int main(int argc, char **argv)
{
int s;
struct sockaddr_can addr;
struct ifreq ifr;
struct {
struct bcm_msg_head msg_head;
struct can_frame frame;
} txmsg;
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
perror("socket");
return 1;
}
addr.can_family = PF_CAN;
addr.can_ifindex = 0; /* bind to 'any' device */
if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("connect");
return 1;
}
txmsg.msg_head.opcode = TX_SETUP;
txmsg.msg_head.can_id = 0x42;
txmsg.msg_head.flags = SETTIMER|STARTTIMER;
txmsg.msg_head.nframes = 1;
txmsg.msg_head.count = 10;
txmsg.msg_head.ival1.tv_sec = 1;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.ival2.tv_sec = 0;
txmsg.msg_head.ival2.tv_usec = 0;
txmsg.frame.can_id = 0x42;
txmsg.frame.can_dlc = 8;
U64_DATA(&txmsg.frame) = (__u64) 0xdeadbeefdeadbeefULL;
/* should cause an error due to ifindex = 0 */
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
printf("Press any key to send on valid device ...\n");
getchar();
addr.can_family = PF_CAN;
strcpy(ifr.ifr_name, "vcan2");
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (sendto(s, &txmsg, sizeof(txmsg), 0, (struct sockaddr*)&addr, sizeof(addr)) < 0)
perror("sendto");
printf("Press any key to close the socket ...\n");
getchar();
close(s);
return 0;
}
void rx_setup (int fd, int id){
struct {
struct bcm_msg_head msg_head;
struct can_frame frame;
} txmsg;
txmsg.msg_head.opcode = RX_SETUP;
txmsg.msg_head.can_id = id;
txmsg.msg_head.flags = RX_CHECK_DLC;
txmsg.msg_head.ival1.tv_sec = 0;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.ival2.tv_sec = 0;
txmsg.msg_head.ival2.tv_usec = 0;
txmsg.msg_head.nframes = 1;
U64_DATA(&txmsg.frame) = (__u64) 0xFFFFFFFFFFFFFFFFULL;
if (filter_id_only)
txmsg.msg_head.flags |= RX_FILTER_ID;
if (write(fd, &txmsg, sizeof(txmsg)) < 0)
perror("write");
};
int main(int argc, char **argv)
{
int s,i,nbytes;
struct sockaddr_can addr;
struct ifreq ifr;
struct {
struct bcm_msg_head msg_head;
struct can_frame frame[4];
} msg;
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
perror("socket");
return 1;
}
addr.can_family = PF_CAN;
strcpy(ifr.ifr_name, "vcan2");
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("connect");
return 1;
}
msg.msg_head.opcode = TX_SETUP;
msg.msg_head.can_id = 0x42;
msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID|TX_COUNTEVT;
msg.msg_head.nframes = 1;
msg.msg_head.count = 2;
msg.msg_head.ival1.tv_sec = 3;
msg.msg_head.ival1.tv_usec = 0;
msg.msg_head.ival2.tv_sec = 5;
msg.msg_head.ival2.tv_usec = 0;
msg.frame[0].can_id = 0xAA;
msg.frame[0].can_dlc = 8;
U64_DATA(&msg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
if (write(s, &msg, sizeof(msg)) < 0)
perror("write");
printf("Press any key to stop the cycle ...\n");
getchar();
msg.msg_head.opcode = TX_SETUP;
msg.msg_head.can_id = 0x42;
msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
msg.msg_head.nframes = 1;
msg.msg_head.count = 0;
msg.msg_head.ival1.tv_sec = 0;
msg.msg_head.ival1.tv_usec = 0;
msg.msg_head.ival2.tv_sec = 0;
msg.msg_head.ival2.tv_usec = 0;
msg.frame[0].can_id = 0xAA;
msg.frame[0].can_dlc = 8;
U64_DATA(&msg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
if (write(s, &msg, sizeof(msg)) < 0)
perror("write");
printf("Press any key to read the entry ...\n");
getchar();
msg.msg_head.opcode = TX_READ;
msg.msg_head.can_id = 0x42;
msg.msg_head.nframes = 0;
if (write(s, &msg, sizeof(msg)) < 0)
perror("write");
printf("Press any key to read from the socket ...\n");
getchar();
if ((nbytes = read(s, &msg, sizeof(msg))) < 0)
perror("read");
for (i = 0; i < nbytes; i++)
printf(" %02x", ((unsigned char*)&msg)[i]);
putchar('\n');
printf("Press any key to close the socket ...\n");
getchar();
close(s);
printf("Press any key to end the program ...\n");
getchar();
return 0;
}
int main(int argc, char **argv)
{
int s,nbytes;
struct sockaddr_can addr;
struct ifreq ifr;
struct timeval tv;
struct {
struct bcm_msg_head msg_head;
struct can_frame frame[4];
} txmsg, rxmsg;
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
perror("socket");
return 1;
}
addr.can_family = PF_CAN;
strcpy(ifr.ifr_name, "vcan2");
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("connect");
return 1;
}
txmsg.msg_head.opcode = RX_SETUP;
txmsg.msg_head.can_id = 0x042;
txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
txmsg.msg_head.ival1.tv_sec = 1;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.ival2.tv_sec = 0;
txmsg.msg_head.ival2.tv_usec = 0;
txmsg.msg_head.nframes = 0;
printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
txmsg.msg_head.can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
/* test for RX_DELETE */
txmsg.msg_head.opcode = RX_DELETE;
txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
printf("<*>Writing RX_DELETE for can_id <%03X>\n",
txmsg.msg_head.can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = RX_SETUP;
txmsg.msg_head.can_id = 0x042;
txmsg.msg_head.flags = SETTIMER|RX_FILTER_ID;
txmsg.msg_head.ival1.tv_sec = 1;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.ival2.tv_sec = 0;
txmsg.msg_head.ival2.tv_usec = 0;
txmsg.msg_head.nframes = 0;
printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
txmsg.msg_head.can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
/* obsolete for TX_SEND ... */
#if 0
txmsg.msg_head.can_id = 0x43;
txmsg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
txmsg.msg_head.count = 0;
txmsg.msg_head.ival1.tv_sec = 0;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.ival2.tv_sec = 0;
txmsg.msg_head.ival2.tv_usec = 0;
#endif
txmsg.frame[0].can_id = 0x43;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
printf("<2>Writing TX_SEND with wrong can_id <%03X>\n",
txmsg.frame[0].can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
printf("<3>Writing TX_SEND with correct can_id <%03X>\n",
txmsg.frame[0].can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<3>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
/* growing number of nframes => RX_DELETE instead of simple update */
txmsg.msg_head.opcode = RX_DELETE;
txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
printf("<*>Writing RX_DELETE for can_id <%03X>\n",
txmsg.msg_head.can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = RX_SETUP;
txmsg.msg_head.can_id = 0x042;
txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
txmsg.msg_head.ival1.tv_sec = 1;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.ival2.tv_sec = 0;
txmsg.msg_head.ival2.tv_usec = 0;
txmsg.msg_head.nframes = 1;
/* txmsg.frame[0].can_dlc = 8; obsolete for RX_SETUP */
U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
printf("<*>Writing simple RX_SETUP for can_id <%03X> with msgbits 0x%016llX\n",
txmsg.msg_head.can_id, U64_DATA(&txmsg.frame[0]));
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
printf("<5>Writing TX_SEND with correct can_id <%03X>\n",
txmsg.frame[0].can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<5>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
printf("<6>Writing TX_SEND with correct can_id <%03X> ",
txmsg.frame[0].can_id);
printf("no changed data\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
/* no change here */
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
printf("<7>Writing TX_SEND with correct can_id <%03X> ",
txmsg.frame[0].can_id);
printf("changed relevant msgbits\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<7>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
printf("<8>Writing TX_SEND with correct can_id <%03X> ",
txmsg.frame[0].can_id);
printf("changed irrelevant msgbits\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 7;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
printf("<9>Writing TX_SEND with correct can_id <%03X> ",
txmsg.frame[0].can_id);
printf("changed Data Length Code DLC\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<9>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = RX_DELETE;
txmsg.msg_head.can_id = 0x042; /* everything we need for RX_DELETE */
printf("<*>Writing RX_DELETE for can_id <%03X> for RX_SETUP with growing nframes\n",
txmsg.msg_head.can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
/* no problems ;-) but NOW we try MUX messages ... and timeouts */
txmsg.msg_head.opcode = RX_SETUP;
txmsg.msg_head.can_id = 0x042;
txmsg.msg_head.flags = SETTIMER|RX_CHECK_DLC;
txmsg.msg_head.ival1.tv_sec = 1;
txmsg.msg_head.ival1.tv_usec = 0;
txmsg.msg_head.nframes = 3;
U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
U64_DATA(&txmsg.frame[1]) = (__u64) 0x01000000000000FFULL;
U64_DATA(&txmsg.frame[2]) = (__u64) 0x02000000000000FFULL;
printf("<*>Writing multiplex RX_SETUP for can_id <%03X>\n",
txmsg.msg_head.can_id);
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x4200000000000000ULL;
printf("<A>Writing TX_SEND with wrong MUX ID 42\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
printf("<B>Writing TX_SEND with correct MUX ID 01\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<B>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;
printf("<C>Writing TX_SEND with correct MUX ID 01 but no data change\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567800ULL;
printf("<D>Writing TX_SEND with correct MUX ID 01 but no relevant data change\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567801ULL;
printf("<E>Writing TX_SEND with correct MUX ID 01 with relevant data change\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<E>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000000ULL;
printf("<F>Writing TX_SEND with correct MUX ID 02\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<F>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 8;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
printf("<10>Writing TX_SEND with correct MUX ID 02 with relevant data change\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<10>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 7;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;
printf("<11>Writing TX_SEND with correct MUX ID 02 no data change but DLC\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
if (rxmsg.msg_head.opcode == RX_CHANGED &&
nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
printf("<11>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
rxmsg.frame[0].can_id);
}
txmsg.msg_head.opcode = TX_SEND;
txmsg.msg_head.nframes = 1;
txmsg.frame[0].can_id = 0x42;
txmsg.frame[0].can_dlc = 7;
U64_DATA(&txmsg.frame[0]) = (__u64) 0x0300000000000001ULL;
printf("<12>Writing TX_SEND with wrong MUX ID 03\n");
if (write(s, &txmsg, sizeof(txmsg)) < 0)
perror("write");
if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
perror("read");
ioctl(s, SIOCGSTAMP, &tv);
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
if (rxmsg.msg_head.opcode == RX_TIMEOUT &&
nbytes == sizeof(struct bcm_msg_head) &&
rxmsg.msg_head.can_id == 0x42) {
printf("<-->Received correct RX_TIMEOUT message for can_id <%03X> >> OK!\n",
rxmsg.msg_head.can_id);
}
close(s);
return 0;
}
int main(int argc, char **argv)
{
int s;
struct sockaddr_can addr;
struct ifreq ifr;
struct {
struct bcm_msg_head msg_head;
struct can_frame frame[4];
} msg;
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
perror("socket");
return 1;
}
addr.can_family = PF_CAN;
strcpy(ifr.ifr_name, "vcan2");
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("connect");
return 1;
}
msg.msg_head.opcode = TX_SETUP;
msg.msg_head.can_id = 0x42;
msg.msg_head.flags = SETTIMER|STARTTIMER;
msg.msg_head.nframes = 1;
msg.msg_head.count = 10;
msg.msg_head.ival1.tv_sec = 1;
msg.msg_head.ival1.tv_usec = 0;
msg.msg_head.ival2.tv_sec = 0;
msg.msg_head.ival2.tv_usec = 0;
msg.frame[0].can_id = 0x42;
msg.frame[0].can_dlc = 8;
U64_DATA(&msg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
if (write(s, &msg, sizeof(msg)) < 0)
perror("write");
printf("Press any key to stop the cycle ...\n");
getchar();
msg.msg_head.opcode = TX_SETUP;
msg.msg_head.can_id = 0x42;
msg.msg_head.flags = SETTIMER|STARTTIMER;
msg.msg_head.nframes = 1;
msg.msg_head.count = 0;
msg.msg_head.ival1.tv_sec = 0;
msg.msg_head.ival1.tv_usec = 0;
msg.msg_head.ival2.tv_sec = 0;
msg.msg_head.ival2.tv_usec = 0;
msg.frame[0].can_id = 0x42;
msg.frame[0].can_dlc = 8;
U64_DATA(&msg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;
if (write(s, &msg, sizeof(msg)) < 0)
perror("write");
printf("Press any key to close the socket ...\n");
getchar();
close(s);
printf("Press any key to end the program ...\n");
getchar();
return 0;
}