1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
|
#include <can_config.h>
#include <getopt.h>
#include <libgen.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <limits.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <sys/uio.h>
#include <linux/can.h>
#include <linux/can/raw.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_RAW = %d)\n"
" -l COUNT send message COUNT times, infinite if omitted\n"
" --loop=COUNT \n"
" -v, --verbose be verbose\n"
" -h, --help this help\n"
" --version print version information and exit\n",
prg, PF_CAN, SOCK_RAW, CAN_RAW);
}
enum {
VERSION_OPTION = CHAR_MAX + 1,
};
int main(int argc, char **argv)
{
struct can_frame frame = {
.can_id = 1,
};
struct ifreq ifr;
struct sockaddr_can addr;
char *interface = "can0";
int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW;
int loopcount = 1, infinite = 0;
int s, opt, ret, i, dlc = 0, rtr = 0, extended = 0;
int verbose = 0;
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", optional_argument, 0, 'l'},
{ 0, 0, 0, 0 },
};
while ((opt = getopt_long(argc, argv, "hf:t:p:vi:l::re", 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)
interface = argv[optind];
printf("interface = %s, family = %d, type = %d, proto = %d\n",
interface, family, type, proto);
s = socket(family, type, proto);
if (s < 0) {
perror("socket");
return 1;
}
addr.can_family = family;
strcpy(ifr.ifr_name, interface);
if (ioctl(s, SIOCGIFINDEX, &ifr)) {
perror("ioctl");
return 1;
}
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
for (i = optind + 1; i < argc; i++) {
frame.data[dlc] = strtoul(argv[i], NULL, 0);
dlc++;
if (dlc == 8)
break;
}
frame.can_dlc = dlc;
if (extended) {
frame.can_id &= CAN_EFF_MASK;
frame.can_id |= CAN_EFF_FLAG;
} else {
frame.can_id &= CAN_SFF_MASK;
}
if (rtr)
frame.can_id |= CAN_RTR_FLAG;
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.data[i]);
printf("\n");
}
while (infinite || loopcount--) {
ret = write(s, &frame, sizeof(frame));
if (ret == -1) {
perror("write");
break;
}
}
close(s);
return 0;
}
|
