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53 #include <sys/types.h>
54 #include <sys/socket.h>
55 #include <sys/ioctl.h>
58 #include <linux/can.h>
59 #include <linux/can/raw.h>
63 int main(int argc, char **argv)
66 struct sockaddr_can addr;
67 struct can_filter rfilter[MAXFILTERS];
68 struct can_frame frame;
77 while ((opt = getopt(argc, argv, "i:f:d")) != -1) {
79 case 'i': /* specify different interface than default */
82 case 'd': /* use default settings from CAN_RAW socket */
85 case 'f': /* add this filter can_id:can_mask */
86 if (nfilters >= MAXFILTERS) {
87 fputs("too many filters\n", stderr);
90 rfilter[nfilters].can_id = strtol(strtok(optarg, ":"), NULL, 16);
91 rfilter[nfilters].can_mask = strtol(strtok(NULL, ":"), NULL, 16);
95 fprintf(stderr, "Unknown option %c\n", opt);
101 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
107 printf("%s: using CAN_RAW socket default filter.\n", argv[0]);
109 printf("%s: setting %d CAN filter(s).\n", argv[0], nfilters);
110 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter,
111 sizeof(*rfilter) * nfilters);
114 if (strcmp(ifname, "any") == 0)
117 strcpy(ifr.ifr_name, ifname);
118 ioctl(s, SIOCGIFINDEX, &ifr);
119 ifindex = ifr.ifr_ifindex;
122 addr.can_family = AF_CAN;
123 addr.can_ifindex = ifindex;
125 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
131 socklen_t len = sizeof(addr);
132 nbytes = recvfrom(s, &frame, sizeof(struct can_frame),
133 0, (struct sockaddr*)&addr, &len);
137 } else if (nbytes < sizeof(struct can_frame)) {
138 fprintf(stderr, "read: incomplete CAN frame from iface %d\n",
142 ifr.ifr_ifindex = addr.can_ifindex;
143 ioctl(s, SIOCGIFNAME, &ifr);
144 printf(" %-5s ", ifr.ifr_name);
145 if (frame.can_id & CAN_EFF_FLAG)
146 printf("%8X ", frame.can_id & CAN_EFF_MASK);
148 printf("%3X ", frame.can_id & CAN_SFF_MASK);
150 printf("[%d] ", frame.can_dlc);
152 for (i = 0; i < frame.can_dlc; i++) {
153 printf("%02X ", frame.data[i]);
155 if (frame.can_id & CAN_RTR_FLAG)
156 printf("remote request");