linux can收发程序

Linux下can发送应用程序代码

#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>

#include <getopt.h>

/**

* @brief: print usage message

* @Param: stream: output device

* @Param: exit_code: error code which want to exit

*/

void print_usage (FILE *stream, int exit_code)

{

fprintf(stream, "Usage: option [ dev... ] \n");

fprintf(stream,

"\t-h --help Display this usage information.\n"

"\t-d --device The device can[0-1]\n"

"\t-i --id Set the can id that want to receive\n");

exit(exit_code);

}

/**

* @brief: main function

* @Param: argc: number of parameters

* @Param: argv: parameters list

*/

int main(int argc, char *argv[])

{

int s, nbytes, i;

char *device;

int id, next_option, device_flag=0, id_flag=0;

struct sockaddr_can addr;

struct ifreq ifr;

struct can_frame frame;

struct can_filter rfilter[1];

const char *const short_options = "hd:i:";

const struct option long_options[] = {

{ "help", 0, NULL, 'h'},

{ "device", 1, NULL, 'd'},

{ "id", 1, NULL, 'i'},

{ NULL, 0, NULL, 0 }

};

while (1) {

next_option = getopt_long (argc, argv, short_options, long_options, NULL);

if (next_option < 0)

break;

switch (next_option) {

case 'h':

print_usage (stdout, 0);

break;

case 'd':

device = optarg;

device_flag = 1;

break;

case 'i':

id = atoi(optarg);

id_flag = 1;

break;

case '?':

print_usage (stderr, 1);

break;

default:

abort ();

}

}

if (!device_flag) {

print_usage (stdout, 0);

exit(0);

}

/* create a socket */

s = socket(PF_CAN, SOCK_RAW, CAN_RAW);

strcpy(ifr.ifr_name, device);

/* determine the interface index */

ioctl(s, SIOCGIFINDEX, &ifr);

addr.can_family = AF_CAN;

addr.can_ifindex = ifr.ifr_ifindex;

/* bind the socket to a CAN interface */

bind(s, (struct sockaddr *)&addr, sizeof(addr));

if (id_flag) {

/* define the filter rules */

rfilter[0].can_id = id;

rfilter[0].can_mask = CAN_SFF_MASK;

/* Set the filter rules */

setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));

}

while(1) {

/* receive frame */

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

/* printf the received frame */

if (nbytes > 0) {

printf("%s %#x [%d] ", ifr.ifr_name, frame.can_id, frame.can_dlc);

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

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

printf("\n");

}

}

close(s);

return 0;

}

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Linux下can接收应用程序代码

#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>

#include <getopt.h>

char *program_name;

/**

* @brief: print usage message

* @Param: stream: output device

* @Param: exit_code: error code which want to exit

*/

void print_usage (FILE *stream, int exit_code)

{

fprintf(stream, "Usage: %s [ dev... ] \n", program_name);

fprintf(stream,

"\t-h --help Display this usage information.\n"

"\t-d --device The device can[0-1]\n"

"\t-i --id Set the can id that want to send\n");

exit(exit_code);

}

/**

* @brief: Hexadecimal number converted to decimal number

* @Param: pHex: the Hexadecimal number that formularize string format

*/

int hex2dec(const char * phex)

{

int dwhexnum=0;

if ((phex[0] == '0') && (phex[1] == 'x' || phex[1] == 'X')) {

phex = phex + 2;

}

for (; *phex!=0 ; phex++) {

dwhexnum *= 16;

if ((*phex>='0') && (*phex<='9'))

dwhexnum += *phex-'0';

else if ((*phex>='a') && (*phex<='f'))

dwhexnum += *phex-'a'+10;

else if ((*phex>='A') && (*phex<='F'))

dwhexnum += *phex-'A'+10;

else {

printf("hex format error!\n");

exit(0);

}

}

return dwhexnum;

}

/**

* @brief: main function

* @Param: argc: number of parameters

* @Param: argv: parameters list

*/

int main(int argc, char *argv[])

{

int s, nbytes, i;

char *device;

int id, next_option, device_flag=0, id_flag=0;

struct sockaddr_can addr;

struct ifreq ifr;

struct can_frame frame[1];

const char *const short_options = "hd:i:";

const struct option long_options[] = {

{ "help", 0, NULL, 'h'},

{ "device", 1, NULL, 'd'},

{ "id", 1, NULL, 'i'},

{ NULL, 0, NULL, 0 }

};

program_name = argv[0];

while (1) {

next_option = getopt_long (argc, argv, short_options, long_options, NULL);

if (next_option < 0)

break;

switch (next_option) {

case 'h':

print_usage (stdout, 0);

break;

case 'd':

device = optarg;

device_flag = 1;

break;

case 'i':

id = hex2dec(optarg);

id_flag = 1;

break;

case '?':

print_usage (stderr, 1);

break;

default:

abort ();

}

}

if (!device_flag || !id_flag) {

print_usage (stdout, 0);

exit(0);

}

/* create a socket */

s = socket(PF_CAN, SOCK_RAW, CAN_RAW);

strcpy(ifr.ifr_name, device );

/* determine the interface index */

ioctl(s, SIOCGIFINDEX, &ifr);

addr.can_family = AF_CAN;

addr.can_ifindex = ifr.ifr_ifindex;

/* bind the socket to a CAN interface */

bind(s, (struct sockaddr *)&addr, sizeof(addr));

/* Set the filter rules */

setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);

/* generate CAN frames */

frame[0].can_id = id;

frame[0].can_dlc = argc - 5;

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

frame[0].data[i] = hex2dec(argv[5 + i]);

}

/* send CAN frames */

while(1) {

nbytes = write(s, &frame[0], sizeof(frame[0]));

if (nbytes < 0) {

perror("can raw socket write");

return 1;

}

/* paranoid check ... */

if (nbytes < sizeof(struct can_frame)) {

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

return 1;

}

sleep(1);

}

close(s);

return 0;

}

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