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can-utils
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Merge b541771b7b into 7a4dd732af

pull/93/merge
arnout 2018-08-22 13:56:48 +00:00 committed by GitHub
parent 7a4dd732af b541771b7b
commit 08c01c72e3
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2 changed files with 56 additions and 50 deletions
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2
README.md
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@ -11,7 +11,7 @@ subsystem (aka SocketCAN):
* candump : display, filter and log CAN data to files * candump : display, filter and log CAN data to files
* canplayer : replay CAN logfiles * canplayer : replay CAN logfiles
* cansend : send a single frame * cansend : send single frames
* cangen : generate (random) CAN traffic * cangen : generate (random) CAN traffic
* cansniffer : display CAN data content differences (just 11bit CAN IDs) * cansniffer : display CAN data content differences (just 11bit CAN IDs)

104
cansend.c
View File

@ -60,31 +60,15 @@ int main(int argc, char **argv)
int s; /* can raw socket */ int s; /* can raw socket */
int required_mtu; int required_mtu;
int mtu; int mtu;
int enable_canfd = 1; int enable_canfd = 0;
int framecnt;
struct sockaddr_can addr; struct sockaddr_can addr;
struct canfd_frame frame; struct canfd_frame frame;
struct ifreq ifr; struct ifreq ifr;
/* check command line options */ /* check command line options */
if (argc != 3) { if (argc < 3) {
fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]); fprintf(stderr, "Usage: %s <device> <can_frame>...\n", argv[0]);
return 1;
}
/* parse CAN frame */
required_mtu = parse_canframe(argv[2], &frame);
if (!required_mtu){
fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 frames\n");
fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
fprintf(stderr, " separated by '.')\n");
fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
fprintf(stderr, " canfd_frame.flags\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
fprintf(stderr, "123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1; return 1;
} }
@ -106,31 +90,6 @@ int main(int argc, char **argv)
addr.can_family = AF_CAN; addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex; addr.can_ifindex = ifr.ifr_ifindex;
if (required_mtu > CAN_MTU) {
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
perror("SIOCGIFMTU");
return 1;
}
mtu = ifr.ifr_mtu;
if (mtu != CANFD_MTU) {
printf("CAN interface is not CAN FD capable - sorry.\n");
return 1;
}
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
frame.len = can_dlc2len(can_len2dlc(frame.len));
}
/* disable default receive filter on this RAW socket */ /* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */ /* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */ /* this reason we can remove the receive list in the Kernel to save a */
@ -142,10 +101,57 @@ int main(int argc, char **argv)
return 1; return 1;
} }
/* send frame */ for (framecnt = 2; framecnt < argc; framecnt++) {
if (write(s, &frame, required_mtu) != required_mtu) { /* parse CAN frame */
perror("write"); required_mtu = parse_canframe(argv[framecnt], &frame);
return 1; if (!required_mtu){
fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 frames\n");
fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
fprintf(stderr, " separated by '.')\n");
fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
fprintf(stderr, " canfd_frame.flags\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
fprintf(stderr, "123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
if (required_mtu > CAN_MTU) {
if (enable_canfd == 0) {
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
perror("SIOCGIFMTU");
return 1;
}
mtu = ifr.ifr_mtu;
if (mtu != CANFD_MTU) {
printf("CAN interface is not CAN FD capable - sorry.\n");
return 1;
}
/* interface is ok - try to switch the socket into CAN FD mode */
enable_canfd = 1;
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
}
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
frame.len = can_dlc2len(can_len2dlc(frame.len));
}
/* send frame */
if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
}
} }
close(s); close(s);