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
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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>
62 #define U64_DATA(p) (*(unsigned long long*)(p)->data)
64 int main(int argc, char **argv)
67 struct sockaddr_can addr;
73 struct bcm_msg_head msg_head;
74 struct can_frame frame[4];
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) {
92 txmsg.msg_head.opcode = RX_SETUP;
93 txmsg.msg_head.can_id = 0x042;
94 txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
95 txmsg.msg_head.ival1.tv_sec = 1;
96 txmsg.msg_head.ival1.tv_usec = 0;
97 txmsg.msg_head.ival2.tv_sec = 0;
98 txmsg.msg_head.ival2.tv_usec = 0;
99 txmsg.msg_head.nframes = 0;
101 printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
102 txmsg.msg_head.can_id);
104 if (write(s, &txmsg, sizeof(txmsg)) < 0)
107 txmsg.msg_head.opcode = RX_DELETE;
108 txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
110 printf("<*>Writing RX_DELETE with RX_FILTER_ID for can_id <%03X>\n",
111 txmsg.msg_head.can_id);
113 if (write(s, &txmsg, sizeof(txmsg)) < 0)
116 txmsg.msg_head.opcode = RX_SETUP;
117 txmsg.msg_head.can_id = 0x042;
118 txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
119 txmsg.msg_head.ival1.tv_sec = 1;
120 txmsg.msg_head.ival1.tv_usec = 0;
121 txmsg.msg_head.ival2.tv_sec = 0;
122 txmsg.msg_head.ival2.tv_usec = 0;
123 txmsg.msg_head.nframes = 0;
125 printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
126 txmsg.msg_head.can_id);
128 if (write(s, &txmsg, sizeof(txmsg)) < 0)
131 txmsg.msg_head.opcode = TX_SEND;
132 txmsg.msg_head.nframes = 1;
133 /* obsolete for TX_SEND ... */
135 txmsg.msg_head.can_id = 0x43;
136 txmsg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
137 txmsg.msg_head.count = 0;
138 txmsg.msg_head.ival1.tv_sec = 0;
139 txmsg.msg_head.ival1.tv_usec = 0;
140 txmsg.msg_head.ival2.tv_sec = 0;
141 txmsg.msg_head.ival2.tv_usec = 0;
143 txmsg.frame[0].can_id = 0x43;
144 txmsg.frame[0].can_dlc = 8;
145 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
147 printf("<2>Writing TX_SEND with wrong can_id <%03X>\n",
148 txmsg.frame[0].can_id);
150 if (write(s, &txmsg, sizeof(txmsg)) < 0)
153 txmsg.msg_head.opcode = TX_SEND;
154 txmsg.msg_head.nframes = 1;
155 txmsg.frame[0].can_id = 0x42;
156 txmsg.frame[0].can_dlc = 8;
157 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
159 printf("<3>Writing TX_SEND with correct can_id <%03X>\n",
160 txmsg.frame[0].can_id);
162 if (write(s, &txmsg, sizeof(txmsg)) < 0)
165 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
168 ioctl(s, SIOCGSTAMP, &tv);
169 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
171 if (rxmsg.msg_head.opcode == RX_CHANGED &&
172 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
173 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
174 printf("<3>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
175 rxmsg.frame[0].can_id);
178 txmsg.msg_head.opcode = RX_SETUP;
179 txmsg.msg_head.can_id = 0x042;
180 txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
181 txmsg.msg_head.ival1.tv_sec = 1;
182 txmsg.msg_head.ival1.tv_usec = 0;
183 txmsg.msg_head.ival2.tv_sec = 0;
184 txmsg.msg_head.ival2.tv_usec = 0;
185 txmsg.msg_head.nframes = 1;
186 /* txmsg.frame[0].can_dlc = 8; obsolete for RX_SETUP */
187 U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
189 printf("<*>Writing simple RX_SETUP for can_id <%03X> with msgbits 0x%016llX\n",
190 txmsg.msg_head.can_id, U64_DATA(&txmsg.frame[0]));
192 if (write(s, &txmsg, sizeof(txmsg)) < 0)
195 txmsg.msg_head.opcode = TX_SEND;
196 txmsg.msg_head.nframes = 1;
197 txmsg.frame[0].can_id = 0x42;
198 txmsg.frame[0].can_dlc = 8;
199 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
201 printf("<5>Writing TX_SEND with correct can_id <%03X>\n",
202 txmsg.frame[0].can_id);
204 if (write(s, &txmsg, sizeof(txmsg)) < 0)
207 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
210 ioctl(s, SIOCGSTAMP, &tv);
211 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
213 if (rxmsg.msg_head.opcode == RX_CHANGED &&
214 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
215 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
216 printf("<5>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
217 rxmsg.frame[0].can_id);
220 txmsg.msg_head.opcode = TX_SEND;
221 txmsg.msg_head.nframes = 1;
222 txmsg.frame[0].can_id = 0x42;
223 txmsg.frame[0].can_dlc = 8;
224 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
226 printf("<6>Writing TX_SEND with correct can_id <%03X> ",
227 txmsg.frame[0].can_id);
228 printf("no changed data\n");
230 if (write(s, &txmsg, sizeof(txmsg)) < 0)
235 txmsg.msg_head.opcode = TX_SEND;
236 txmsg.msg_head.nframes = 1;
237 txmsg.frame[0].can_id = 0x42;
238 txmsg.frame[0].can_dlc = 8;
239 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
241 printf("<7>Writing TX_SEND with correct can_id <%03X> ",
242 txmsg.frame[0].can_id);
243 printf("changed relevant msgbits\n");
245 if (write(s, &txmsg, sizeof(txmsg)) < 0)
248 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
251 ioctl(s, SIOCGSTAMP, &tv);
252 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
254 if (rxmsg.msg_head.opcode == RX_CHANGED &&
255 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
256 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
257 printf("<7>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
258 rxmsg.frame[0].can_id);
261 txmsg.msg_head.opcode = TX_SEND;
262 txmsg.msg_head.nframes = 1;
263 txmsg.frame[0].can_id = 0x42;
264 txmsg.frame[0].can_dlc = 8;
265 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
267 printf("<8>Writing TX_SEND with correct can_id <%03X> ",
268 txmsg.frame[0].can_id);
269 printf("changed irrelevant msgbits\n");
271 if (write(s, &txmsg, sizeof(txmsg)) < 0)
274 txmsg.msg_head.opcode = TX_SEND;
275 txmsg.msg_head.nframes = 1;
276 txmsg.frame[0].can_id = 0x42;
277 txmsg.frame[0].can_dlc = 7;
278 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
280 printf("<9>Writing TX_SEND with correct can_id <%03X> ",
281 txmsg.frame[0].can_id);
282 printf("changed Data Length Code DLC\n");
284 if (write(s, &txmsg, sizeof(txmsg)) < 0)
287 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
290 ioctl(s, SIOCGSTAMP, &tv);
291 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
293 if (rxmsg.msg_head.opcode == RX_CHANGED &&
294 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
295 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
296 printf("<9>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
297 rxmsg.frame[0].can_id);
300 /* no problems ;-) but NOW we try MUX messages ... and timeouts */
302 txmsg.msg_head.opcode = RX_SETUP;
303 txmsg.msg_head.can_id = 0x042;
304 txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
305 txmsg.msg_head.ival1.tv_sec = 1;
306 txmsg.msg_head.ival1.tv_usec = 0;
307 txmsg.msg_head.nframes = 3;
308 U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
309 U64_DATA(&txmsg.frame[1]) = (__u64) 0x01000000000000FFULL;
310 U64_DATA(&txmsg.frame[2]) = (__u64) 0x02000000000000FFULL;
312 printf("<*>Writing multiplex RX_SETUP for can_id <%03X>\n",
313 txmsg.msg_head.can_id);
315 if (write(s, &txmsg, sizeof(txmsg)) < 0)
319 txmsg.msg_head.opcode = TX_SEND;
320 txmsg.msg_head.nframes = 1;
321 txmsg.frame[0].can_id = 0x42;
322 txmsg.frame[0].can_dlc = 8;
323 U64_DATA(&txmsg.frame[0]) = (__u64) 0x4200000000000000ULL;
325 printf("<A>Writing TX_SEND with wrong MUX ID 42\n");
327 if (write(s, &txmsg, sizeof(txmsg)) < 0)
330 txmsg.msg_head.opcode = TX_SEND;
331 txmsg.msg_head.nframes = 1;
332 txmsg.frame[0].can_id = 0x42;
333 txmsg.frame[0].can_dlc = 8;
334 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
336 printf("<B>Writing TX_SEND with correct MUX ID 01\n");
338 if (write(s, &txmsg, sizeof(txmsg)) < 0)
341 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
344 ioctl(s, SIOCGSTAMP, &tv);
345 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
347 if (rxmsg.msg_head.opcode == RX_CHANGED &&
348 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
349 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
350 printf("<B>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
351 rxmsg.frame[0].can_id);
354 txmsg.msg_head.opcode = TX_SEND;
355 txmsg.msg_head.nframes = 1;
356 txmsg.frame[0].can_id = 0x42;
357 txmsg.frame[0].can_dlc = 8;
358 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
360 printf("<C>Writing TX_SEND with correct MUX ID 01 but no data change\n");
362 if (write(s, &txmsg, sizeof(txmsg)) < 0)
365 txmsg.msg_head.opcode = TX_SEND;
366 txmsg.msg_head.nframes = 1;
367 txmsg.frame[0].can_id = 0x42;
368 txmsg.frame[0].can_dlc = 8;
369 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567800ULL;
371 printf("<D>Writing TX_SEND with correct MUX ID 01 but no relevant data change\n");
373 if (write(s, &txmsg, sizeof(txmsg)) < 0)
376 txmsg.msg_head.opcode = TX_SEND;
377 txmsg.msg_head.nframes = 1;
378 txmsg.frame[0].can_id = 0x42;
379 txmsg.frame[0].can_dlc = 8;
380 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567801ULL;
382 printf("<E>Writing TX_SEND with correct MUX ID 01 with relevant data change\n");
384 if (write(s, &txmsg, sizeof(txmsg)) < 0)
387 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
390 ioctl(s, SIOCGSTAMP, &tv);
391 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
393 if (rxmsg.msg_head.opcode == RX_CHANGED &&
394 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
395 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
396 printf("<E>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
397 rxmsg.frame[0].can_id);
400 txmsg.msg_head.opcode = TX_SEND;
401 txmsg.msg_head.nframes = 1;
402 txmsg.frame[0].can_id = 0x42;
403 txmsg.frame[0].can_dlc = 8;
404 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000000ULL;
406 printf("<F>Writing TX_SEND with correct MUX ID 02\n");
408 if (write(s, &txmsg, sizeof(txmsg)) < 0)
411 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
414 ioctl(s, SIOCGSTAMP, &tv);
415 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
417 if (rxmsg.msg_head.opcode == RX_CHANGED &&
418 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
419 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
420 printf("<F>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
421 rxmsg.frame[0].can_id);
424 txmsg.msg_head.opcode = TX_SEND;
425 txmsg.msg_head.nframes = 1;
426 txmsg.frame[0].can_id = 0x42;
427 txmsg.frame[0].can_dlc = 8;
428 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
430 printf("<10>Writing TX_SEND with correct MUX ID 02 with relevant data change\n");
432 if (write(s, &txmsg, sizeof(txmsg)) < 0)
435 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
438 ioctl(s, SIOCGSTAMP, &tv);
439 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
441 if (rxmsg.msg_head.opcode == RX_CHANGED &&
442 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
443 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
444 printf("<10>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
445 rxmsg.frame[0].can_id);
448 txmsg.msg_head.opcode = TX_SEND;
449 txmsg.msg_head.nframes = 1;
450 txmsg.frame[0].can_id = 0x42;
451 txmsg.frame[0].can_dlc = 7;
452 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
454 printf("<11>Writing TX_SEND with correct MUX ID 02 no data change but DLC\n");
456 if (write(s, &txmsg, sizeof(txmsg)) < 0)
459 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
462 if (rxmsg.msg_head.opcode == RX_CHANGED &&
463 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
464 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
465 printf("<11>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
466 rxmsg.frame[0].can_id);
469 txmsg.msg_head.opcode = TX_SEND;
470 txmsg.msg_head.nframes = 1;
471 txmsg.frame[0].can_id = 0x42;
472 txmsg.frame[0].can_dlc = 7;
473 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0300000000000001ULL;
475 printf("<12>Writing TX_SEND with wrong MUX ID 03\n");
477 if (write(s, &txmsg, sizeof(txmsg)) < 0)
480 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
483 ioctl(s, SIOCGSTAMP, &tv);
484 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
486 if (rxmsg.msg_head.opcode == RX_TIMEOUT &&
487 nbytes == sizeof(struct bcm_msg_head) &&
488 rxmsg.msg_head.can_id == 0x42) {
489 printf("<-->Received correct RX_TIMEOUT message for can_id <%03X> >> OK!\n",
490 rxmsg.msg_head.can_id);