如下所示,代码展示了Linux下CAN的发送和接收:
#include <stdio.h> #include <stdlib.h> #include <string.h> #include <unistd.h> #include <net/if.h> #include <sys/ioctl.h> #include <sys/socket.h> #include <linux/can.h> #include <linux/can/raw.h> #define command "/sbin/ip link set can0 type can bitrate 125000"//将CAN0波特率设置为125000 bps #define up "ifconfig can0 up"//打开CAN0 #define down "ifconfig can0 down"//关闭CAN0 int main() { system(down); system(command); system(up);//上面三行关闭CAN设备,设置波特率后,重新打开CAN设备 int s, nbytes; struct sockaddr_can addr; struct ifreq ifr; struct can_frame frame[2] = {{0}}; s = socket(PF_CAN, SOCK_RAW, CAN_RAW);//创建套接字 strcpy(ifr.ifr_name, "can0" ); ioctl(s, SIOCGIFINDEX, &ifr); //指定 can0 设备 addr.can_family = AF_CAN; addr.can_ifindex = ifr.ifr_ifindex; bind(s, (struct sockaddr *)&addr, sizeof(addr));//将套接字与 can0 绑定 //setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);//设置过滤规则,取消当前注释为禁用过滤规则,即不接收所有报文,不设置此项(即如当前代码被注释)为接收所有ID的报文。 frame[0].can_id = 0x666; frame[0]. can_dlc = 8; frame[0].data[0] = 0x40; frame[0].data[1] = 0x20; frame[0].data[2] = 0x10; frame[0].data[3] = 0x00; frame[0].data[4] = 0x03; frame[0].data[5] = 0x04; frame[0].data[6] = 0x05; frame[0].data[7] = 0x06; for(int i=0;i<100;i++) { frame[0].data[7]++; nbytes = write(s, &frame[0], sizeof(frame[0])); //发送 frame[0] if(nbytes != sizeof(frame[0])) { printf("Send Error frame[0]\n!"); } nbytes = read(s, &frame[1], sizeof(frame[1]));//接收总线上的报文保存在frame[1]中 printf("the nbytes:%d\n", nbytes); printf("length:%d", sizeof(frame[1])); printf("ID=0x%X DLC=%d\n", frame[1].can_id, frame[1].can_dlc); printf("data0=0x%02x\n",frame[1].data[0]); printf("data1=0x%02x\n",frame[1].data[1]); printf("data2=0x%02x\n",frame[1].data[2]); printf("data3=0x%02x\n",frame[1].data[3]); printf("data4=0x%02x\n",frame[1].data[4]); printf("data5=0x%02x\n",frame[1].data[5]); printf("data6=0x%02x\n",frame[1].data[6]); printf("data7=0x%02x\n",frame[1].data[7]); //sleep(1); } close(s); return 0; }