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>
56 #include <linux/can.h>
57 #include <linux/can/raw.h>
61 int main(int argc, char **argv)
63 int s; /* can raw socket */
65 struct sockaddr_can addr;
66 struct can_frame frame;
69 /* check command line options */
71 fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
76 if (parse_canframe(argv[2], &frame)){
77 fprintf(stderr, "\nWrong CAN-frame format!\n\n");
78 fprintf(stderr, "Try: <can_id>#{R|data}\n");
79 fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
80 fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
81 fprintf(stderr, " be seperated by '.'\n\n");
82 fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
83 fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
84 fprintf(stderr, "for remote transmission request.\n\n");
89 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
94 addr.can_family = AF_CAN;
96 strcpy(ifr.ifr_name, argv[1]);
97 if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
98 perror("SIOCGIFINDEX");
101 addr.can_ifindex = ifr.ifr_ifindex;
103 /* disable default receive filter on this RAW socket */
104 /* This is obsolete as we do not read from the socket at all, but for */
105 /* this reason we can remove the receive list in the Kernel to save a */
106 /* little (really a very little!) CPU usage. */
107 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
109 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
115 if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
120 //fprint_long_canframe(stdout, &frame, "\n", 0);