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
18 * notice, this list of conditions and the following disclaimer in the
19 * documentation and/or other materials provided with the distribution.
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.
32 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
33 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
34 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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38 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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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>
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";
76 int recv_own_msgs = 0;
77 int set_recv_own_msgs = 0;
78 int send_one_frame = 0;
80 while ((opt = getopt(argc, argv, "i:l:r:s")) != -1) {
88 loopback = atoi(optarg);
93 recv_own_msgs = atoi(optarg);
94 set_recv_own_msgs = 1;
102 fprintf(stderr, "Unknown option %c\n", opt);
108 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
113 rfilter[0].can_id = 0x123;
114 rfilter[0].can_mask = CAN_SFF_MASK;
115 rfilter[1].can_id = 0x200;
116 rfilter[1].can_mask = 0x700;
117 rfilter[2].can_id = 0x80123456;
118 rfilter[2].can_mask = 0x1FFFF000;
119 rfilter[3].can_id = 0x80333333;
120 rfilter[3].can_mask = CAN_EFF_MASK;
122 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
125 setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
127 if(set_recv_own_msgs)
128 setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &recv_own_msgs, sizeof(recv_own_msgs));
130 strcpy(ifr.ifr_name, ifname);
131 ioctl(s, SIOCGIFINDEX, &ifr);
132 ifindex = ifr.ifr_ifindex;
134 addr.can_family = AF_CAN;
135 addr.can_ifindex = ifindex;
137 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
144 frame.can_id = 0x123;
146 frame.data[0] = 0x11;
147 frame.data[1] = 0x22;
149 nbytes = write(s, &frame, sizeof(struct can_frame));
154 if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
157 } else if (nbytes < sizeof(struct can_frame)) {
158 fprintf(stderr, "read: incomplete CAN frame\n");
161 if (frame.can_id & CAN_EFF_FLAG)
162 printf("%8X ", frame.can_id & CAN_EFF_MASK);
164 printf("%3X ", frame.can_id & CAN_SFF_MASK);
166 printf("[%d] ", frame.can_dlc);
168 for (i = 0; i < frame.can_dlc; i++) {
169 printf("%02X ", frame.data[i]);
171 if (frame.can_id & CAN_RTR_FLAG)
172 printf("remote request");