X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/659b098309c2bca57ac60a35a1b9900d6f28e74d..2827b727d2910a3b48f9de7d67b3a67f59e256c7:/lincan/utils/readburst.c

diff --git a/lincan/utils/readburst.c b/lincan/utils/readburst.c
index 8a6d552..c0e3ba1 100644
--- a/lincan/utils/readburst.c
+++ b/lincan/utils/readburst.c
@@ -24,6 +24,8 @@ struct canfilt_t canfilt = {
 
 int canfilt_fl;
 
+int query_fl;
+
 int can_wait_sec = 5;
 
 char *can_dev_name = "/dev/can0";
@@ -67,6 +69,7 @@ usage(void)
   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");
 }
@@ -81,6 +84,7 @@ int main(int argc, char *argv[])
 		{ "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}
@@ -89,11 +93,15 @@ int main(int argc, char *argv[])
 
 	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:Vh",
+	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;
@@ -116,6 +124,9 @@ int main(int argc, char *argv[])
 		case 'p':
 			prt_prefix_in = optarg;
 			break;
+		case 'q':
+			query_fl=1;
+			break;
 		case 'V':
 			fputs("LinCAN utilities v0.2\n", stdout);
 			exit(0);
@@ -139,6 +150,17 @@ int main(int argc, char *argv[])
 		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) {
@@ -151,7 +173,6 @@ int main(int argc, char *argv[])
 	while (1) {
 		readmsg.flags=0;
 		readmsg.cob=0;
-		readmsg.timestamp=0;
 	    #if 1
 		ret=can_fd_wait(fd, can_wait_sec);
 		printf("%scan_fd_wait returned %d\n", prt_prefix, ret);