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TC-6000 Series Expansion Modules Software Installation and Programming Guide

4-9

struct ifreq ifr;

char *ifname = "can0";

if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {

perror("Error while opening socket");

return -1;

}

strcpy(ifr.ifr_name, ifname);

ioctl(s, SIOCGIFINDEX, &ifr);

addr.can_family = AF_CAN;

addr.can_ifindex = ifr.ifr_ifindex;

printf("%s at index %d\n", ifname, ifr.ifr_ifindex);

if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {

perror("Error in socket bind");

return -2;

}

nbytes = read(s, &frame, sizeof(struct can_frame));

if (nbytes < 0) {

perror("Error in can raw socket read");

return 1;

}

if (nbytes < sizeof(struct can_frame)) {

fprintf(stderr, "read: incomplete CAN frame\n");

return 1;

}

printf(" %5s %03x [%d] ", ifname, frame.can_id, frame.can_dlc);

for (i = 0; i < frame.can_dlc; i++)

printf(" %02x", frame.data[i]);

printf("\n");

return 0;

}