diff options
| author | David Lamparter <equinox@diac24.net> | 2013-05-31 23:50:05 +0000 |
|---|---|---|
| committer | root <root@beaglebone.(none)> | 2013-05-31 23:50:33 +0000 |
| commit | b7e8785f3c304423bf8b766c378252d59541d581 (patch) | |
| tree | 4c4e218ad603da6eaac55816b7e9031a5656a4e8 /cethcan | |
| parent | 6a8219d0c4c3d1458673bcf28af359bbcb519454 (diff) | |
cethcan/socketcan: TX support
Diffstat (limited to 'cethcan')
| -rw-r--r-- | cethcan/socketcan.c | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/cethcan/socketcan.c b/cethcan/socketcan.c index d73ed45..5aeaa2b 100644 --- a/cethcan/socketcan.c +++ b/cethcan/socketcan.c @@ -21,7 +21,22 @@ struct socan { static void socan_handler(void *arg, struct can_message *msg) { struct socan *sc = arg; - lprintf("%s: TX not implemented", sc->u->name); + struct can_frame frame; + memset(&frame, 0, sizeof(frame)); + + if (msg->daddr & 0x00080000) + frame.can_id = CAN_EFF_FLAG + | (msg->daddr & 0x0003ffff) + | ((msg->daddr & 0xffe00000) >> 3); + else + frame.can_id = msg->daddr >> 21; + + frame.can_dlc = msg->dlc; + memcpy(frame.data, msg->bytes, msg->dlc > CANFD_MAX_DLEN ? + CANFD_MAX_DLEN : msg->dlc); + + if (write(sc->sock, &frame, sizeof(frame)) != sizeof(frame)) + lprintf("%s: send failed: %s", sc->u->name, strerror(errno)); } static void socan_event(int sock, short event, void *arg) |