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
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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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54 #include <sys/types.h>
55 #include <sys/socket.h>
56 #include <sys/ioctl.h>
60 #include <linux/can.h>
61 #include <linux/can/bcm.h>
63 #define U64_DATA(p) (*(unsigned long long*)(p)->data)
65 int main(int argc, char **argv)
68 struct sockaddr_can addr;
74 struct bcm_msg_head msg_head;
75 struct can_frame frame[4];
78 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
83 addr.can_family = PF_CAN;
84 strcpy(ifr.ifr_name, "vcan2");
85 ioctl(s, SIOCGIFINDEX, &ifr);
86 addr.can_ifindex = ifr.ifr_ifindex;
88 if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
93 txmsg.msg_head.opcode = RX_SETUP;
94 txmsg.msg_head.can_id = 0x042;
95 txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
96 txmsg.msg_head.ival1.tv_sec = 1;
97 txmsg.msg_head.ival1.tv_usec = 0;
98 txmsg.msg_head.ival2.tv_sec = 0;
99 txmsg.msg_head.ival2.tv_usec = 0;
100 txmsg.msg_head.nframes = 0;
102 printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
103 txmsg.msg_head.can_id);
105 if (write(s, &txmsg, sizeof(txmsg)) < 0)
108 txmsg.msg_head.opcode = RX_DELETE;
109 txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
111 printf("<*>Writing RX_DELETE with RX_FILTER_ID for can_id <%03X>\n",
112 txmsg.msg_head.can_id);
114 if (write(s, &txmsg, sizeof(txmsg)) < 0)
117 txmsg.msg_head.opcode = RX_SETUP;
118 txmsg.msg_head.can_id = 0x042;
119 txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
120 txmsg.msg_head.ival1.tv_sec = 1;
121 txmsg.msg_head.ival1.tv_usec = 0;
122 txmsg.msg_head.ival2.tv_sec = 0;
123 txmsg.msg_head.ival2.tv_usec = 0;
124 txmsg.msg_head.nframes = 0;
126 printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
127 txmsg.msg_head.can_id);
129 if (write(s, &txmsg, sizeof(txmsg)) < 0)
132 txmsg.msg_head.opcode = TX_SEND;
133 txmsg.msg_head.nframes = 1;
134 /* obsolete for TX_SEND ... */
136 txmsg.msg_head.can_id = 0x43;
137 txmsg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
138 txmsg.msg_head.count = 0;
139 txmsg.msg_head.ival1.tv_sec = 0;
140 txmsg.msg_head.ival1.tv_usec = 0;
141 txmsg.msg_head.ival2.tv_sec = 0;
142 txmsg.msg_head.ival2.tv_usec = 0;
144 txmsg.frame[0].can_id = 0x43;
145 txmsg.frame[0].can_dlc = 8;
146 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
148 printf("<2>Writing TX_SEND with wrong can_id <%03X>\n",
149 txmsg.frame[0].can_id);
151 if (write(s, &txmsg, sizeof(txmsg)) < 0)
154 txmsg.msg_head.opcode = TX_SEND;
155 txmsg.msg_head.nframes = 1;
156 txmsg.frame[0].can_id = 0x42;
157 txmsg.frame[0].can_dlc = 8;
158 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
160 printf("<3>Writing TX_SEND with correct can_id <%03X>\n",
161 txmsg.frame[0].can_id);
163 if (write(s, &txmsg, sizeof(txmsg)) < 0)
166 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
169 ioctl(s, SIOCGSTAMP, &tv);
170 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
172 if (rxmsg.msg_head.opcode == RX_CHANGED &&
173 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
174 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
175 printf("<3>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
176 rxmsg.frame[0].can_id);
179 txmsg.msg_head.opcode = RX_SETUP;
180 txmsg.msg_head.can_id = 0x042;
181 txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
182 txmsg.msg_head.ival1.tv_sec = 1;
183 txmsg.msg_head.ival1.tv_usec = 0;
184 txmsg.msg_head.ival2.tv_sec = 0;
185 txmsg.msg_head.ival2.tv_usec = 0;
186 txmsg.msg_head.nframes = 1;
187 /* txmsg.frame[0].can_dlc = 8; obsolete for RX_SETUP */
188 U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
190 printf("<*>Writing simple RX_SETUP for can_id <%03X> with msgbits 0x%016llX\n",
191 txmsg.msg_head.can_id, U64_DATA(&txmsg.frame[0]));
193 if (write(s, &txmsg, sizeof(txmsg)) < 0)
196 txmsg.msg_head.opcode = TX_SEND;
197 txmsg.msg_head.nframes = 1;
198 txmsg.frame[0].can_id = 0x42;
199 txmsg.frame[0].can_dlc = 8;
200 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
202 printf("<5>Writing TX_SEND with correct can_id <%03X>\n",
203 txmsg.frame[0].can_id);
205 if (write(s, &txmsg, sizeof(txmsg)) < 0)
208 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
211 ioctl(s, SIOCGSTAMP, &tv);
212 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
214 if (rxmsg.msg_head.opcode == RX_CHANGED &&
215 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
216 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
217 printf("<5>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
218 rxmsg.frame[0].can_id);
221 txmsg.msg_head.opcode = TX_SEND;
222 txmsg.msg_head.nframes = 1;
223 txmsg.frame[0].can_id = 0x42;
224 txmsg.frame[0].can_dlc = 8;
225 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
227 printf("<6>Writing TX_SEND with correct can_id <%03X> ",
228 txmsg.frame[0].can_id);
229 printf("no changed data\n");
231 if (write(s, &txmsg, sizeof(txmsg)) < 0)
236 txmsg.msg_head.opcode = TX_SEND;
237 txmsg.msg_head.nframes = 1;
238 txmsg.frame[0].can_id = 0x42;
239 txmsg.frame[0].can_dlc = 8;
240 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
242 printf("<7>Writing TX_SEND with correct can_id <%03X> ",
243 txmsg.frame[0].can_id);
244 printf("changed relevant msgbits\n");
246 if (write(s, &txmsg, sizeof(txmsg)) < 0)
249 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
252 ioctl(s, SIOCGSTAMP, &tv);
253 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
255 if (rxmsg.msg_head.opcode == RX_CHANGED &&
256 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
257 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
258 printf("<7>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
259 rxmsg.frame[0].can_id);
262 txmsg.msg_head.opcode = TX_SEND;
263 txmsg.msg_head.nframes = 1;
264 txmsg.frame[0].can_id = 0x42;
265 txmsg.frame[0].can_dlc = 8;
266 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
268 printf("<8>Writing TX_SEND with correct can_id <%03X> ",
269 txmsg.frame[0].can_id);
270 printf("changed irrelevant msgbits\n");
272 if (write(s, &txmsg, sizeof(txmsg)) < 0)
275 txmsg.msg_head.opcode = TX_SEND;
276 txmsg.msg_head.nframes = 1;
277 txmsg.frame[0].can_id = 0x42;
278 txmsg.frame[0].can_dlc = 7;
279 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
281 printf("<9>Writing TX_SEND with correct can_id <%03X> ",
282 txmsg.frame[0].can_id);
283 printf("changed Data Length Code DLC\n");
285 if (write(s, &txmsg, sizeof(txmsg)) < 0)
288 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
291 ioctl(s, SIOCGSTAMP, &tv);
292 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
294 if (rxmsg.msg_head.opcode == RX_CHANGED &&
295 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
296 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
297 printf("<9>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
298 rxmsg.frame[0].can_id);
301 /* no problems ;-) but NOW we try MUX messages ... and timeouts */
303 txmsg.msg_head.opcode = RX_SETUP;
304 txmsg.msg_head.can_id = 0x042;
305 txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
306 txmsg.msg_head.ival1.tv_sec = 1;
307 txmsg.msg_head.ival1.tv_usec = 0;
308 txmsg.msg_head.nframes = 3;
309 U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
310 U64_DATA(&txmsg.frame[1]) = (__u64) 0x01000000000000FFULL;
311 U64_DATA(&txmsg.frame[2]) = (__u64) 0x02000000000000FFULL;
313 printf("<*>Writing multiplex RX_SETUP for can_id <%03X>\n",
314 txmsg.msg_head.can_id);
316 if (write(s, &txmsg, sizeof(txmsg)) < 0)
320 txmsg.msg_head.opcode = TX_SEND;
321 txmsg.msg_head.nframes = 1;
322 txmsg.frame[0].can_id = 0x42;
323 txmsg.frame[0].can_dlc = 8;
324 U64_DATA(&txmsg.frame[0]) = (__u64) 0x4200000000000000ULL;
326 printf("<A>Writing TX_SEND with wrong MUX ID 42\n");
328 if (write(s, &txmsg, sizeof(txmsg)) < 0)
331 txmsg.msg_head.opcode = TX_SEND;
332 txmsg.msg_head.nframes = 1;
333 txmsg.frame[0].can_id = 0x42;
334 txmsg.frame[0].can_dlc = 8;
335 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
337 printf("<B>Writing TX_SEND with correct MUX ID 01\n");
339 if (write(s, &txmsg, sizeof(txmsg)) < 0)
342 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
345 ioctl(s, SIOCGSTAMP, &tv);
346 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
348 if (rxmsg.msg_head.opcode == RX_CHANGED &&
349 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
350 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
351 printf("<B>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
352 rxmsg.frame[0].can_id);
355 txmsg.msg_head.opcode = TX_SEND;
356 txmsg.msg_head.nframes = 1;
357 txmsg.frame[0].can_id = 0x42;
358 txmsg.frame[0].can_dlc = 8;
359 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
361 printf("<C>Writing TX_SEND with correct MUX ID 01 but no data change\n");
363 if (write(s, &txmsg, sizeof(txmsg)) < 0)
366 txmsg.msg_head.opcode = TX_SEND;
367 txmsg.msg_head.nframes = 1;
368 txmsg.frame[0].can_id = 0x42;
369 txmsg.frame[0].can_dlc = 8;
370 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567800ULL;
372 printf("<D>Writing TX_SEND with correct MUX ID 01 but no relevant data change\n");
374 if (write(s, &txmsg, sizeof(txmsg)) < 0)
377 txmsg.msg_head.opcode = TX_SEND;
378 txmsg.msg_head.nframes = 1;
379 txmsg.frame[0].can_id = 0x42;
380 txmsg.frame[0].can_dlc = 8;
381 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567801ULL;
383 printf("<E>Writing TX_SEND with correct MUX ID 01 with relevant data change\n");
385 if (write(s, &txmsg, sizeof(txmsg)) < 0)
388 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
391 ioctl(s, SIOCGSTAMP, &tv);
392 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
394 if (rxmsg.msg_head.opcode == RX_CHANGED &&
395 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
396 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
397 printf("<E>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
398 rxmsg.frame[0].can_id);
401 txmsg.msg_head.opcode = TX_SEND;
402 txmsg.msg_head.nframes = 1;
403 txmsg.frame[0].can_id = 0x42;
404 txmsg.frame[0].can_dlc = 8;
405 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000000ULL;
407 printf("<F>Writing TX_SEND with correct MUX ID 02\n");
409 if (write(s, &txmsg, sizeof(txmsg)) < 0)
412 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
415 ioctl(s, SIOCGSTAMP, &tv);
416 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
418 if (rxmsg.msg_head.opcode == RX_CHANGED &&
419 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
420 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
421 printf("<F>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
422 rxmsg.frame[0].can_id);
425 txmsg.msg_head.opcode = TX_SEND;
426 txmsg.msg_head.nframes = 1;
427 txmsg.frame[0].can_id = 0x42;
428 txmsg.frame[0].can_dlc = 8;
429 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
431 printf("<10>Writing TX_SEND with correct MUX ID 02 with relevant data change\n");
433 if (write(s, &txmsg, sizeof(txmsg)) < 0)
436 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
439 ioctl(s, SIOCGSTAMP, &tv);
440 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
442 if (rxmsg.msg_head.opcode == RX_CHANGED &&
443 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
444 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
445 printf("<10>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
446 rxmsg.frame[0].can_id);
449 txmsg.msg_head.opcode = TX_SEND;
450 txmsg.msg_head.nframes = 1;
451 txmsg.frame[0].can_id = 0x42;
452 txmsg.frame[0].can_dlc = 7;
453 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
455 printf("<11>Writing TX_SEND with correct MUX ID 02 no data change but DLC\n");
457 if (write(s, &txmsg, sizeof(txmsg)) < 0)
460 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
463 if (rxmsg.msg_head.opcode == RX_CHANGED &&
464 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
465 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
466 printf("<11>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
467 rxmsg.frame[0].can_id);
470 txmsg.msg_head.opcode = TX_SEND;
471 txmsg.msg_head.nframes = 1;
472 txmsg.frame[0].can_id = 0x42;
473 txmsg.frame[0].can_dlc = 7;
474 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0300000000000001ULL;
476 printf("<12>Writing TX_SEND with wrong MUX ID 03\n");
478 if (write(s, &txmsg, sizeof(txmsg)) < 0)
481 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
484 ioctl(s, SIOCGSTAMP, &tv);
485 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
487 if (rxmsg.msg_head.opcode == RX_TIMEOUT &&
488 nbytes == sizeof(struct bcm_msg_head) &&
489 rxmsg.msg_head.can_id == 0x42) {
490 printf("<-->Received correct RX_TIMEOUT message for can_id <%03X> >> OK!\n",
491 rxmsg.msg_head.can_id);