STW TC1, User Manual

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11 Utilities Tools
User Manual 334/374
11.9 can_bridge - CAN interface bridging tool
Description
The can_bridge is a command line tool to bridge CAN traffic between two interfaces / sockets.
Supported interfaces / socket types:

CAN interface (Socket CAN)

TCP Client

TCP Server

UNIX Socket Client
Synopsis
can_bridge <option1> <option2>
Options
-h
Print help information
-v
Print version information
--can NAME
Open a socket on the the CAN interface specified by NAME (e.g. can0).
--tcp DESTINATION
Open a TCP client socket and connect to the server specified by DESTINATION. The format of DESTINATION
is <Ip:Port>, (e.g. 172.20.230.131:30000).
Format of the CAN messages is the STW TCP-DLL format.
--tcp-listen PORT
Open a listening TCP socket on port number PORT and wait for a incoming connection.
Format of the CAN messages is the STW TCP-DLL format.
--unix NAME
Open a UNIX client socket and connect to the server specified by NAME. NAME is the path and file name of
the local UNIX socket (e.g. /var/run/service_stream1).
Format of the CAN messages is the STW TCP-DLL format.
Exit Status
On error the exit status is set to 1 and an error messages is printed to stderr.
On success the exit status is set to 0.
STW TCP-DLL CAN message format
au8_Data[0] 'C';
au8_Data[1..4] CAN identifier ([1]:LSB, [4]:MSB)
au8_Data[5] Flags (TCP_CAN_FRAME_RTR_FLAG, TCP_CAN_FRAME_XTD_FLAG)
au8_Data[6] Message DLC
au8_Data[7..14] Message data
Examples
# can_bridge --can can0 --can can1
# can_bridge --can can0 --tcp 172.20.230.10:30000
# can_bridge --can can0 --tcp-listen 30000
# can_bridge --can can0 --unix /var/run/service_stream1