-/*
- * $Id$
- */
-
/*
* cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
*
- * Copyright (c) 2002-2005 Volkswagen Group Electronic Research
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions, the following disclaimer and
- * the referenced file 'COPYING'.
+ * notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
- * Public License ("GPL") version 2 as distributed in the 'COPYING'
- * file from the main directory of the linux kernel source.
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
- * Send feedback to <socketcan-users@lists.berlios.de>
+ * Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <net/if.h>
#include <sys/ioctl.h>
+#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
int main(int argc, char **argv)
{
- int s; /* can raw socket */
- int nbytes;
- struct sockaddr_can addr;
- struct can_frame frame;
- struct ifreq ifr;
-
- /* check command line options */
- if (argc != 3) {
- fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
- return 1;
- }
-
- /* 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 ");
- fprintf(stderr, "for remote transmission request.\n\n");
- return 1;
- }
-
- /* open socket */
- if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
- perror("socket");
- return 1;
- }
-
- strcpy(ifr.ifr_name, argv[1]);
- ioctl(s, SIOCGIFINDEX, &ifr);
-
- addr.can_family = AF_CAN;
- addr.can_ifindex = ifr.ifr_ifindex;
-
- if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bind");
- return 1;
- }
-
- /* send frame */
- if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
- perror("write");
- return 1;
- }
-
- //fprint_long_canframe(stdout, &frame, "\n", 0);
-
- close(s);
-
- return 0;
+ int s; /* can raw socket */
+ int required_mtu;
+ int mtu;
+ int enable_canfd = 1;
+ struct sockaddr_can addr;
+ struct canfd_frame frame;
+ struct ifreq ifr;
+
+ /* check command line options */
+ if (argc != 3) {
+ fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
+ return 1;
+ }
+
+ /* parse CAN frame */
+ 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, " separated 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;
+ }
+
+ /* open socket */
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ strncpy(ifr.ifr_name, argv[1], IFNAMSIZ - 1);
+ ifr.ifr_name[IFNAMSIZ - 1] = '\0';
+ ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
+ if (!ifr.ifr_ifindex) {
+ perror("if_nametoindex");
+ return 1;
+ }
+
+ addr.can_family = AF_CAN;
+ 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 */
+ /* little (really a very little!) CPU usage. */
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 1;
+ }
+
+ /* send frame */
+ if (write(s, &frame, required_mtu) != required_mtu) {
+ perror("write");
+ return 1;
+ }
+
+ close(s);
+
+ return 0;
}
projects / can-utils.git / blobdiff