Working C code that sends data over CANBus to an ELCON charger and corresponding node implementation (that doesnt work yet)

socketcan.c

/*
 *  $Id$
 */

/*
 * cansend.c - simple command line tool to send CAN-frames via CAN_RAW sockets
 *
 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of Volkswagen nor the names of its contributors
 *    may be used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * Alternatively, provided that this notice is retained in full, this
 * software may be distributed under the terms of the GNU General
 * Public License ("GPL") version 2, in which case the provisions of the
 * GPL apply INSTEAD OF those given above.
 *
 * The provided data structures and external interfaces from this code
 * are not restricted to be used by modules with a GPL compatible license.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 * DAMAGE.
 *
 * Send feedback to <linux-can@vger.kernel.org>
 *
 */

/* 20-05-15 Modified to sent a message out in code rather then from parameter.

	www.skpang.co.uk
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <time.h>

#include <net/if.h>
#include <sys/ioctl.h>

#include <linux/can.h>
#include <linux/can/raw.h>

#include "lib.h"

int main(int argc, char **argv)
{
	int s; /* can raw socket */ 
	int nbytes;
	struct sockaddr_can addr;
	struct can_frame frame;
	struct ifreq ifr;

	int i;
		
	/* CAN message to be sent out */
	unsigned char buff[] = "1806E5F4#0118006400000000";

	fprintf(stderr,"CAN testing\n");
	
	/* parse CAN frame */
	if (parse_canframe(buff, &frame)){
		fprintf(stderr, "\nWrong CAN-frame format!\n\n");
		fprintf(stderr, "Try: <can_id>#{R|data}\n");
		fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
		fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
		fprintf(stderr, " be seperated by '.'\n\n");
		fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
		fprintf(stderr, "5AA# /\n     1F334455#1122334455667788 / 123#R ");
		fprintf(stderr, "for remote transmission request.\n\n");
		return 1;
	}
18
	/* open socket */
	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
		perror("socket");
		return 1;
	}

	addr.can_family = AF_CAN;

	strcpy(ifr.ifr_name, "can0");
	if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
		perror("SIOCGIFINDEX");
		return 1;
	}
	addr.can_ifindex = ifr.ifr_ifindex;

	/* disable default receive filter on this RAW socket */
	/* This is obsolete as we do not read from the socket at all, but for */
	/* this reason we can remove the receive list in the Kernel to save a */
	/* little (really a very little!) CPU usage.                          */
	setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);

	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		perror("bind");
		return 1;
	}

	/* send frame */
	for(i=0;i<1000;i++)
	{
		if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
			perror("write");
			return 1;
		}
		
		fprintf(stderr, "%d \n", i);

		usleep(1000000); /* Delay before next loop */
	}

	close(s);
	return 0;
}