/* simple driver test: change the baudrate with ioctl()* ** first argument can be the device name -- else it uses can0** if a second arg is given, it is used as new acceptance code* if a third arg is given it is used as new acceptance mask * */#include <stdio.h>#include <stdlib.h>#include <unistd.h>#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <sys/ioctl.h>#include <can4linux.h>#define STDDEV "can0"/************************************************************************* set_accmask - sets the CAN acceptance and mask register*** Changing these registers only possible in Reset mode.** RETURN:**/int	set_accmask(	int fd,			/* device descriptor */	int newcode,	int newmask	){Config_par_t  cfg;volatile Command_par_t cmd;    cmd.cmd = CMD_STOP;    ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    cfg.target = CONF_ACC;     cfg.val1   = newmask;    cfg.val2   = newcode;    ioctl(fd, CAN_IOCTL_CONFIG, &cfg);    cmd.cmd = CMD_START;    ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    return 0;}int	set_acccode(	int fd,			/* device descriptor */	int newcode	){Config_par_t  cfg;volatile Command_par_t cmd;    cmd.cmd = CMD_STOP;    ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    cfg.target = CONF_ACCC;    cfg.val1   = newcode;    ioctl(fd, CAN_IOCTL_CONFIG, &cfg);    cmd.cmd = CMD_START;    ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    return 0;}/****/int main(int argc,char **argv){int fd;char device[40];int newmask = 0;int newcode  = 0;    printf("usage: %s [dev] [acc_code] [acc_mask]\n", argv[0]);    if(argc > 1) {	sprintf(device, "/dev/%s", argv[1]);    }    else {	sprintf(device, "/dev/%s", STDDEV);    }    printf("using CAN device %s\n", device);        if(( fd = open(device, O_RDWR )) < 0 ) {	fprintf(stderr,"Error opening CAN device %s\n", device);        exit(1);    }    if(argc == 3) {    	newcode = strtoul(argv[2], NULL, 0);	printf("change acc_code to 0x%x\n", newcode);	set_acccode(fd, newcode);    }    if(argc == 4) {    	newcode = strtoul(argv[2], NULL, 0);    	newmask = strtoul(argv[3], NULL, 0);	printf("set acc_mask to 0x%x and acc_code to 0x%x\n",				newcode, newmask);	set_accmask(fd, newcode, newmask);    }    sleep(10);        close(fd);    return 0;}