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53 #include <sys/types.h>
54 #include <sys/socket.h>
55 #include <sys/ioctl.h>
59 #include <linux/can.h>
60 #include <linux/can/bcm.h>
62 int main(int argc, char **argv)
65 struct sockaddr_can addr;
69 struct bcm_msg_head msg_head;
70 struct can_frame frame;
73 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
78 addr.can_family = PF_CAN;
79 strcpy(ifr.ifr_name, "vcan2");
80 ioctl(s, SIOCGIFINDEX, &ifr);
81 addr.can_ifindex = ifr.ifr_ifindex;
83 if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
88 msg.msg_head.opcode = TX_SEND;
89 msg.msg_head.can_id = 0x760;
90 msg.msg_head.flags = 0;
91 msg.msg_head.nframes = 1;
92 msg.msg_head.count = 0;
93 msg.msg_head.ival1.tv_sec = 0;
94 msg.msg_head.ival1.tv_usec = 0;
95 msg.msg_head.ival2.tv_sec = 0;
96 msg.msg_head.ival2.tv_usec = 0;
97 msg.frame.can_id = 0x760;
98 msg.frame.can_dlc = 6;
99 msg.frame.data[0] = 0xA1;
100 msg.frame.data[1] = 0x0F;
101 msg.frame.data[2] = 0x10;
102 msg.frame.data[3] = 0x00;
103 msg.frame.data[4] = 0x00;
104 msg.frame.data[5] = 0x00;
107 if (write(s, &msg, sizeof(msg)) < 0)