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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;
71 struct bcm_msg_head msg_head;
72 struct can_frame frame;
75 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
80 addr.can_family = PF_CAN;
81 addr.can_ifindex = 0; /* bind to 'any' device */
83 if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
88 memset(&txmsg, 0, sizeof(txmsg)); /* clear timers, nframes, etc. */
90 txmsg.msg_head.opcode = RX_SETUP;
91 txmsg.msg_head.can_id = 0x123;
92 txmsg.msg_head.flags = RX_FILTER_ID;
94 if (write(s, &txmsg, sizeof(txmsg)) < 0)
97 addr.can_family = PF_CAN;
98 strcpy(ifr.ifr_name, "vcan2");
99 ioctl(s, SIOCGIFINDEX, &ifr);
100 addr.can_ifindex = ifr.ifr_ifindex;
102 txmsg.msg_head.opcode = RX_SETUP;
103 txmsg.msg_head.can_id = 0x321;
104 txmsg.msg_head.flags = RX_FILTER_ID;
106 if (sendto(s, &txmsg, sizeof(txmsg), 0, (struct sockaddr*)&addr, sizeof(addr)) < 0)
109 addr.can_family = PF_CAN;
110 strcpy(ifr.ifr_name, "vcan1");
111 ioctl(s, SIOCGIFINDEX, &ifr);
112 addr.can_ifindex = ifr.ifr_ifindex;
114 txmsg.msg_head.opcode = RX_SETUP;
115 txmsg.msg_head.can_id = 0x424;
116 txmsg.msg_head.flags = RX_FILTER_ID;
118 if (sendto(s, &txmsg, sizeof(txmsg), 0, (struct sockaddr*)&addr, sizeof(addr)) < 0)
122 socklen_t len = sizeof(addr);
123 nbytes = recvfrom(s, &rxmsg, sizeof(rxmsg),
124 0, (struct sockaddr*)&addr, &len);
128 } else if (nbytes < sizeof(rxmsg)) {
129 fprintf(stderr, "recvfrom: incomplete BCM message from iface %d\n",
135 ioctl(s, SIOCGSTAMP, &tv);
136 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
138 ifr.ifr_ifindex = addr.can_ifindex;
139 ioctl(s, SIOCGIFNAME, &ifr);
141 printf(" %-5s ", ifr.ifr_name);
142 if (rxmsg.frame.can_id & CAN_EFF_FLAG)
143 printf("%8X ", rxmsg.frame.can_id & CAN_EFF_MASK);
145 printf("%3X ", rxmsg.frame.can_id & CAN_SFF_MASK);
147 printf("[%d] ", rxmsg.frame.can_dlc);
149 for (i = 0; i < rxmsg.frame.can_dlc; i++) {
150 printf("%02X ", rxmsg.frame.data[i]);
152 if (rxmsg.frame.can_id & CAN_RTR_FLAG)
153 printf("remote request");