n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_VERSION);
+ printf("CAN driver version: %d.%d.%d\n",(n>>16)&0xff,(n>>8)&0xff,n&0xff);
+ n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_MSGFORMAT);
+ printf("CAN message format: %08x\n",n);
+ close(fd);
+ return 0;
+ }
+
+ if (canfilt_fl) {
+ ret = ioctl(fd, CANQUE_FILTER, &canfilt);
+ if(ret<0) {
+ perror("ioctl FILTER_QUE");
}
+ }
- while (1)
- {
+ snprintf(prt_prefix, PRT_PREFIX_SIZE, prt_prefix_in, can_dev_name);
+
+ while (1) {
readmsg.flags=0;
readmsg.cob=0;
- readmsg.timestamp=0;
#if 1
- ret=can_fd_wait(fd, 5);
- printf("can_fd_wait returnet %d\n",ret);
+ ret=can_fd_wait(fd, can_wait_sec);
+ printf("%scan_fd_wait returned %d\n", prt_prefix, ret);
#endif
ret=read(fd,&readmsg,sizeof(struct canmsg_t));
- if(ret <0)
- {
- printf("Error reading message\n");
- }
- else if(ret == 0)
- {
- printf("No message arrived\n");
- }
- else
- {
- printf("Received message #%lu: id=%lX dlc=%u",i,readmsg.id,readmsg.length);
+ if(ret <0) {
+ printf("%sError reading message\n", prt_prefix);
+ }
+ else if(ret == 0) {
+ printf("%sNo message arrived\n", prt_prefix);
+ } else {
+ printf("%sRx msg #%lu: id=%lX dlc=%u flg=0x%02x",
+ prt_prefix,i,readmsg.id,readmsg.length,readmsg.flags);
for(n=0 ; n<readmsg.length ; n++)
printf(" %.2X",(unsigned char)readmsg.data[n]);
printf("\n");
i++;
- }
}
+ }
return 0;
}
projects / lincan.git / blobdiff