cantest.c

ATEML AT91SAM9260测试程序。包括 can测试

/*
 * cantest.c
 */

#include <stdio.h> 
#include <netinet/in.h>
#include <netdb.h>
#include <arpa/inet.h>
#include <netinet/ip.h>
#include <net/if.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <features.h>         /* for the glibc version number */
#if __GLIBC__ >= 2 && __GLIBC_MINOR >= 1
#include <netpacket/packet.h>
#include <net/ethernet.h>     /* the L2 protocols */
#else
#include <asm/types.h>
#include <linux/if_packet.h>
#include <linux/if_ether.h>   /* The L2 protocols */
#endif

#include "can.h"


void can_show_header(struct can_frame_header *header)
{
    printf("Header: id=%d srr=%d ide=%d eid=%d rtr=%d rb1=%d rb0=%d dlc=%d\n",
	   header->id,
	   header->srr,
	   header->ide,
	   header->eid,
	   header->rtr,
	   header->rb1,
	   header->rb0,
	   header->dlc);
}


int
main(int argc, char **argv)
{
    
    int	fd;
    int	dummy;
    int ret;
    int len;
    int can_id = 1;
    struct sockaddr_ll	ll,ll_recv;
    struct ifreq	ifr;
    struct can_frame    buf;
    
    struct can_frame frame = {
	.header = {
	    .id = can_id,
	    .srr = 0,
	    .ide = 0,
	    .eid = 0,
	    .rtr = 0,
	    .rb1 = 0,
			.rb0 = 0,
	    .dlc = 8,
	},
	.data = {'C','a','n','T','e','s','t',0},
    };

    if (argc != 2) {
	fprintf(stderr, "usage: %s <iface>.\n", argv[0]);
	exit(1);
    }
    
    
    fd = socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ALL));
    if (fd == -1) {
	perror("socket");
	exit(1);	
    }
    
    len = sizeof(struct sockaddr_ll);
    
    memset(&ll, 0, len);
    memset(&ifr, 0, sizeof(struct ifreq));
    strncpy(ifr.ifr_name, argv[1], sizeof(ifr.ifr_name));
    
    dummy = socket(AF_INET, SOCK_DGRAM, 0);
    if (dummy == -1) {
	perror("dummy");
	exit(1);
    }
    ret = ioctl(dummy, SIOCGIFINDEX, &ifr);
    printf("index %d <--> %s as loopback mode\n", ifr.ifr_ifindex, ifr.ifr_name);
    ll.sll_family = AF_PACKET;
    ll.sll_ifindex = ifr.ifr_ifindex;
    ll.sll_protocol = htons(ETH_P_ALL);
    if (bind(fd, (struct sockaddr *) &ll, sizeof(struct sockaddr_ll)) == -1) {
	perror("bind");
	exit(1);
    }
    printf("binding pf_packet to %s interface.\n", ifr.ifr_name);
    
    
    while(1) {
	
	memset(&buf, 0, sizeof(struct can_frame));
	memset(buf.data, 0, 8);
	
	char data[8];
	memset(data, 0, 8);
	sprintf(data, "%d", can_id);
	memcpy(frame.data, data, 8);
	frame.header.id = can_id;
	can_id++;
	if (can_id > 9999999) {
	    can_id = 1;
	}
	frame.header.dlc = strlen(data);
	
	if (send(fd, &frame, sizeof(struct can_frame), 0) == -1) {
	    perror("send");
	}
	
	sleep(5);
	
	if (recv(fd, &buf, sizeof(struct can_frame), 0) == -1) {
	    perror("recv");
	}
	
	can_show_header(&buf.header);
	memset(buf.data+buf.header.dlc, 0, 8-buf.header.dlc);
	printf("RECV: %s\n", buf.data);
	
    }
}