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28 * The provided data structures and external interfaces from this code
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55 #include <sys/types.h>
56 #include <sys/socket.h>
57 #include <sys/ioctl.h>
59 #include <linux/can.h>
60 #include <linux/can/isotp.h>
62 #define NO_CAN_ID 0xFFFFFFFFU
64 void print_usage(char *prg)
66 fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
67 fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
68 fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
69 fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
70 fprintf(stderr, " -p <byte> (set and enable padding byte)\n");
71 fprintf(stderr, " -P <mode> (check padding in SF/CF. (l)ength (c)ontent (a)ll)\n");
72 fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
73 fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
74 fprintf(stderr, " -w <num> (max. wait frame transmissions.)\n");
75 fprintf(stderr, " -l (loop: do not exit after pdu receiption.)\n");
76 fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
77 fprintf(stderr, "The pdu data is written on STDOUT in space separated ASCII hex values.\n");
78 fprintf(stderr, "\n");
81 int main(int argc, char **argv)
84 struct sockaddr_can addr;
86 static struct can_isotp_options opts;
87 static struct can_isotp_fc_options fcopts;
89 extern int optind, opterr, optopt;
92 unsigned char msg[4096];
95 addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
97 while ((opt = getopt(argc, argv, "s:d:x:p:P:b:m:w:l")) != -1) {
100 addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
101 if (strlen(optarg) > 7)
102 addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
106 addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
107 if (strlen(optarg) > 7)
108 addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
112 opts.flags |= CAN_ISOTP_EXTEND_ADDR;
113 opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
117 opts.flags |= CAN_ISOTP_RX_PADDING;
118 opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
122 if (optarg[0] == 'l')
123 opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
124 else if (optarg[0] == 'c')
125 opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
126 else if (optarg[0] == 'a')
127 opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
129 printf("unknown padding check option '%c'.\n", optarg[0]);
130 print_usage(basename(argv[0]));
136 fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
140 fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
144 fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
152 fprintf(stderr, "Unknown option %c\n", opt);
153 print_usage(basename(argv[0]));
159 if ((argc - optind != 1) ||
160 (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
161 (addr.can_addr.tp.rx_id == NO_CAN_ID)) {
162 print_usage(basename(argv[0]));
166 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
171 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
172 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
174 addr.can_family = AF_CAN;
175 strcpy(ifr.ifr_name, argv[optind]);
176 ioctl(s, SIOCGIFINDEX, &ifr);
177 addr.can_ifindex = ifr.ifr_ifindex;
179 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
186 nbytes = read(s, msg, 4096);
187 if (nbytes > 0 && nbytes < 4096)
188 for (i=0; i < nbytes; i++)
189 printf("%02X ", msg[i]);