6 * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
8 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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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
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28 * The provided data structures and external interfaces from this code
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44 * Send feedback to <linux-can@vger.kernel.org>
54 #include <sys/ioctl.h>
55 #include <sys/socket.h>
57 #include <linux/can.h>
58 #include <linux/can/raw.h>
62 int main(int argc, char **argv)
64 int s; /* can raw socket */
68 struct sockaddr_can addr;
69 struct canfd_frame frame;
72 /* check command line options */
74 fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
79 required_mtu = parse_canframe(argv[2], &frame);
81 fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
82 fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 frames\n");
83 fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
84 fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
85 fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
86 fprintf(stderr, " seperated by '.')\n");
87 fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
88 fprintf(stderr, " canfd_frame.flags\n\n");
89 fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
90 fprintf(stderr, "123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
91 fprintf(stderr, "for remote transmission request.\n\n");
96 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
101 addr.can_family = AF_CAN;
103 strcpy(ifr.ifr_name, argv[1]);
104 if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
105 perror("SIOCGIFINDEX");
108 addr.can_ifindex = ifr.ifr_ifindex;
110 if (required_mtu > CAN_MTU) {
112 /* check if the frame fits into the CAN netdevice */
113 if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
114 perror("SIOCGIFMTU");
119 if (mtu != CANFD_MTU) {
120 printf("CAN interface ist not CAN FD capable - sorry.\n");
124 /* interface is ok - try to switch the socket into CAN FD mode */
125 if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
126 &enable_canfd, sizeof(enable_canfd))){
127 printf("error when enabling CAN FD support\n");
131 /* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
132 frame.len = can_dlc2len(can_len2dlc(frame.len));
135 /* disable default receive filter on this RAW socket */
136 /* This is obsolete as we do not read from the socket at all, but for */
137 /* this reason we can remove the receive list in the Kernel to save a */
138 /* little (really a very little!) CPU usage. */
139 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
141 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
147 if (write(s, &frame, required_mtu) != required_mtu) {