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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>
61 int main(int argc, char **argv)
64 struct sockaddr_can addr;
65 struct can_filter rfilter[4];
66 struct can_frame frame;
69 char *ifname = "vcan2";
76 int recv_own_msgs = 0;
77 int set_recv_own_msgs = 0;
78 int send_one_frame = 0;
79 int ignore_errors = 0;
81 while ((opt = getopt(argc, argv, "i:l:r:se")) != -1) {
89 loopback = atoi(optarg);
94 recv_own_msgs = atoi(optarg);
95 set_recv_own_msgs = 1;
107 fprintf(stderr, "Unknown option %c\n", opt);
113 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
118 rfilter[0].can_id = 0x123;
119 rfilter[0].can_mask = CAN_SFF_MASK;
120 rfilter[1].can_id = 0x200;
121 rfilter[1].can_mask = 0x700;
122 rfilter[2].can_id = 0x80123456;
123 rfilter[2].can_mask = 0x1FFFF000;
124 rfilter[3].can_id = 0x80333333;
125 rfilter[3].can_mask = CAN_EFF_MASK;
127 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
130 setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
132 if(set_recv_own_msgs)
133 setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &recv_own_msgs, sizeof(recv_own_msgs));
135 strcpy(ifr.ifr_name, ifname);
136 ioctl(s, SIOCGIFINDEX, &ifr);
137 ifindex = ifr.ifr_ifindex;
139 addr.can_family = AF_CAN;
140 addr.can_ifindex = ifindex;
142 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
149 frame.can_id = 0x123;
151 frame.data[0] = 0x11;
152 frame.data[1] = 0x22;
154 nbytes = write(s, &frame, sizeof(struct can_frame));
159 if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
163 } else if (nbytes < sizeof(struct can_frame)) {
164 fprintf(stderr, "read: incomplete CAN frame\n");
167 if (frame.can_id & CAN_EFF_FLAG)
168 printf("%8X ", frame.can_id & CAN_EFF_MASK);
170 printf("%3X ", frame.can_id & CAN_SFF_MASK);
172 printf("[%d] ", frame.can_dlc);
174 for (i = 0; i < frame.can_dlc; i++) {
175 printf("%02X ", frame.data[i]);
177 if (frame.can_id & CAN_RTR_FLAG)
178 printf("remote request");