Add nuttx to the system framework, which is 10.1.0
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TangYiwen123
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#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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config CANUTILS_CANSEND
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tristate "SocketCAN cansend tool"
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default n
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depends on NET_CAN
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select CANUTILS_LIBCANUTILS
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---help---
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Enable the SocketCAN cansend tool ported from
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https://github.com/linux-can/can-utils
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if CANUTILS_CANSEND
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endif
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############################################################################
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# apps/canutils/cansend/Make.defs
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# Adds selected applications to apps/ build
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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# this work for additional information regarding copyright ownership. The
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# ASF licenses this file to you under the Apache License, Version 2.0 (the
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# "License"); you may not use this file except in compliance with the
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# License. You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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#
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############################################################################/
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ifneq ($(CONFIG_CANUTILS_CANSEND),)
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CONFIGURED_APPS += $(APPDIR)/canutils/cansend
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endif
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############################################################################
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# apps/canutils/cansend/Makefile
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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# this work for additional information regarding copyright ownership. The
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# ASF licenses this file to you under the Apache License, Version 2.0 (the
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# "License"); you may not use this file except in compliance with the
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# License. You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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#
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############################################################################/
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include $(APPDIR)/Make.defs
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# SocketCAN userspace utilities and tools cansend tool
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# https://github.com/linux-can/can-utils/blob/master/cansend.c
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PROGNAME = cansend
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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MODULE = $(CONFIG_CANUTILS_CANSEND)
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CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/canutils/libcanutils}
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MAINSRC = cansend.c
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include $(APPDIR)/Application.mk
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/* 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 <nuttx/can.h>
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#include <netpacket/can.h>
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#include "lib.h"
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static void print_usage_send(char *prg)
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{
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fprintf(stderr, "%s - send CAN-frames via CAN_RAW sockets.\n", prg);
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fprintf(stderr, "\nUsage: %s <device> <can_frame>.\n", prg);
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fprintf(stderr, "\n<can_frame>:\n");
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fprintf(stderr, " <can_id>#{data} for 'classic' CAN 2.0 data frames\n");
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fprintf(stderr, " <can_id>#R{len} for 'classic' CAN 2.0 data frames\n");
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fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
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fprintf(stderr, "<can_id>:\n"
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" 3 (SFF) or 8 (EFF) hex chars\n");
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fprintf(stderr, "{data}:\n"
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" 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')\n");
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fprintf(stderr, "{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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fprintf(stderr, "<flags>:\n"
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" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n\n");
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fprintf(stderr, "Examples:\n");
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fprintf(stderr, " 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n"
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" 1F334455#1122334455667788 / 123#R / 00000123#R3\n\n");
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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_canfd = 1;
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struct sockaddr_can addr;
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struct canfd_frame frame;
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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_send(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], &frame);
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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_send(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 != CANFD_MTU) {
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printf("CAN interface is not CAN FD capable - sorry.\n");
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return 1;
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}
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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_canfd, sizeof(enable_canfd))){
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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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/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
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frame.len = can_dlc2len(can_len2dlc(frame.len));
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}
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/* disable default receive filter on this RAW socket */
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/* This is 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 save a */
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/* little (really a very little!) CPU usage. */
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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, &frame, 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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