/*   Transmit3 sends a CAN message specified at the command line       *//*   It is using the SEND ioctl command                                *//*   (c) 2003 port GmbH                                                */ #include <stdio.h>#include <sys/types.h>#include <sys/stat.h>#include <sys/ioctl.h>#include <fcntl.h>#include <unistd.h>#include <stdlib.h>#include <string.h>#include <can4linux.h>#define STDDEV "/dev/can1"#ifndef TRUE# define TRUE  1# define FALSE 0#endifint can_fd;int debug                = FALSE;int extd                 = FALSE;int rtr                  = FALSE;canmsg_t message;void usage(char *s){static char *usage_text  = "\-r send message as rtr message.\n\-e send message in extended message format.\n\-d   - debug On\n\       schaltet zusaetzlich Debugging im Treiber an/aus\n\-D dev use /dev/dev/{can0,can1,can2,can3} (real nodes, std: can1)\n\\n\";    fprintf(stderr, "usage: %s [options] [id [ byte ..]]\n", s);    fprintf(stderr, usage_text);}int main(int argc,char **argv){int c;extern char *optarg;extern int optind, opterr, optopt;int cnt;char device[40] = STDDEV;Send_par_t SendTeil;    /* our default 8 byte message */    message.id      = 100;    message.cob     = 0;    message.flags   = 0;    message.length  = 8;    message.data[0] = 0x55;    message.data[1] = 2;    message.data[2] = 3;    message.data[3] = 4;    message.data[4] = 5;    message.data[5] = 6;    message.data[6] = 7;    message.data[7] = 0xaa;    while ((c = getopt(argc, argv, "derD:")) != EOF) {	switch (c) {	    case 'r':		rtr = TRUE;		break;	    case 'e':		extd = TRUE;		break;	    /* case 'b': */		/* baud = atoi(optarg); */		/* break; */	    case 'D':		sprintf(device, "/dev/%s", optarg);		break;	    case 'd':		debug = TRUE;		break;	    case 'h':	    default: usage(argv[0]); exit(0);	}    }    if(debug) printf("using CAN device %s\n", device);    if(( can_fd = open(device, O_RDWR )) < 0 ) {	fprintf(stderr,"Error opening CAN device %s\n", device);        exit(1);    }    if ( argc - optind > 0 ) {        /* at least one additional argument, the message id is given */	message.id =  strtol(argv[optind++], NULL, 0);    	memset(message.data, 0, 8);	message.length = 0;    }    if ( argc - optind > 0 ) {    	/* also data bytes areg given with the command */	cnt = 0;	while(optind != argc) {	    message.data[cnt++] = strtol(argv[optind++], NULL, 0);	}	message.length = cnt;    }    if (rtr) {	message.flags |= MSG_RTR;    }    if (extd) {	message.flags |= MSG_EXT;    }    if ( debug == TRUE ) {	printf("transmit3 " __DATE__ "\n");	printf("(c) 2003 port GmbH\n");	printf(" using canmsg_t with %d bytes\n", sizeof(canmsg_t));    }    SendTeil.Tx = &message;    cnt = ioctl(can_fd, SEND, &SendTeil);    if(debug) {	printf("CAN Send retuned with %d/0x%x\n", cnt, cnt);    }    usleep(10000);    close(can_fd);    return 0;}