8 * Copyright (c) 2002-2007 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 and the following disclaimer.
16 * 2. Redistributions in binary form must reproduce the above copyright
17 * notice, this list of conditions and the following disclaimer in the
18 * documentation and/or other materials provided with the distribution.
19 * 3. Neither the name of Volkswagen nor the names of its contributors
20 * may be used to endorse or promote products derived from this software
21 * without specific prior written permission.
23 * Alternatively, provided that this notice is retained in full, this
24 * software may be distributed under the terms of the GNU General
25 * Public License ("GPL") version 2, in which case the provisions of the
26 * GPL apply INSTEAD OF those given above.
28 * The provided data structures and external interfaces from this code
29 * are not restricted to be used by modules with a GPL compatible license.
31 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
32 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
33 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
34 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
35 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
36 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
37 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
38 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
39 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
40 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
41 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
44 * Send feedback to <socketcan-users@lists.berlios.de>
53 #include <sys/types.h>
54 #include <sys/socket.h>
55 #include <sys/ioctl.h>
58 #include <linux/can.h>
59 #include <linux/can/raw.h>
63 int main(int argc, char **argv)
66 struct sockaddr_can addr;
67 struct can_filter rfilter[MAXFILTERS];
68 struct can_frame frame;
78 while ((opt = getopt(argc, argv, "i:p:f:d")) != -1) {
80 case 'i': /* specify different interface than default */
83 case 'p': /* MSG_PEEK 'p' times before consuming the frame */
86 case 'd': /* use default settings from CAN_RAW socket */
89 case 'f': /* add this filter can_id:can_mask */
90 if (nfilters >= MAXFILTERS) {
91 fputs("too many filters\n", stderr);
94 rfilter[nfilters].can_id = strtoul(strtok(optarg, ":"), NULL, 16);
95 rfilter[nfilters].can_mask = strtoul(strtok(NULL, ":"), NULL, 16);
99 fprintf(stderr, "Unknown option %c\n", opt);
105 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
111 printf("%s: using CAN_RAW socket default filter.\n", argv[0]);
113 printf("%s: setting %d CAN filter(s).\n", argv[0], nfilters);
114 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter,
115 sizeof(*rfilter) * nfilters);
118 if (strcmp(ifname, "any") == 0)
121 strcpy(ifr.ifr_name, ifname);
122 ioctl(s, SIOCGIFINDEX, &ifr);
123 ifindex = ifr.ifr_ifindex;
126 addr.can_family = AF_CAN;
127 addr.can_ifindex = ifindex;
129 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
135 socklen_t len = sizeof(addr);
143 nbytes = recvfrom(s, &frame, sizeof(struct can_frame),
144 flags, (struct sockaddr*)&addr, &len);
148 } else if (nbytes < sizeof(struct can_frame)) {
149 fprintf(stderr, "read: incomplete CAN frame from iface %d\n",
153 ifr.ifr_ifindex = addr.can_ifindex;
154 ioctl(s, SIOCGIFNAME, &ifr);
155 printf(" %-5s ", ifr.ifr_name);
156 if (frame.can_id & CAN_EFF_FLAG)
157 printf("%8X ", frame.can_id & CAN_EFF_MASK);
159 printf("%3X ", frame.can_id & CAN_SFF_MASK);
161 printf("[%d] ", frame.can_dlc);
163 for (i = 0; i < frame.can_dlc; i++) {
164 printf("%02X ", frame.data[i]);
166 if (frame.can_id & CAN_RTR_FLAG)
167 printf("remote request");
168 if (flags & MSG_PEEK)
169 printf(" (MSG_PEEK)");