can-utils: AOSP build clean up

[sojka/can-utils.git] / cansend.c

diff --git a/cansend.c b/cansend.c
index 5c71cfdff6b804dafd6dd6e5ed209c3691990bc2..f12e924f72ab96c54d70ca3b2d07ae02c8810684 100644 (file)
--- a/cansend.c
+++ b/cansend.c
@@ -1,7 +1,3 @@
-/*
- *  $Id$
- */
-
 /*
  * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
  *
@@ -52,6 +48,7 @@
 
 #include <net/if.h>
 #include <sys/ioctl.h>
+#include <sys/socket.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -61,9 +58,11 @@
 int main(int argc, char **argv)
 {
        int s; /* can raw socket */ 
-       int nbytes;
+       int required_mtu;
+       int mtu;
+       int enable_canfd = 1;
        struct sockaddr_can addr;
-       struct can_frame frame;
+       struct canfd_frame frame;
        struct ifreq ifr;
 
        /* check command line options */
@@ -73,14 +72,18 @@ int main(int argc, char **argv)
        }
 
        /* parse CAN frame */
-       if (parse_canframe(argv[2], &frame)){
-               fprintf(stderr, "\nWrong CAN-frame format!\n\n");
-               fprintf(stderr, "Try: <can_id>#{R|data}\n");
-               fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
-               fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
-               fprintf(stderr, " be seperated by '.'\n\n");
-               fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
-               fprintf(stderr, "5AA# /\n     1F334455#1122334455667788 / 123#R ");
+       required_mtu = parse_canframe(argv[2], &frame);
+       if (!required_mtu){
+               fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
+               fprintf(stderr, "    <can_id>#{R|data}          for CAN 2.0 frames\n");
+               fprintf(stderr, "    <can_id>##<flags>{data}    for CAN FD frames\n\n");
+               fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
+               fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
+               fprintf(stderr, " seperated by '.')\n");
+               fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
+               fprintf(stderr, " canfd_frame.flags\n\n");
+               fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
+               fprintf(stderr, "123##1 / 213##311\n     1F334455#1122334455667788 / 123#R ");
                fprintf(stderr, "for remote transmission request.\n\n");
                return 1;
        }
@@ -100,6 +103,31 @@ int main(int argc, char **argv)
        }
        addr.can_ifindex = ifr.ifr_ifindex;
 
+       if (required_mtu > CAN_MTU) {
+
+               /* check if the frame fits into the CAN netdevice */
+               if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+                       perror("SIOCGIFMTU");
+                       return 1;
+               }
+               mtu = ifr.ifr_mtu;
+
+               if (mtu != CANFD_MTU) {
+                       printf("CAN interface ist not CAN FD capable - sorry.\n");
+                       return 1;
+               }
+
+               /* interface is ok - try to switch the socket into CAN FD mode */
+               if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+                              &enable_canfd, sizeof(enable_canfd))){
+                       printf("error when enabling CAN FD support\n");
+                       return 1;
+               }
+
+               /* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
+               frame.len = can_dlc2len(can_len2dlc(frame.len));
+       }
+
        /* disable default receive filter on this RAW socket */
        /* This is obsolete as we do not read from the socket at all, but for */
        /* this reason we can remove the receive list in the Kernel to save a */
@@ -112,13 +140,11 @@ int main(int argc, char **argv)
        }
 
        /* send frame */
-       if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
+       if (write(s, &frame, required_mtu) != required_mtu) {
                perror("write");
                return 1;
        }
 
-       //fprint_long_canframe(stdout, &frame, "\n", 0);
-
        close(s);
 
        return 0;