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
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15 * notice, this list of conditions, the following disclaimer and
16 * the referenced file 'COPYING'.
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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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45 * Send feedback to <socketcan-users@lists.berlios.de>
54 #include <sys/types.h>
55 #include <sys/socket.h>
56 #include <sys/ioctl.h>
60 #include <linux/can.h>
61 #include <linux/can/bcm.h>
63 int main(int argc, char **argv)
66 struct sockaddr_can addr;
72 struct bcm_msg_head msg_head;
73 struct can_frame frame;
76 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
81 addr.can_family = PF_CAN;
82 addr.can_ifindex = 0; /* bind to 'any' device */
84 if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
89 memset(&txmsg, 0, sizeof(txmsg)); /* clear timers, nframes, etc. */
91 txmsg.msg_head.opcode = RX_SETUP;
92 txmsg.msg_head.can_id = 0x123;
93 txmsg.msg_head.flags = RX_FILTER_ID;
95 if (write(s, &txmsg, sizeof(txmsg)) < 0)
98 addr.can_family = PF_CAN;
99 strcpy(ifr.ifr_name, "vcan2");
100 ioctl(s, SIOCGIFINDEX, &ifr);
101 addr.can_ifindex = ifr.ifr_ifindex;
103 txmsg.msg_head.opcode = RX_SETUP;
104 txmsg.msg_head.can_id = 0x321;
105 txmsg.msg_head.flags = RX_FILTER_ID;
107 if (sendto(s, &txmsg, sizeof(txmsg), 0, (struct sockaddr*)&addr, sizeof(addr)) < 0)
110 addr.can_family = PF_CAN;
111 strcpy(ifr.ifr_name, "vcan1");
112 ioctl(s, SIOCGIFINDEX, &ifr);
113 addr.can_ifindex = ifr.ifr_ifindex;
115 txmsg.msg_head.opcode = RX_SETUP;
116 txmsg.msg_head.can_id = 0x424;
117 txmsg.msg_head.flags = RX_FILTER_ID;
119 if (sendto(s, &txmsg, sizeof(txmsg), 0, (struct sockaddr*)&addr, sizeof(addr)) < 0)
123 socklen_t len = sizeof(addr);
124 nbytes = recvfrom(s, &rxmsg, sizeof(rxmsg),
125 0, (struct sockaddr*)&addr, &len);
129 } else if (nbytes < sizeof(rxmsg)) {
130 fprintf(stderr, "recvfrom: incomplete BCM message from iface %d\n",
136 ioctl(s, SIOCGSTAMP, &tv);
137 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
139 ifr.ifr_ifindex = addr.can_ifindex;
140 ioctl(s, SIOCGIFNAME, &ifr);
142 printf(" %-5s ", ifr.ifr_name);
143 if (rxmsg.frame.can_id & CAN_EFF_FLAG)
144 printf("%8X ", rxmsg.frame.can_id & CAN_EFF_MASK);
146 printf("%3X ", rxmsg.frame.can_id & CAN_SFF_MASK);
148 printf("[%d] ", rxmsg.frame.can_dlc);
150 for (i = 0; i < rxmsg.frame.can_dlc; i++) {
151 printf("%02X ", rxmsg.frame.data[i]);
153 if (rxmsg.frame.can_id & CAN_RTR_FLAG)
154 printf("remote request");