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54 #include <sys/types.h>
55 #include <sys/socket.h>
56 #include <sys/ioctl.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";
73 while ((opt = getopt(argc, argv, "i:")) != -1) {
79 fprintf(stderr, "Unknown option %c\n", opt);
85 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
90 rfilter[0].can_id = 0x123;
91 rfilter[0].can_mask = CAN_SFF_MASK;
92 rfilter[1].can_id = 0x200;
93 rfilter[1].can_mask = 0x700;
94 rfilter[2].can_id = 0x80123456;
95 rfilter[2].can_mask = 0x1FFFF000;
96 rfilter[3].can_id = 0x80333333;
97 rfilter[3].can_mask = CAN_EFF_MASK;
99 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
101 strcpy(ifr.ifr_name, ifname);
102 ioctl(s, SIOCGIFINDEX, &ifr);
103 ifindex = ifr.ifr_ifindex;
105 addr.can_family = AF_CAN;
106 addr.can_ifindex = ifindex;
108 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
115 if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
118 } else if (nbytes < sizeof(struct can_frame)) {
119 fprintf(stderr, "read: incomplete CAN frame\n");
122 if (frame.can_id & CAN_EFF_FLAG)
123 printf("%8X ", frame.can_id & CAN_EFF_MASK);
125 printf("%3X ", frame.can_id & CAN_SFF_MASK);
127 printf("[%d] ", frame.can_dlc);
129 for (i = 0; i < frame.can_dlc; i++) {
130 printf("%02X ", frame.data[i]);
132 if (frame.can_id & CAN_RTR_FLAG)
133 printf("remote request");