8 * Copyright (c) 2010 Volkswagen Group Electronic Research
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12 * modification, are permitted provided that the following conditions
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15 * notice, this list of conditions and the following disclaimer.
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20 * may be used to endorse or promote products derived from this software
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23 * Alternatively, provided that this notice is retained in full, this
24 * software may be distributed under the terms of the GNU General
25 * Public License ("GPL") version 2, in which case the provisions of the
26 * GPL apply INSTEAD OF those given above.
28 * The provided data structures and external interfaces from this code
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44 * Send feedback to <socketcan-users@lists.berlios.de>
53 #include <sys/types.h>
54 #include <sys/socket.h>
55 #include <sys/ioctl.h>
59 #include <linux/can.h>
60 #include <linux/can/raw.h>
63 #define max(a,b) (a > b ? a : b)
65 void read_sockets(int s, int t)
71 struct can_frame frame;
80 tv.tv_usec = 50000; /* 50ms timeout */
83 if ((ret = select(m, &rdfs, NULL, NULL, &tv)) < 0) {
88 if (FD_ISSET(s, &rdfs)) {
91 ret = read(s, &frame, sizeof(struct can_frame));
96 printf (" s : %x\n", frame.can_id);
99 if (FD_ISSET(t, &rdfs)) {
102 ret = read(t, &frame, sizeof(struct can_frame));
107 printf (" t : %x\n", frame.can_id);
112 printf(" timeout\n");
116 void write_socket(int s, int val)
118 static struct can_frame frame;
121 if (write(s, &frame, sizeof(frame)) < 0) {
128 void setopts(int s, int loopback, int recv_own_msgs)
130 setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
131 &loopback, sizeof(loopback));
132 setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
133 &recv_own_msgs, sizeof(recv_own_msgs));
135 printf("sockopt %c %c\n", (loopback)?'L':'-', (recv_own_msgs)?'R':'-');
139 int main(int argc, char **argv)
142 struct sockaddr_can addr;
148 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
152 if ((t = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
157 strcpy(ifr.ifr_name, "vcan0");
158 ioctl(s, SIOCGIFINDEX, &ifr);
159 ifindex = ifr.ifr_ifindex;
161 addr.can_family = AF_CAN;
162 addr.can_ifindex = ifindex;
164 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
168 if (bind(t, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
174 /* perform the default settings */
175 printf("sockopt default\n");
176 write_socket(s, i++);
180 write_socket(s, i++);
184 write_socket(s, i++);
188 write_socket(s, i++);
192 write_socket(s, i++);