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/*
* 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 argc, char **argv)
{
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;
/* check command line options */
if (argc != 3) {
fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
return 1;
}
/* parse CAN frame */
required_mtu = parse_canframe(argv[2], &frame);
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;
}
strncpy(ifr.ifr_name, argv[1], IFNAMSIZ - 1);
ifr.ifr_name[IFNAMSIZ - 1] = '\0';
ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
if (!ifr.ifr_ifindex) {
perror("if_nametoindex");
return 1;
}
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 ist 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 */
if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
}
close(s);
return 0;
}
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