X-Git-Url: https://rtime.felk.cvut.cz/gitweb/can-utils.git/blobdiff_plain/f95fc47ec86c4cb061c9d3636b28ac62135b6f16..HEAD:/cansend.c diff --git a/cansend.c b/cansend.c index dd9d73e..b7f8003 100644 --- a/cansend.c +++ b/cansend.c @@ -1,19 +1,14 @@ -/* - * $Id$ - */ - /* * 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. @@ -23,8 +18,8 @@ * * 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. @@ -42,7 +37,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * DAMAGE. * - * Send feedback to + * Send feedback to * */ @@ -53,6 +48,7 @@ #include #include +#include #include #include @@ -61,57 +57,97 @@ 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 .\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: #{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 .\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, " #{R|data} for CAN 2.0 frames\n"); + fprintf(stderr, " ##{data} for CAN FD frames\n\n"); + fprintf(stderr, " 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, " 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; }