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24 * software may be distributed under the terms of the GNU General
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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>
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. Use 'any' for all addresses)\n");
70 fprintf(stderr, " -p <byte> (set and enable padding byte)\n");
71 fprintf(stderr, " -P <mode> (check padding in FC. (l)ength (c)ontent (a)ll)\n");
72 fprintf(stderr, " -t <time ns> (frame transmit time (N_As) in nanosecs)\n");
73 fprintf(stderr, " -f <time ns> (ignore FC and force local tx stmin value in nanosecs)\n");
74 fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
75 fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
76 fprintf(stderr, "\n");
79 int main(int argc, char **argv)
82 struct sockaddr_can addr;
84 static struct can_isotp_options opts;
86 extern int optind, opterr, optopt;
87 __u32 force_tx_stmin = 0;
88 unsigned char buf[4096];
91 addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;
93 while ((opt = getopt(argc, argv, "s:d:x:p:P:t:f:?")) != -1) {
96 addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
97 if (strlen(optarg) > 7)
98 addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
102 addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
103 if (strlen(optarg) > 7)
104 addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
108 opts.flags |= CAN_ISOTP_EXTEND_ADDR;
109 opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
113 opts.flags |= CAN_ISOTP_TX_PADDING;
114 opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
118 if (optarg[0] == 'l')
119 opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
120 else if (optarg[0] == 'c')
121 opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
122 else if (optarg[0] == 'a')
123 opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
125 printf("unknown padding check option '%c'.\n", optarg[0]);
126 print_usage(basename(argv[0]));
132 opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
136 opts.flags |= CAN_ISOTP_FORCE_TXSTMIN;
137 force_tx_stmin = strtoul(optarg, (char **)NULL, 10);
141 print_usage(basename(argv[0]));
146 fprintf(stderr, "Unknown option %c\n", opt);
147 print_usage(basename(argv[0]));
153 if ((argc - optind != 1) ||
154 (addr.can_addr.tp.tx_id == NO_CAN_ID) ||
155 (addr.can_addr.tp.rx_id == NO_CAN_ID)) {
156 print_usage(basename(argv[0]));
160 if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
165 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
167 if (opts.flags & CAN_ISOTP_FORCE_TXSTMIN)
168 setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_TX_STMIN, &force_tx_stmin, sizeof(force_tx_stmin));
170 addr.can_family = AF_CAN;
171 strcpy(ifr.ifr_name, argv[optind]);
172 ioctl(s, SIOCGIFINDEX, &ifr);
173 addr.can_ifindex = ifr.ifr_ifindex;
175 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
181 while (buflen < 4096 && scanf("%hhx", &buf[buflen]) == 1)
184 write(s, buf, buflen);
187 * due to a Kernel internal wait queue the PDU is sent completely
188 * before close() returns.