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53 #include <sys/types.h>
54 #include <sys/socket.h>
55 #include <sys/ioctl.h>
59 #include <linux/can.h>
60 #include <linux/can/bcm.h>
64 int main(int argc, char **argv)
67 struct sockaddr_can addr;
73 struct bcm_msg_head msg_head;
74 struct can_frame frame;
77 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
82 addr.can_family = PF_CAN;
83 strcpy(ifr.ifr_name, "vcan2");
84 ioctl(s, SIOCGIFINDEX, &ifr);
85 addr.can_ifindex = ifr.ifr_ifindex;
87 if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
93 /* specify CAN-Frame to send as reply to a RTR-request */
94 txmsg.msg_head.opcode = RX_SETUP;
95 txmsg.msg_head.can_id = 0x359 | CAN_RTR_FLAG;
96 txmsg.msg_head.flags = RX_RTR_FRAME; /* | TX_CP_CAN_ID */;
97 txmsg.msg_head.ival1.tv_sec = 0; /* no timers in RTR-mode */
98 txmsg.msg_head.ival1.tv_usec = 0;
99 txmsg.msg_head.ival2.tv_sec = 0;
100 txmsg.msg_head.ival2.tv_usec = 0;
101 txmsg.msg_head.nframes = 1; /* exact 1 */
103 /* the frame to send as reply ... */
104 txmsg.frame.can_id = 0x359; /* 'should' be the same */
105 txmsg.frame.can_dlc = 3;
106 txmsg.frame.data[0] = 0x12;
107 txmsg.frame.data[1] = 0x34;
108 txmsg.frame.data[2] = 0x56;
111 /* normal receiption of RTR-frames in Userspace */
112 txmsg.msg_head.opcode = RX_SETUP;
113 txmsg.msg_head.can_id = 0x359 | CAN_RTR_FLAG;
114 txmsg.msg_head.flags = RX_FILTER_ID;
115 txmsg.msg_head.ival1.tv_sec = 0;
116 txmsg.msg_head.ival1.tv_usec = 0;
117 txmsg.msg_head.ival2.tv_sec = 0;
118 txmsg.msg_head.ival2.tv_usec = 0;
119 txmsg.msg_head.nframes = 0;
122 if (write(s, &txmsg, sizeof(txmsg)) < 0)
127 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
130 ioctl(s, SIOCGSTAMP, &tv);
131 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
133 if (rxmsg.msg_head.opcode == RX_CHANGED &&
134 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
135 (rxmsg.msg_head.can_id & CAN_SFF_MASK) == 0x359 &&
136 (rxmsg.frame.can_id & CAN_SFF_MASK) == 0x359) {
137 printf("RX_CHANGED message for can_id <%03X> RTR = %d\n",
138 rxmsg.frame.can_id, (rxmsg.frame.can_id & CAN_RTR_FLAG)?1:0);