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Using nl80211.h to scan access points

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Im trying to use nl80211.h for scanning access points for simple wlan
manager. I cant find any example code and only documentation i can
find is kerneldoc. I have been trying to study from iw and
wpa_supplicant source but its rather complex.

This is only documentation i can find:
NL80211_CMD_GET_SCAN get scan results
NL80211_CMD_TRIGGER_SCAN trigger a new scan with the given parameters
NL80211_ATTR_TX_NO_CCK_RATE is used to decide whether to send the
probe requests at CCK rate or not.

How can i scan access points with nl80211? I think i need to use enum
nl80211_commands {NL80211_CMD_GET_SCAN NL80211_CMD_TRIGGER_SCAN}. How
can i use them?
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