215 lines
6.7 KiB
C
215 lines
6.7 KiB
C
/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
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/*
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* cansend.c - send CAN-frames via CAN_RAW sockets
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*
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* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of Volkswagen nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* Alternatively, provided that this notice is retained in full, this
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* software may be distributed under the terms of the GNU General
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* Public License ("GPL") version 2, in which case the provisions of the
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* GPL apply INSTEAD OF those given above.
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*
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* The provided data structures and external interfaces from this code
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* are not restricted to be used by modules with a GPL compatible license.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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* DAMAGE.
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*
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* Send feedback to <linux-can@vger.kernel.org>
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <net/if.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include "lib.h"
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static void print_usage(char *prg)
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{
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fprintf(stderr,
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"%s - send CAN-frames via CAN_RAW sockets.\n"
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"\n"
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"Usage: %s <device> <can_frame>.\n"
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"\n"
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"<can_frame>:\n"
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" <can_id>#{data} for CAN CC (Classical CAN 2.0B) data frames\n"
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" <can_id>#R{len} for CAN CC (Classical CAN 2.0B) data frames\n"
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" <can_id>#{data}_{dlc} for CAN CC (Classical CAN 2.0B) data frames\n"
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" <can_id>#R{len}_{dlc} for CAN CC (Classical CAN 2.0B) data frames\n"
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" <can_id>##<flags>{data} for CAN FD frames\n"
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" <vcid><prio>#<flags>:<sdt>:<af>#<data> for CAN XL frames\n"
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"\n"
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"<can_id>:\n"
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" 3 (SFF) or 8 (EFF) hex chars\n"
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"{data}:\n"
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" 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')\n"
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"{len}:\n"
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" an optional 0..8 value as RTR frames can contain a valid dlc field\n"
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"_{dlc}:\n"
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" an optional 9..F data length code value when payload length is 8\n"
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"<flags>:\n"
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" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n"
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"\n"
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"<vcid>:\n"
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" 2 hex chars - virtual CAN network identifier (00 .. FF)\n"
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"<prio>:\n"
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" 3 hex chars - 11 bit priority value (000 .. 7FF)\n"
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"<flags>:\n"
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" 2 hex chars values (00 .. FF) which defines canxl_frame.flags\n"
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"<sdt>:\n"
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" 2 hex chars values (00 .. FF) which defines canxl_frame.sdt\n"
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"<af>:\n"
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" 8 hex chars - 32 bit acceptance field (canxl_frame.af)\n"
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"<data>:\n"
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" 1..2048 ASCII hex-values (optionally separated by '.')\n"
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"\n"
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"Examples:\n"
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" 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n"
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" 1F334455#1122334455667788_B / 123#R / 00000123#R3 / 333#R8_E /\n"
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" 45123#81:00:12345678#11223344.556677 / 00242#81:07:40000123#112233\n"
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"\n",
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prg, prg);
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}
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int main(int argc, char **argv)
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{
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int s; /* can raw socket */
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int required_mtu;
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int mtu;
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int enable_canfx = 1;
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struct sockaddr_can addr;
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struct can_raw_vcid_options vcid_opts = {
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.flags = CAN_RAW_XL_VCID_TX_PASS,
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};
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static cu_t cu;
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struct ifreq ifr;
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/* check command line options */
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if (argc != 3) {
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print_usage(argv[0]);
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return 1;
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}
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/* parse CAN frame */
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required_mtu = parse_canframe(argv[2], &cu);
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if (!required_mtu) {
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fprintf(stderr, "\nWrong CAN-frame format!\n\n");
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print_usage(argv[0]);
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return 1;
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}
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/* open socket */
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if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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perror("socket");
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return 1;
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}
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strncpy(ifr.ifr_name, argv[1], IFNAMSIZ - 1);
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ifr.ifr_name[IFNAMSIZ - 1] = '\0';
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ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
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if (!ifr.ifr_ifindex) {
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perror("if_nametoindex");
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return 1;
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}
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memset(&addr, 0, sizeof(addr));
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (required_mtu > (int)CAN_MTU) {
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/* check if the frame fits into the CAN netdevice */
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if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
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perror("SIOCGIFMTU");
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return 1;
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}
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mtu = ifr.ifr_mtu;
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if (mtu == (int)CANFD_MTU) {
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/* interface is ok - try to switch the socket into CAN FD mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
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&enable_canfx, sizeof(enable_canfx))){
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printf("error when enabling CAN FD support\n");
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return 1;
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}
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}
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if (mtu >= (int)CANXL_MIN_MTU) {
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/* interface is ok - try to switch the socket into CAN XL mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
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&enable_canfx, sizeof(enable_canfx))){
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printf("error when enabling CAN XL support\n");
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return 1;
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}
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/* try to enable the CAN XL VCID pass through mode */
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if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
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&vcid_opts, sizeof(vcid_opts))) {
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printf("error when enabling CAN XL VCID pass through\n");
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return 1;
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}
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}
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}
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/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
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if (required_mtu == CANFD_MTU)
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cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
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/* CAN XL frames need real frame length for sending */
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if (required_mtu == CANXL_MTU)
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required_mtu = CANXL_HDR_SIZE + cu.xl.len;
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/*
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* disable default receive filter on this RAW socket This is
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* obsolete as we do not read from the socket at all, but for
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* this reason we can remove the receive list in the Kernel to
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* save a little (really a very little!) CPU usage.
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*/
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setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
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if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind");
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return 1;
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}
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/* send frame */
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if (write(s, &cu, required_mtu) != required_mtu) {
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perror("write");
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return 1;
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}
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close(s);
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return 0;
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}
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