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 and the following disclaimer.
16 * 2. Redistributions in binary form must reproduce the above copyright
17 * notice, this list of conditions and the following disclaimer in the
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19 * 3. Neither the name of Volkswagen nor the names of its contributors
20 * may be used to endorse or promote products derived from this software
21 * without specific prior written permission.
23 * Alternatively, provided that this notice is retained in full, this
24 * software may be distributed under the terms of the GNU General
25 * Public License ("GPL") version 2, in which case the provisions of the
26 * GPL apply INSTEAD OF those given above.
28 * The provided data structures and external interfaces from this code
29 * are not restricted to be used by modules with a GPL compatible license.
31 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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 #define U64_DATA(p) (*(unsigned long long*)(p)->data)
64 int main(int argc, char **argv)
67 struct sockaddr_can addr;
73 struct bcm_msg_head msg_head;
74 struct can_frame frame[4];
77 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
82 addr.can_family = PF_CAN;
83 strcpy(ifr.ifr_name, "vcan2");
84 ioctl(s, SIOCGIFINDEX, &ifr);
85 addr.can_ifindex = ifr.ifr_ifindex;
87 if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
92 txmsg.msg_head.opcode = RX_SETUP;
93 txmsg.msg_head.can_id = 0x042;
94 txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
95 txmsg.msg_head.ival1.tv_sec = 1;
96 txmsg.msg_head.ival1.tv_usec = 0;
97 txmsg.msg_head.ival2.tv_sec = 0;
98 txmsg.msg_head.ival2.tv_usec = 0;
99 txmsg.msg_head.nframes = 0;
101 printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
102 txmsg.msg_head.can_id);
104 if (write(s, &txmsg, sizeof(txmsg)) < 0)
107 /* test for RX_DELETE */
108 txmsg.msg_head.opcode = RX_DELETE;
109 txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
111 printf("<*>Writing RX_DELETE for can_id <%03X>\n",
112 txmsg.msg_head.can_id);
114 if (write(s, &txmsg, sizeof(txmsg)) < 0)
117 txmsg.msg_head.opcode = RX_SETUP;
118 txmsg.msg_head.can_id = 0x042;
119 txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
120 txmsg.msg_head.ival1.tv_sec = 1;
121 txmsg.msg_head.ival1.tv_usec = 0;
122 txmsg.msg_head.ival2.tv_sec = 0;
123 txmsg.msg_head.ival2.tv_usec = 0;
124 txmsg.msg_head.nframes = 0;
126 printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
127 txmsg.msg_head.can_id);
129 if (write(s, &txmsg, sizeof(txmsg)) < 0)
132 txmsg.msg_head.opcode = TX_SEND;
133 txmsg.msg_head.nframes = 1;
134 /* obsolete for TX_SEND ... */
136 txmsg.msg_head.can_id = 0x43;
137 txmsg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
138 txmsg.msg_head.count = 0;
139 txmsg.msg_head.ival1.tv_sec = 0;
140 txmsg.msg_head.ival1.tv_usec = 0;
141 txmsg.msg_head.ival2.tv_sec = 0;
142 txmsg.msg_head.ival2.tv_usec = 0;
144 txmsg.frame[0].can_id = 0x43;
145 txmsg.frame[0].can_dlc = 8;
146 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
148 printf("<2>Writing TX_SEND with wrong can_id <%03X>\n",
149 txmsg.frame[0].can_id);
151 if (write(s, &txmsg, sizeof(txmsg)) < 0)
154 txmsg.msg_head.opcode = TX_SEND;
155 txmsg.msg_head.nframes = 1;
156 txmsg.frame[0].can_id = 0x42;
157 txmsg.frame[0].can_dlc = 8;
158 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
160 printf("<3>Writing TX_SEND with correct can_id <%03X>\n",
161 txmsg.frame[0].can_id);
163 if (write(s, &txmsg, sizeof(txmsg)) < 0)
166 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
169 ioctl(s, SIOCGSTAMP, &tv);
170 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
172 if (rxmsg.msg_head.opcode == RX_CHANGED &&
173 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
174 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
175 printf("<3>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
176 rxmsg.frame[0].can_id);
179 /* growing number of nframes => RX_DELETE instead of simple update */
180 txmsg.msg_head.opcode = RX_DELETE;
181 txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
183 printf("<*>Writing RX_DELETE for can_id <%03X>\n",
184 txmsg.msg_head.can_id);
186 if (write(s, &txmsg, sizeof(txmsg)) < 0)
189 txmsg.msg_head.opcode = RX_SETUP;
190 txmsg.msg_head.can_id = 0x042;
191 txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
192 txmsg.msg_head.ival1.tv_sec = 1;
193 txmsg.msg_head.ival1.tv_usec = 0;
194 txmsg.msg_head.ival2.tv_sec = 0;
195 txmsg.msg_head.ival2.tv_usec = 0;
196 txmsg.msg_head.nframes = 1;
197 /* txmsg.frame[0].can_dlc = 8; obsolete for RX_SETUP */
198 U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
200 printf("<*>Writing simple RX_SETUP for can_id <%03X> with msgbits 0x%016llX\n",
201 txmsg.msg_head.can_id, U64_DATA(&txmsg.frame[0]));
203 if (write(s, &txmsg, sizeof(txmsg)) < 0)
206 txmsg.msg_head.opcode = TX_SEND;
207 txmsg.msg_head.nframes = 1;
208 txmsg.frame[0].can_id = 0x42;
209 txmsg.frame[0].can_dlc = 8;
210 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
212 printf("<5>Writing TX_SEND with correct can_id <%03X>\n",
213 txmsg.frame[0].can_id);
215 if (write(s, &txmsg, sizeof(txmsg)) < 0)
218 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
221 ioctl(s, SIOCGSTAMP, &tv);
222 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
224 if (rxmsg.msg_head.opcode == RX_CHANGED &&
225 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
226 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
227 printf("<5>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
228 rxmsg.frame[0].can_id);
231 txmsg.msg_head.opcode = TX_SEND;
232 txmsg.msg_head.nframes = 1;
233 txmsg.frame[0].can_id = 0x42;
234 txmsg.frame[0].can_dlc = 8;
235 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
237 printf("<6>Writing TX_SEND with correct can_id <%03X> ",
238 txmsg.frame[0].can_id);
239 printf("no changed data\n");
241 if (write(s, &txmsg, sizeof(txmsg)) < 0)
246 txmsg.msg_head.opcode = TX_SEND;
247 txmsg.msg_head.nframes = 1;
248 txmsg.frame[0].can_id = 0x42;
249 txmsg.frame[0].can_dlc = 8;
250 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
252 printf("<7>Writing TX_SEND with correct can_id <%03X> ",
253 txmsg.frame[0].can_id);
254 printf("changed relevant msgbits\n");
256 if (write(s, &txmsg, sizeof(txmsg)) < 0)
259 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
262 ioctl(s, SIOCGSTAMP, &tv);
263 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
265 if (rxmsg.msg_head.opcode == RX_CHANGED &&
266 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
267 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
268 printf("<7>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
269 rxmsg.frame[0].can_id);
272 txmsg.msg_head.opcode = TX_SEND;
273 txmsg.msg_head.nframes = 1;
274 txmsg.frame[0].can_id = 0x42;
275 txmsg.frame[0].can_dlc = 8;
276 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
278 printf("<8>Writing TX_SEND with correct can_id <%03X> ",
279 txmsg.frame[0].can_id);
280 printf("changed irrelevant msgbits\n");
282 if (write(s, &txmsg, sizeof(txmsg)) < 0)
285 txmsg.msg_head.opcode = TX_SEND;
286 txmsg.msg_head.nframes = 1;
287 txmsg.frame[0].can_id = 0x42;
288 txmsg.frame[0].can_dlc = 7;
289 U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
291 printf("<9>Writing TX_SEND with correct can_id <%03X> ",
292 txmsg.frame[0].can_id);
293 printf("changed Data Length Code DLC\n");
295 if (write(s, &txmsg, sizeof(txmsg)) < 0)
298 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
301 ioctl(s, SIOCGSTAMP, &tv);
302 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
304 if (rxmsg.msg_head.opcode == RX_CHANGED &&
305 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
306 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
307 printf("<9>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
308 rxmsg.frame[0].can_id);
311 txmsg.msg_head.opcode = RX_DELETE;
312 txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
314 printf("<*>Writing RX_DELETE for can_id <%03X> for RX_SETUP with growing nframes\n",
315 txmsg.msg_head.can_id);
317 if (write(s, &txmsg, sizeof(txmsg)) < 0)
320 /* no problems ;-) but NOW we try MUX messages ... and timeouts */
322 txmsg.msg_head.opcode = RX_SETUP;
323 txmsg.msg_head.can_id = 0x042;
324 txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
325 txmsg.msg_head.ival1.tv_sec = 1;
326 txmsg.msg_head.ival1.tv_usec = 0;
327 txmsg.msg_head.nframes = 3;
328 U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
329 U64_DATA(&txmsg.frame[1]) = (__u64) 0x01000000000000FFULL;
330 U64_DATA(&txmsg.frame[2]) = (__u64) 0x02000000000000FFULL;
332 printf("<*>Writing multiplex RX_SETUP for can_id <%03X>\n",
333 txmsg.msg_head.can_id);
335 if (write(s, &txmsg, sizeof(txmsg)) < 0)
339 txmsg.msg_head.opcode = TX_SEND;
340 txmsg.msg_head.nframes = 1;
341 txmsg.frame[0].can_id = 0x42;
342 txmsg.frame[0].can_dlc = 8;
343 U64_DATA(&txmsg.frame[0]) = (__u64) 0x4200000000000000ULL;
345 printf("<A>Writing TX_SEND with wrong MUX ID 42\n");
347 if (write(s, &txmsg, sizeof(txmsg)) < 0)
350 txmsg.msg_head.opcode = TX_SEND;
351 txmsg.msg_head.nframes = 1;
352 txmsg.frame[0].can_id = 0x42;
353 txmsg.frame[0].can_dlc = 8;
354 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
356 printf("<B>Writing TX_SEND with correct MUX ID 01\n");
358 if (write(s, &txmsg, sizeof(txmsg)) < 0)
361 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
364 ioctl(s, SIOCGSTAMP, &tv);
365 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
367 if (rxmsg.msg_head.opcode == RX_CHANGED &&
368 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
369 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
370 printf("<B>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
371 rxmsg.frame[0].can_id);
374 txmsg.msg_head.opcode = TX_SEND;
375 txmsg.msg_head.nframes = 1;
376 txmsg.frame[0].can_id = 0x42;
377 txmsg.frame[0].can_dlc = 8;
378 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
380 printf("<C>Writing TX_SEND with correct MUX ID 01 but no data change\n");
382 if (write(s, &txmsg, sizeof(txmsg)) < 0)
385 txmsg.msg_head.opcode = TX_SEND;
386 txmsg.msg_head.nframes = 1;
387 txmsg.frame[0].can_id = 0x42;
388 txmsg.frame[0].can_dlc = 8;
389 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567800ULL;
391 printf("<D>Writing TX_SEND with correct MUX ID 01 but no relevant data change\n");
393 if (write(s, &txmsg, sizeof(txmsg)) < 0)
396 txmsg.msg_head.opcode = TX_SEND;
397 txmsg.msg_head.nframes = 1;
398 txmsg.frame[0].can_id = 0x42;
399 txmsg.frame[0].can_dlc = 8;
400 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567801ULL;
402 printf("<E>Writing TX_SEND with correct MUX ID 01 with relevant data change\n");
404 if (write(s, &txmsg, sizeof(txmsg)) < 0)
407 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
410 ioctl(s, SIOCGSTAMP, &tv);
411 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
413 if (rxmsg.msg_head.opcode == RX_CHANGED &&
414 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
415 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
416 printf("<E>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
417 rxmsg.frame[0].can_id);
420 txmsg.msg_head.opcode = TX_SEND;
421 txmsg.msg_head.nframes = 1;
422 txmsg.frame[0].can_id = 0x42;
423 txmsg.frame[0].can_dlc = 8;
424 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000000ULL;
426 printf("<F>Writing TX_SEND with correct MUX ID 02\n");
428 if (write(s, &txmsg, sizeof(txmsg)) < 0)
431 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
434 ioctl(s, SIOCGSTAMP, &tv);
435 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
437 if (rxmsg.msg_head.opcode == RX_CHANGED &&
438 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
439 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
440 printf("<F>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
441 rxmsg.frame[0].can_id);
444 txmsg.msg_head.opcode = TX_SEND;
445 txmsg.msg_head.nframes = 1;
446 txmsg.frame[0].can_id = 0x42;
447 txmsg.frame[0].can_dlc = 8;
448 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
450 printf("<10>Writing TX_SEND with correct MUX ID 02 with relevant data change\n");
452 if (write(s, &txmsg, sizeof(txmsg)) < 0)
455 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
458 ioctl(s, SIOCGSTAMP, &tv);
459 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
461 if (rxmsg.msg_head.opcode == RX_CHANGED &&
462 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
463 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
464 printf("<10>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
465 rxmsg.frame[0].can_id);
468 txmsg.msg_head.opcode = TX_SEND;
469 txmsg.msg_head.nframes = 1;
470 txmsg.frame[0].can_id = 0x42;
471 txmsg.frame[0].can_dlc = 7;
472 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
474 printf("<11>Writing TX_SEND with correct MUX ID 02 no data change but DLC\n");
476 if (write(s, &txmsg, sizeof(txmsg)) < 0)
479 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
482 if (rxmsg.msg_head.opcode == RX_CHANGED &&
483 nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
484 rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
485 printf("<11>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
486 rxmsg.frame[0].can_id);
489 txmsg.msg_head.opcode = TX_SEND;
490 txmsg.msg_head.nframes = 1;
491 txmsg.frame[0].can_id = 0x42;
492 txmsg.frame[0].can_dlc = 7;
493 U64_DATA(&txmsg.frame[0]) = (__u64) 0x0300000000000001ULL;
495 printf("<12>Writing TX_SEND with wrong MUX ID 03\n");
497 if (write(s, &txmsg, sizeof(txmsg)) < 0)
500 if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
503 ioctl(s, SIOCGSTAMP, &tv);
504 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
506 if (rxmsg.msg_head.opcode == RX_TIMEOUT &&
507 nbytes == sizeof(struct bcm_msg_head) &&
508 rxmsg.msg_head.can_id == 0x42) {
509 printf("<-->Received correct RX_TIMEOUT message for can_id <%03X> >> OK!\n",
510 rxmsg.msg_head.can_id);