/** cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets** Copyright (c) 2002-2007 Volkswagen Group Electronic Research* All rights reserved.** Redistribution and use in source and binary forms, with or without* modification, are permitted provided that the following conditions* are met:* 1. Redistributions of source code must retain the above copyright*    notice, this list of conditions and the following disclaimer.* 2. Redistributions in binary form must reproduce the above copyright*    notice, this list of conditions and the following disclaimer in the*    documentation and/or other materials provided with the distribution.* 3. Neither the name of Volkswagen nor the names of its contributors*    may be used to endorse or promote products derived from this software*    without specific prior written permission.** Alternatively, provided that this notice is retained in full, this* software may be distributed under the terms of the GNU General* Public License ("GPL") version 2, in which case the provisions of the* GPL apply INSTEAD OF those given above.** The provided data structures and external interfaces from this code* are not restricted to be used by modules with a GPL compatible license.** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH* DAMAGE.** Send feedback to <linux-can@vger.kernel.org>**/#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>#include <linux/can.h>
#include <linux/can/raw.h>#include "lib.h"int main( )
{int s; /* can raw socket */ int required_mtu;int mtu;int enable_canfd = 1;struct sockaddr_can addr;struct canfd_frame frame;struct ifreq ifr;char* input = "008#abcd1234cdef567830";/* parse CAN frame */required_mtu = parse_canframe(input, &frame);printf("required_mtu is %d\n", required_mtu);printf("CAN_MTU is %d\n", (long unsigned int)CAN_MTU);//printf("CANID_DELIM is %d\n", CANID_DELIM);//#-35-0x23.printf("IFNAMSIZ is %d\n", IFNAMSIZ);if (!required_mtu){fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");fprintf(stderr, "    <can_id>#{R|data}          for CAN 2.0 frames\n");fprintf(stderr, "    <can_id>##<flags>{data}    for CAN FD frames\n\n");fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");fprintf(stderr, " separated by '.')\n");fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");fprintf(stderr, " canfd_frame.flags\n\n");fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");fprintf(stderr, "123##1 / 213##311\n     1F334455#1122334455667788 / 123#R ");fprintf(stderr, "for remote transmission request.\n\n");return 1;}/* open socket */if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {perror("socket");return 1;}const char* ifrname = "can1";strcpy(ifr.ifr_name, ifrname);ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);if (!ifr.ifr_ifindex) {perror("if_nametoindex");return 1;}memset(&addr, 0, sizeof(addr));addr.can_family = AF_CAN;addr.can_ifindex = ifr.ifr_ifindex;
/*if (required_mtu > CAN_MTU) {//* check if the frame fits into the CAN netdevice if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {perror("SIOCGIFMTU");return 1;}mtu = ifr.ifr_mtu;if (mtu != CANFD_MTU) {printf("CAN interface is not CAN FD capable - sorry.\n");return 1;}//* interface is ok - try to switch the socket into CAN FD mode if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,&enable_canfd, sizeof(enable_canfd))){printf("error when enabling CAN FD support\n");return 1;}//* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 frame.len = can_dlc2len(can_len2dlc(frame.len));}
*//* disable default receive filter on this RAW socket *//* This is obsolete as we do not read from the socket at all, but for *//* this reason we can remove the receive list in the Kernel to save a *//* little (really a very little!) CPU usage.                          */setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {perror("bind");return 1;}/* send frame */printf("frame.len is %d\n", frame.len);printf("frame.can_id is %x\n", frame.can_id);if (write(s, &frame, required_mtu) != required_mtu) {perror("write");return 1;}close(s);return 0;
}