8 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
11 * Redistribution and use in source and binary forms, with or without
12 * modification, are permitted provided that the following conditions
14 * 1. Redistributions of source code must retain the above copyright
15 * notice, this list of conditions, the following disclaimer and
16 * the referenced file 'COPYING'.
17 * 2. Redistributions in binary form must reproduce the above copyright
18 * notice, this list of conditions and the following disclaimer in the
19 * documentation and/or other materials provided with the distribution.
20 * 3. Neither the name of Volkswagen nor the names of its contributors
21 * may be used to endorse or promote products derived from this software
22 * without specific prior written permission.
24 * Alternatively, provided that this notice is retained in full, this
25 * software may be distributed under the terms of the GNU General
26 * Public License ("GPL") version 2 as distributed in the 'COPYING'
27 * file from the main directory of the linux kernel source.
29 * The provided data structures and external interfaces from this code
30 * are not restricted to be used by modules with a GPL compatible license.
32 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
33 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
34 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
35 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
36 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
37 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
38 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
39 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
40 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
41 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
42 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
45 * Send feedback to <socketcan-users@lists.berlios.de>
56 #include <sys/types.h>
57 #include <sys/socket.h>
58 #include <sys/ioctl.h>
62 #include <linux/can.h>
64 extern int optind, opterr, optopt;
67 static int running = 1;
69 void print_usage(char *prg)
71 fprintf(stderr, "Usage: %s [can-interface]\n", prg);
74 void sigterm(int signo)
76 printf("got signal %d\n", signo);
80 int main(int argc, char **argv)
82 int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
84 struct sockaddr_can addr;
86 struct can_frame frame;
90 signal(SIGTERM, sigterm);
91 signal(SIGHUP, sigterm);
93 while ((opt = getopt(argc, argv, "f:t:p:v")) != -1) {
96 family = atoi(optarg);
104 proto = atoi(optarg);
115 fprintf(stderr, "Unknown option %c\n", opt);
120 if (optind == argc) {
121 print_usage(basename(argv[0]));
125 printf("interface = %s, family = %d, type = %d, proto = %d\n",
126 argv[optind], family, type, proto);
127 if ((s = socket(family, type, proto)) < 0) {
132 addr.can_family = family;
133 strcpy(ifr.ifr_name, argv[optind]);
134 ioctl(s, SIOCGIFINDEX, &ifr);
135 addr.can_ifindex = ifr.ifr_ifindex;
137 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
143 if ((nbytes = read(s, &frame, sizeof(frame))) < 0) {
148 printf("%03X: ", frame.can_id & CAN_EFF_MASK);
149 if (frame.can_id & CAN_RTR_FLAG) {
150 printf("remote request");
152 printf("[%d]", frame.can_dlc);
153 for (i = 0; i < frame.can_dlc; i++) {
154 printf(" %02X", frame.data[i]);
160 write(s, &frame, sizeof(frame));