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can-utils
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cansend: send multiple frames in one invocation 

It is sometimes convenient to be able to send multiple frames with a
single cansend invocation, otherwise the time between frames can get
very large.

Signed-off-by: Arnout Vandecappelle (Essensium/Mind) <arnout@mind.be>
pull/93/head
Arnout Vandecappelle (Essensium/Mind) 2018-08-21 18:37:10 +02:00
parent f811b53dfe
commit b541771b7b
2 changed files with 51 additions and 45 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)

94
cansend.c
View File

@ -60,14 +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; return 1;
} }
@ -100,52 +101,57 @@ int main(int argc, char **argv)
return 1; return 1;
} }
/* parse CAN frame */ for (framecnt = 2; framecnt < argc; framecnt++) {
required_mtu = parse_canframe(argv[2], &frame); /* parse CAN frame */
if (!required_mtu){ required_mtu = parse_canframe(argv[framecnt], &frame);
fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n"); if (!required_mtu){
fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 frames\n"); fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n"); fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 frames\n");
fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n"); fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally"); fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, " separated by '.')\n"); fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines"); fprintf(stderr, " separated by '.')\n");
fprintf(stderr, " canfd_frame.flags\n\n"); fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / "); fprintf(stderr, " canfd_frame.flags\n\n");
fprintf(stderr, "123##1 / 213##311\n 1F334455#1122334455667788 / 123#R "); fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
fprintf(stderr, "for remote transmission request.\n\n"); fprintf(stderr, "123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
return 1; fprintf(stderr, "for remote transmission request.\n\n");
}
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; return 1;
} }
/* interface is ok - try to switch the socket into CAN FD mode */ if (required_mtu > CAN_MTU) {
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){ if (enable_canfd == 0) {
printf("error when enabling CAN FD support\n"); /* check if the frame fits into the CAN netdevice */
return 1; 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));
} }
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */ /* send frame */
frame.len = can_dlc2len(can_len2dlc(frame.len)); if (write(s, &frame, required_mtu) != required_mtu) {
} perror("write");
return 1;
/* send frame */ }
if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
} }
close(s); close(s);