* code restructured

git-svn-id: https://iocaste.extern.pengutronix.de/svn/canutils/trunks/canutils-1.0-trunk@54 5fd5a299-6ef2-0310-aa18-8b01d7c39d8c

6 files changed, 1058 insertions, 0 deletions

diff --git a/src/GNUmakefile.am b/src/GNUmakefile.am
new file mode 100644
index 0000000..195532c
--- /dev/null
+++ b/src/GNUmakefile.am
@@ -0,0 +1,15 @@
+bin_PROGRAMS = \
+	candump \
+	canecho \
+	cansend \
+	cansequence
+
+sbin_PROGRAMS = \
+	canconfig
+
+AM_CPPFLAGS = \
+	-I$(top_srcdir)/include
+	-I$(top_builddir)/include
+
+MAINTAINERCLEANFILES = \
+	GNUmakefile.in
diff --git a/src/canconfig.c b/src/canconfig.c
new file mode 100644
index 0000000..9207fe5
--- /dev/null
+++ b/src/canconfig.c
@@ -0,0 +1,328 @@
+/*
+ * canutils/canconfig.c
+ *
+ * Copyright (C) 2005 Marc Kleine-Budde <mkl@pengutronix.de>, Pengutronix
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License 
+ * as published by the Free Software Foundation
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ */
+
+#include <errno.h>
+#include <fcntl.h>
+#include <limits.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <termios.h>
+#include <string.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+
+#include <net/if.h>
+#include <netinet/in.h>
+#include <netinet/ether.h>
+
+#include <socket-can/can.h>
+
+#ifndef MIN
+#define MIN(a, b) ((a) < (b) ? (a) : (b))
+#endif
+				      
+int             s;
+struct ifreq	ifr;
+
+struct speed_map {
+	unsigned short speed;
+	unsigned short value;
+};
+
+static const struct speed_map speeds[] = {
+	{CAN_BAUD_10K,   10},
+	{CAN_BAUD_20K,   20},
+	{CAN_BAUD_50K,   50},
+	{CAN_BAUD_100K, 100},
+	{CAN_BAUD_125K, 125},
+	{CAN_BAUD_250K, 250},
+	{CAN_BAUD_500K, 500},
+	{CAN_BAUD_800K, 800},
+	{CAN_BAUD_1M,  1000},
+};
+
+static const int NUM_SPEEDS = (sizeof(speeds) / sizeof(struct speed_map));
+
+unsigned long can_baud_to_value(speed_t speed)
+{
+	int i = 0;
+
+	do {
+		if (speed == speeds[i].speed) {
+			return speeds[i].value;
+		}
+	} while (++i < NUM_SPEEDS);
+
+	return 0;
+}
+
+speed_t can_value_to_baud(unsigned long value)
+{
+	int i = 0;
+
+	do {
+		if (value == can_baud_to_value(speeds[i].speed)) {
+			return speeds[i].speed;
+		}
+	} while (++i < NUM_SPEEDS);
+
+	return (speed_t)-1;
+}
+
+
+void help(void)
+{
+    fprintf(stderr, "usage:\n\t"
+	    "canconfig <dev> baudrate { BR | BTR }\n\t\t"
+	    "BR := { 10 | 20 | 50 | 100 | 125 | 250 | 500 | 800 | 1000 }\n\t\t"
+	    "BTR := btr_sja1000 <brp> <sjw> <tseg1> <tseg2> <sam>\n\t\t"
+	    "BTR := btr_c_can <brp> <sjw> <tseg1> <tseg2>\n\t\t"
+	    "BTR := btr_nios <prescale> <timea> <timeb>\n\t"
+	    "canconfig <dev> mode MODE\n\t\t"
+	    "MODE := { start }\n\t"
+	    "canconfig <dev> state\n"
+	    );
+
+    exit(EXIT_FAILURE);
+}
+
+
+void do_show_baudrate(int argc, char* argv[])
+{
+	struct can_baudrate	*br = (struct can_baudrate *)&ifr.ifr_ifru;
+	int			i, value;
+	
+	i = ioctl(s, SIOCGCANBAUDRATE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+
+	switch (br->baudrate) {
+		case CAN_BAUD_BTR_SJA1000:
+			fprintf(stdout, "%s: sja1000 brp=%d sjw=%d tseg1=%d tseg2=%d sam=%d\n",
+				ifr.ifr_name,
+				br->btr.sja1000.brp,
+				br->btr.sja1000.sjw,
+				br->btr.sja1000.tseg1,
+				br->btr.sja1000.tseg2,
+				br->btr.sja1000.sam);
+			break;
+		case CAN_BAUD_BTR_C_CAN:
+			fprintf(stdout, "%s: C-Can brp=%d sjw=%d tseg1=%d tseg2=%d\n",
+				ifr.ifr_name,
+				br->btr.c_can.brp,
+				br->btr.c_can.sjw,
+				br->btr.c_can.tseg1,
+				br->btr.c_can.tseg2);
+			break;
+		case CAN_BAUD_BTR_NIOS:
+			fprintf(stdout, "%s: nios prescale=%d timea=%d timeb=%d\n",
+				ifr.ifr_name,
+				br->btr.nios.prescale,
+				br->btr.nios.timea,
+				br->btr.nios.timeb);
+			break;
+		default:
+			value = can_baud_to_value(br->baudrate);
+		if (value != 0)
+			fprintf(stdout,
+				"%s: baudrate %d\n", ifr.ifr_name, value);
+		else
+			fprintf(stdout, "baudrate not recognized. update canconfig?\n");
+		break;
+	}
+}
+
+
+void do_set_baudrate(int argc, char* argv[])
+{
+	struct can_baudrate	*br = (struct can_baudrate *)&ifr.ifr_ifru;
+	speed_t			baudrate;
+	int			value, i;
+
+	if (!strcmp(argv[3], "btr_sja1000")) {
+		struct can_baudrate_sja1000 *br_sja1000 = &br->btr.sja1000;
+
+		if (argc < 9)
+			help();
+
+		br->baudrate = CAN_BAUD_BTR_SJA1000;
+		br_sja1000->brp = strtol(argv[4], NULL, 0);
+		br_sja1000->sjw = strtol(argv[5], NULL, 0);
+		br_sja1000->tseg1 = strtol(argv[6], NULL, 0);
+		br_sja1000->tseg2 = strtol(argv[7], NULL, 0);
+		br_sja1000->sam = strtol(argv[8], NULL, 0);
+
+	} else if (!strcmp(argv[3], "btr_c_can")) {
+		struct can_baudrate_c_can *br_c_can = &br->btr.c_can;
+
+		if (argc < 8)
+			help();
+
+		br->baudrate = CAN_BAUD_BTR_C_CAN;
+		br_c_can->brp = strtol(argv[4], NULL, 0);
+		br_c_can->sjw = strtol(argv[5], NULL, 0);
+		br_c_can->tseg1 = strtol(argv[6], NULL, 0);
+		br_c_can->tseg2 = strtol(argv[7], NULL, 0);
+
+	} else if (!strcmp(argv[3], "btr_nios")) {
+		struct can_baudrate_nios *br_nios = &br->btr.nios;
+
+		if (argc < 7)
+			help();
+
+		br->baudrate = CAN_BAUD_BTR_NIOS;
+		br_nios->prescale = strtol(argv[4], NULL, 0);
+		br_nios->timea = strtol(argv[5], NULL, 0);
+		br_nios->timeb = strtol(argv[6], NULL, 0);
+
+	} else {
+		value = atoi(argv[3]);
+		baudrate = can_value_to_baud(value);
+		if ( baudrate == -1) {
+			fprintf(stderr, "invalid baudrate\n");
+			exit(EXIT_FAILURE);
+		}
+		br->baudrate = baudrate;
+	}
+
+	i = ioctl(s, SIOCSCANBAUDRATE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+}
+
+
+void cmd_baudrate(int argc, char *argv[])
+{
+	if (argc >= 4) {
+		do_set_baudrate(argc, argv);
+	}
+	do_show_baudrate(argc, argv);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+void cmd_mode(int argc, char *argv[])
+{
+	union can_settings *settings = (union can_settings *)&ifr.ifr_ifru;
+	int i;
+
+	if (argc < 4 )
+		help();
+
+	if (!strcmp(argv[3], "start")) {
+		settings->mode = CAN_MODE_START;
+	} else {
+		help();
+	}
+
+	i = ioctl(s, SIOCSCANMODE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+		
+	exit(EXIT_SUCCESS);
+}
+
+
+void do_show_state(int argc, char *argv[])
+{
+	union can_settings *settings = (union can_settings *)&ifr.ifr_ifru;
+	enum CAN_STATE state;
+	char *str;
+	int i;
+
+	i = ioctl(s, SIOCGCANSTATE, &ifr);
+	if (i < 0) {
+		perror("ioctl");
+		exit(EXIT_FAILURE);
+	}
+
+	state = settings->state;
+	fprintf(stdout, "%s: state ", ifr.ifr_name);
+	switch (state) {
+	case CAN_STATE_BUS_PASSIVE:
+		str = "bus passive";
+		break;
+	case CAN_STATE_ACTIVE:
+		str = "active";
+		break;
+	case CAN_STATE_BUS_OFF:
+		str = "bus off";
+		break;
+	default:
+		str = "<unknown>";
+	}
+	fprintf(stdout, "%s \n", str);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+void cmd_state(int argc, char *argv[])
+{
+	do_show_state(argc, argv);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+void cmd_show_interface(int argc, char *argv[])
+{
+	do_show_baudrate(argc, argv);
+	do_show_state(argc, argv);
+
+	exit(EXIT_SUCCESS);
+}
+
+
+int main(int argc, char *argv[])
+{
+	if ((argc < 2) || !strcmp(argv[1], "--help"))
+		help();
+	
+	if ((s = socket(AF_CAN, SOCK_RAW, 0)) < 0) {
+		perror("socket");
+		exit(EXIT_FAILURE);
+	}
+
+	strncpy(ifr.ifr_name, argv[1], IFNAMSIZ);
+
+	if (argc < 3)
+		cmd_show_interface(argc, argv);
+
+	if (!strcmp(argv[2], "baudrate"))
+		cmd_baudrate(argc, argv);
+	if (!strcmp(argv[2], "mode"))
+		cmd_mode(argc, argv);
+	if (!strcmp(argv[2], "state"))
+		cmd_state(argc, argv);
+
+	help();
+
+	return 0;
+}
diff --git a/src/candump.c b/src/candump.c
new file mode 100644
index 0000000..bf1514a
--- /dev/null
+++ b/src/candump.c
@@ -0,0 +1,187 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <libgen.h>
+#include <getopt.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/uio.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+
+#include <socket-can/can.h>
+#include <can_config.h>
+
+extern int optind, opterr, optopt;
+
+static int	s = -1;
+static int	running = 1;
+
+enum
+{
+	VERSION_OPTION = CHAR_MAX + 1,
+	FILTER_OPTION,
+};
+
+static void print_usage(char *prg)
+{
+        fprintf(stderr, "Usage: %s <can-interface> [Options]\n"
+                        "Options:\n"
+	                " -f, --family=FAMILY   protocol family (default PF_CAN = %d)\n"
+                        " -t, --type=TYPE       socket type, see man 2 socket (default SOCK_RAW = %d)\n"
+                        " -p, --protocol=PROTO  CAN protocol (default CAN_PROTO_RAW = %d)\n"
+			"     --filter=id:mask[:id:mask]...\n"
+			"                       apply filter\n"
+			" -h, --help            this help\n"
+			"     --version         print version information and exit\n",
+				prg, PF_CAN, SOCK_RAW, CAN_PROTO_RAW);
+}
+
+static void sigterm(int signo)
+{
+	running = 0;
+}
+
+static struct can_filter *filter = NULL;
+static int filter_count = 0;
+
+int add_filter(u_int32_t id, u_int32_t mask)
+{
+	filter = realloc(filter, sizeof(struct can_filter) * (filter_count + 1));
+	if(!filter)
+		return -1;
+
+	filter[filter_count].can_id = id;
+	filter[filter_count].can_mask = mask;
+	filter_count++;
+
+	printf("id: 0x%08x mask: 0x%08x\n",id,mask);
+	return 0;
+}
+
+int main(int argc, char **argv)
+{
+	int family = PF_CAN, type = SOCK_RAW, proto = CAN_PROTO_RAW;
+	int opt;
+	struct sockaddr_can addr;
+	struct can_frame frame;
+	int nbytes, i;
+	struct ifreq ifr;
+	char *ptr;
+	u_int32_t id, mask;
+
+	signal(SIGTERM, sigterm);
+	signal(SIGHUP, sigterm);
+
+	struct option		long_options[] = {
+		{ "help", no_argument, 0, 'h' },
+		{ "family", required_argument, 0, 'f' },
+		{ "protocol", required_argument, 0, 'p' },
+		{ "type", required_argument, 0, 't' },
+		{ "filter", required_argument, 0, FILTER_OPTION },
+		{ "version", no_argument, 0, VERSION_OPTION},
+		{ 0, 0, 0, 0},
+	};
+
+	while ((opt = getopt_long(argc, argv, "f:t:p:", long_options, NULL)) != -1) {
+		switch (opt) {
+			case 'h':
+				print_usage(basename(argv[0]));
+				exit(0);
+
+			case 'f':
+				family = strtoul(optarg, NULL, 0);
+				break;
+
+			case 't':
+				type = strtoul(optarg, NULL, 0);
+				break;
+
+			case 'p':
+				proto = strtoul(optarg, NULL, 0);
+				break;
+
+			case FILTER_OPTION:
+				ptr = optarg;
+				while(1) {
+					id = strtoul(ptr, NULL, 0);
+					ptr = strchr(ptr, ':');
+					if(!ptr) {
+						fprintf(stderr, "filter must be applied in the form id:mask[:id:mask]...\n");
+						exit(1);
+					}
+					ptr++;
+					mask = strtoul(ptr, NULL, 0);
+					ptr = strchr(ptr, ':');
+					add_filter(id,mask);
+					if(!ptr)
+						break;
+					ptr++;
+				}
+				break;
+
+			case VERSION_OPTION:
+				printf("candump %s\n",VERSION);
+				exit(0);
+
+			default:
+				fprintf(stderr, "Unknown option %c\n", opt);
+				break;
+		}
+	}
+
+	if (optind == argc) {
+		print_usage(basename(argv[0]));
+		exit(0);
+	}
+	
+	printf("interface = %s, family = %d, type = %d, proto = %d\n",
+			argv[optind], family, type, proto);
+	if ((s = socket(family, type, proto)) < 0) {
+		perror("socket");
+		return 1;
+	}
+
+	addr.can_family = family;
+	strncpy(ifr.ifr_name, argv[optind], sizeof(ifr.ifr_name));
+	ioctl(s, SIOCGIFINDEX, &ifr);
+	addr.can_ifindex = ifr.ifr_ifindex;
+	addr.can_id = CAN_FLAG_ALL;
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind");
+		return 1;
+	}
+
+	if(filter) {
+		if(setsockopt(s, SOL_CAN_RAW, SO_CAN_SET_FILTER, filter, filter_count * sizeof(struct can_filter)) != 0) {
+			perror("setsockopt");
+			exit(1);
+		}
+	}
+
+	while (running) {
+		if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
+			perror("read");
+			return 1;
+		} else {
+			if (frame.can_id & CAN_FLAG_EXTENDED)
+				printf("<0x%08x> ", frame.can_id & CAN_ID_EXT_MASK);
+			else
+				printf("<0x%03x> ", frame.can_id & CAN_ID_STD_MASK);
+
+			printf("[%d] ", frame.can_dlc);
+			for (i = 0; i < frame.can_dlc; i++) {
+				printf("%02x ", frame.payload.data_u8[i]);
+			}
+			if (frame.can_id & CAN_FLAG_RTR)
+				printf("remote request");
+			printf("\n");
+		}
+	}
+
+	exit (EXIT_SUCCESS);
+}
diff --git a/src/canecho.c b/src/canecho.c
new file mode 100644
index 0000000..a80b908
--- /dev/null
+++ b/src/canecho.c
@@ -0,0 +1,147 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <libgen.h>
+#include <getopt.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/uio.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+
+#include <socket-can/can.h>
+#include <can_config.h>
+
+extern int optind, opterr, optopt;
+
+static int	s = -1;
+static int	running = 1;
+
+enum
+{
+	VERSION_OPTION = CHAR_MAX + 1,
+};
+
+void print_usage(char *prg)
+{
+        fprintf(stderr, "Usage: %s <can-interface> [Options]\n"
+                        "Options:\n"
+	                " -f, --family=FAMILY   Protocol family (default PF_CAN = %d)\n"
+                        " -t, --type=TYPE       Socket type, see man 2 socket (default SOCK_RAW = %d)\n"
+                        " -p, --protocol=PROTO  CAN protocol (default CAN_PROTO_RAW = %d)\n"
+                        " -v, --verbose         be verbose\n"
+			" -h, --help            this help\n"
+			"     --version         print version information and exit\n",
+				prg, PF_CAN, SOCK_RAW, CAN_PROTO_RAW);
+}
+
+void sigterm(int signo)
+{
+	printf("got signal %d\n", signo);
+	running = 0;
+}
+
+int main(int argc, char **argv)
+{
+	int family = PF_CAN, type = SOCK_RAW, proto = CAN_PROTO_RAW;
+	int opt;
+	struct sockaddr_can addr;
+	struct can_frame frame;
+	int nbytes, i;
+	int verbose = 0;
+	struct ifreq ifr;
+
+	signal(SIGTERM, sigterm);
+	signal(SIGHUP, sigterm);
+
+	struct option		long_options[] = {
+		{ "help", no_argument, 0, 'h' },
+		{ "family", required_argument, 0, 'f' },
+		{ "protocol", required_argument, 0, 'p' },
+		{ "type", required_argument, 0, 't' },
+		{ "version", no_argument, 0, VERSION_OPTION},
+		{ "verbose", no_argument, 0, 'v'},
+		{ 0, 0, 0, 0},
+	};
+
+	while ((opt = getopt_long(argc, argv, "hf:t:p:v", long_options, NULL)) != -1) {
+		switch (opt) {
+			case 'f':
+				family = atoi(optarg);
+				break;
+
+			case 't':
+				type = atoi(optarg);
+				break;
+
+			case 'p':
+				proto = atoi(optarg);
+				break;
+
+			case 'v':
+				verbose = 1;
+				break;
+
+			case 'h':
+				print_usage(basename(argv[0]));
+				exit(0);
+
+			case VERSION_OPTION:
+				printf("canecho %s\n",VERSION);
+				exit(0);
+
+			default:
+				fprintf(stderr, "Unknown option %c\n", opt);
+				break;
+		}
+	}
+
+	if (optind == argc) {
+		print_usage(basename(argv[0]));
+		exit(0);
+	}
+	
+	printf("interface = %s, family = %d, type = %d, proto = %d\n",
+			argv[optind], family, type, proto);
+	if ((s = socket(family, type, proto)) < 0) {
+		perror("socket");
+		return 1;
+	}
+
+	addr.can_family = family;
+	strcpy(ifr.ifr_name, argv[optind]);
+	ioctl(s, SIOCGIFINDEX, &ifr);
+	addr.can_ifindex = ifr.ifr_ifindex;
+	addr.can_id = CAN_FLAG_ALL;
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind");
+		return 1;
+	}
+
+	while (running) {
+		if ((nbytes = read(s, &frame, sizeof(frame))) < 0) {
+			perror("read");
+			return 1;
+		}
+		if (verbose) {
+			printf("%04x: ", frame.can_id);
+			if (frame.can_id & CAN_FLAG_RTR) {
+				printf("remote request");
+			} else {
+				printf("[%d]", frame.can_dlc);
+				for (i = 0; i < frame.can_dlc; i++) {
+					printf(" %02x", frame.payload.data[i]);
+				}
+			}
+			printf("\n");
+		}
+		frame.can_id++;
+		write(s, &frame, sizeof(frame));
+	}
+
+	return 0;
+}
diff --git a/src/cansend.c b/src/cansend.c
new file mode 100644
index 0000000..80721c4
--- /dev/null
+++ b/src/cansend.c
@@ -0,0 +1,186 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <libgen.h>
+#include <getopt.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/uio.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+
+#include <can_config.h>
+
+#include <socket-can/can.h>
+
+extern int optind, opterr, optopt;
+
+static void print_usage(char *prg)
+{
+        fprintf(stderr, "Usage: %s <can-interface> [Options] <can-msg>\n"
+	                "<can-msg> can consist of up to 8 bytes given as a space separated list\n"
+                        "Options:\n"
+			" -i, --identifier=ID   CAN Identifier (default = 1)\n"
+			" -r  --rtr             send remote request\n"
+			" -e  --extended        send extended frame\n"
+	                " -f, --family=FAMILY   Protocol family (default PF_CAN = %d)\n"
+                        " -t, --type=TYPE       Socket type, see man 2 socket (default SOCK_RAW = %d)\n"
+                        " -p, --protocol=PROTO  CAN protocol (default CAN_PROTO_RAW = %d)\n"
+			" -l                    send message infinite times\n"
+			"     --loop=COUNT      send message COUNT times\n"
+                        " -v, --verbose         be verbose\n"
+			" -h, --help            this help\n"
+			"     --version         print version information and exit\n",
+				prg, PF_CAN, SOCK_RAW, CAN_PROTO_RAW);
+}	
+
+enum
+{
+	VERSION_OPTION = CHAR_MAX + 1,
+};
+
+int main(int argc, char **argv)
+{
+	int family = PF_CAN, type = SOCK_RAW, proto = CAN_PROTO_RAW;
+	struct sockaddr_can addr;
+	int s, opt, ret, i, dlc = 0, rtr = 0, extended = 0;
+	struct can_frame frame;
+	int verbose = 0;
+	int loopcount = 1, infinite = 0;
+	struct ifreq ifr;
+
+	struct option		long_options[] = {
+		{ "help", no_argument, 0, 'h' },
+		{ "identifier", required_argument, 0, 'i'},
+		{ "rtr", no_argument, 0, 'r'},
+		{ "extended", no_argument, 0, 'e'},
+		{ "family", required_argument, 0, 'f' },
+		{ "protocol", required_argument, 0, 'p' },
+		{ "type", required_argument, 0, 't' },
+		{ "version", no_argument, 0, VERSION_OPTION},
+		{ "verbose", no_argument, 0, 'v'},
+		{ "loop", required_argument, 0, 'l'},
+		{ 0, 0, 0, 0},
+	};
+
+	frame.can_id = 1;
+
+	while ((opt = getopt_long(argc, argv, "hf:t:p:vi:lre", long_options, NULL)) != -1) {
+		switch (opt) {
+			case 'h':
+				print_usage(basename(argv[0]));
+				exit(0);
+
+			case 'f':
+				family = strtoul(optarg, NULL, 0);
+				break;
+
+			case 't':
+				type = strtoul(optarg, NULL, 0);
+				break;
+
+			case 'p':
+				proto = strtoul(optarg, NULL, 0);
+				break;
+
+			case 'v':
+				verbose = 1;
+				break;
+
+			case 'l':
+				if(optarg)
+					loopcount = strtoul(optarg, NULL, 0);
+				else
+					infinite = 1;
+				break;
+			case 'i':
+				frame.can_id = strtoul(optarg, NULL, 0);
+				break;
+
+			case 'r':
+				rtr = 1;
+				break;
+
+			case 'e':
+				extended = 1;
+				break;
+
+			case VERSION_OPTION:
+				printf("cansend %s\n",VERSION);
+				exit(0);
+
+			default:
+				fprintf(stderr, "Unknown option %c\n", opt);
+				break;
+		}
+	}
+
+	if (optind == argc) {
+		print_usage(basename(argv[0]));
+		exit(0);
+        }
+	
+	if (argv[optind] == NULL) {
+		fprintf(stderr, "No Interface supplied\n");
+		exit(-1);
+	}
+
+	if(verbose)
+		printf("interface = %s, family = %d, type = %d, proto = %d\n",
+		       argv[optind], family, type, proto);
+	if ((s = socket(family, type, proto)) < 0) {
+		perror("socket");
+		return 1;
+	}
+
+	addr.can_family = family;
+	strcpy(ifr.ifr_name, argv[optind]);
+	if( ioctl(s, SIOCGIFINDEX, &ifr) ) {
+		perror("ioctl");
+		return 1;
+	}
+	addr.can_ifindex = ifr.ifr_ifindex;
+	addr.can_id = frame.can_id;
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind");
+		return 1;
+	}
+
+
+	for(i = optind + 1; i < argc; i++) {
+		frame.payload.data[dlc] = strtoul(argv[i], NULL, 0);
+		dlc++;
+		if( dlc == 8 )
+			break;
+	}
+	frame.can_dlc = dlc;
+
+	if(rtr)
+		frame.can_id |= CAN_FLAG_RTR;
+
+	if(extended)
+		frame.can_id |= CAN_FLAG_EXTENDED;
+
+	if(verbose) {
+		printf("id: %d ",frame.can_id);
+		printf("dlc: %d\n",frame.can_dlc);
+		for(i = 0; i < frame.can_dlc; i++)
+			printf("0x%02x ",frame.payload.data[i]);
+		printf("\n");
+	}
+
+	while (infinite || loopcount--) {
+		ret = write(s, &frame, sizeof(frame));
+		if( ret == -1 ) {
+			perror("write");
+			break;
+		}
+	}
+
+	close(s);
+	return 0;
+}
diff --git a/src/cansequence.c b/src/cansequence.c
new file mode 100644
index 0000000..e569b1b
--- /dev/null
+++ b/src/cansequence.c
@@ -0,0 +1,195 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <libgen.h>
+#include <getopt.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/uio.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+
+#include <socket-can/can.h>
+#include <can_config.h>
+
+extern int optind, opterr, optopt;
+
+static int	s = -1;
+static int	running = 1;
+
+enum
+{
+	VERSION_OPTION = CHAR_MAX + 1,
+};
+
+void print_usage(char *prg)
+{
+        fprintf(stderr, "Usage: %s <can-interface> [Options]\n"
+			"\n"
+			"cansequence sends CAN messages with a rising sequence number as payload.\n"
+			"When the -r option is given, cansequence expects to receive these messages\n"
+			"and prints an error message if a wrong sequence number is encountered.\n"
+			"The main purpose of this program is to test the reliability of CAN links.\n"
+			"\n"
+                        "Options:\n"
+	                " -f, --family=FAMILY   Protocol family (default PF_CAN = %d)\n"
+                        " -t, --type=TYPE       Socket type, see man 2 socket (default SOCK_RAW = %d)\n"
+                        " -p, --protocol=PROTO  CAN protocol (default CAN_PROTO_RAW = %d)\n"
+			" -r, --receive         work as receiver\n"
+			" -l  --loop=COUNT      send COUNT messages\n"
+			" -q  --quit            quit if a wrong sequence is encountered\n"
+                        " -v, --verbose         be verbose (twice to be even more verbose\n"
+			" -h  --help            this help\n"
+			"     --version         print version information and exit\n",
+				prg, PF_CAN, SOCK_RAW, CAN_PROTO_RAW);
+}
+
+void sigterm(int signo)
+{
+	running = 0;
+}
+
+int main(int argc, char **argv)
+{
+	int family = PF_CAN, type = SOCK_RAW, proto = CAN_PROTO_RAW;
+	int opt;
+	struct sockaddr_can addr;
+	struct can_frame frame;
+	int nbytes;
+	struct ifreq ifr;
+	int receive = 0;
+	int loopcount = 1, infinite = 1;
+	unsigned char  sequence = 0;
+	int sequence_init = 1;
+	int verbose = 0, quit = 0;
+
+	signal(SIGTERM, sigterm);
+	signal(SIGHUP, sigterm);
+
+	struct option		long_options[] = {
+		{ "help", no_argument, 0, 'h' },
+		{ "family", required_argument, 0, 'f' },
+		{ "protocol", required_argument, 0, 'p' },
+		{ "type", required_argument, 0, 't' },
+		{ "version", no_argument, 0, VERSION_OPTION},
+		{ "receive", no_argument, 0, 'r'},
+		{ "quit", no_argument, 0, 'q'},
+		{ "loop", required_argument, 0, 'l'},
+		{ "verbose", no_argument, 0, 'v'},
+		{ 0, 0, 0, 0},
+	};
+
+	while ((opt = getopt_long(argc, argv, "f:t:p:vrl:hq", long_options, NULL)) != -1) {
+		switch (opt) {
+			case 'h':
+				print_usage(basename(argv[0]));
+				exit(0);
+
+			case 'f':
+				family = strtoul(optarg, NULL, 0);
+				break;
+
+			case 't':
+				type = strtoul(optarg, NULL, 0);
+				break;
+
+			case 'p':
+				proto = strtoul(optarg, NULL, 0);
+				break;
+
+			case 'l':
+				loopcount = strtoul(optarg, NULL, 0);
+				infinite = 0;
+				break;
+
+			case 'r':
+				receive = 1;
+				break;
+
+			case 'q':
+				quit = 1;
+				break;
+
+			case 'v':
+				verbose++;
+				break;
+
+			case VERSION_OPTION:
+				printf("cansequence %s\n",VERSION);
+				exit(0);
+
+			default:
+				fprintf(stderr, "Unknown option %c\n", opt);
+				break;
+		}
+	}
+
+	if (optind == argc) {
+		print_usage(basename(argv[0]));
+		exit(0);
+	}
+	
+	printf("interface = %s, family = %d, type = %d, proto = %d\n",
+			argv[optind], family, type, proto);
+	if ((s = socket(family, type, proto)) < 0) {
+		perror("socket");
+		return 1;
+	}
+
+	addr.can_family = family;
+	strncpy(ifr.ifr_name, argv[optind], sizeof(ifr.ifr_name));
+	ioctl(s, SIOCGIFINDEX, &ifr);
+	addr.can_ifindex = ifr.ifr_ifindex;
+	addr.can_id = CAN_FLAG_ALL;
+
+	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		perror("bind");
+		return 1;
+	}
+
+	if(receive) {
+		while ((infinite || loopcount--) && running) {
+			if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
+				perror("read");
+				return 1;
+			} else {
+				if( sequence_init ) {
+					sequence_init = 0;
+					sequence = frame.payload.data_u8[0];
+				}
+				if(verbose>1)
+					printf("received frame. sequence number: %d\n",sequence);
+				if( frame.payload.data_u8[0] != sequence) {
+					printf("received wrong sequence count. expected: %d, got: %d\n",
+						frame.payload.data_u8[0], sequence);
+					if(quit)
+						exit(1);
+					sequence = frame.payload.data_u8[0];
+				}
+				if(verbose && !sequence)
+					printf("sequence wrap around\n");
+				sequence++;
+			}
+		}
+	} else {
+		frame.can_dlc = 1;
+		frame.can_id = 2;
+		frame.payload.data[0] = 0;
+		while ((infinite || loopcount--) && running) {
+			if(verbose>1)
+				printf("sending frame. sequence number: %d\n",sequence);
+			if(verbose && !sequence)
+				printf("sequence wrap around\n");
+			if( write(s, &frame, sizeof(frame)) < 0) {
+				perror("write");
+				break;
+			}
+			(unsigned char)frame.payload.data[0]++;
+			sequence++;
+		}
+	}
+	return 0;
+}