带有定时器发送的Linux CAN收发

//g++ can.cpp -lrt -o can
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <error.h>
 
#include <linux/can.h>
#include <linux/can/raw.h>
 
#include <time.h>
#include <sys/time.h>
#include <signal.h>
#include <sys/time.h>

#define CAN_ID 0x1
 
int socket_fd = -1;
struct can_frame frame_send, frame_recv;
 
//事件1
void timeout1(int sig)
{
  struct timespec mytime;
  int nbytes;
  if(socket_fd == -1) return;
  clock_gettime(CLOCK_REALTIME, &mytime);
  printf("write time:%lds %ldns\n",mytime.tv_sec,mytime.tv_nsec);
  nbytes = write(socket_fd, &frame_send, sizeof(struct can_frame));//发送
	if(nbytes > 0)
	{
    printf("Send:ID=0x%X DLC=%d Data ", frame_send.can_id,frame_send.can_dlc);
	  for(int i=0;i<sizeof(frame_send.data)/sizeof(frame_send.data[0]);i++){
	    printf("%X ",frame_send.data[i]);
	  }
	  printf("\n");
	}
}
 
void create_timer_by_signal(void)
{
	static timer_t times;
	struct itimerspec ts;	//用于配置定时器时间
  struct timespec now;	//获取linux系统时间
	struct sigevent evp;
	evp.sigev_notify = SIGEV_SIGNAL;
	evp.sigev_signo = SIGUSR1;
	evp.sigev_value.sival_ptr	= &times;
  evp.sigev_notify_attributes = NULL;
	timer_create(CLOCK_REALTIME, &evp, &times);
 	//第一次调用时间
	ts.it_value.tv_sec = 1;
	ts.it_value.tv_nsec = 0;	
	//第一次调用后，每次调用间隔时间
	ts.it_interval.tv_sec = 0;
  ts.it_interval.tv_nsec = 100000000;//100ms

	signal(SIGUSR1, &timeout1);
	timer_settime(times, 0, &ts, NULL);	
}
 
void settime_alarm(void)
{
    static struct itimerval tick;
    
    signal(SIGALRM, &timeout1);
    memset(&tick, 0, sizeof(tick));
 
    //第一次调用时间
    tick.it_value.tv_sec = 1;
    tick.it_value.tv_usec = 0;
	
    //第一次调用后，每次调用间隔时间
    tick.it_interval.tv_sec = 0;
    tick.it_interval.tv_usec = 100000;//100ms
 
    if(setitimer(ITIMER_REAL, &tick, NULL) < 0)
    {
        printf("Set timer failed!\n");
    }
}
 
int main(void)
{
 	frame_send.can_id  = 0x123;
	frame_send.can_dlc = 8;
	frame_send.data[0] = 0x11;
	frame_send.data[1] = 0x11;
	frame_send.data[2] = 0x22;
	frame_send.data[3] = 0x33;
	frame_send.data[4] = 0x44;
	frame_send.data[5] = 0x55;
	frame_send.data[6] = 0x66;
  frame_send.data[7] = 0x77;
 
	int nbytes;
	struct sockaddr_can addr;
	struct ifreq ifr;
  struct timespec mytime;
 
	if((socket_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
		perror("Error while opening socket");
		return -1;
	}
 
   
	//create_timer_by_signal();
  settime_alarm();
 
	const char *ifname = "can0";
	strcpy(ifr.ifr_name, ifname);
	ioctl(socket_fd, SIOCGIFINDEX, &ifr);
	addr.can_family  = AF_CAN;
	addr.can_ifindex = ifr.ifr_ifindex;
	printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
 
	if(bind(socket_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		perror("Error in socket bind");
		return -2;
	}
   
  while(1)
	{  
		nbytes = read(socket_fd, &frame_recv, sizeof(struct can_frame)); //接收报文
    if(CAN_ID != frame_recv.can_id) continue;
    //显示报文
    if(nbytes > 0)
    {
      clock_gettime(CLOCK_REALTIME, &mytime);
      printf("read time:%lds---%ldns\n",mytime.tv_sec,mytime.tv_nsec);
      printf("Recv:ID=0x%X DLC=%d Data ", frame_recv.can_id, frame_recv.can_dlc);
      for(int i=0;i<sizeof(frame_recv.data)/sizeof(frame_recv.data[0]);i++){
        printf("%X ",frame_recv.data[i]);
      }
      printf("\n");
    }
  }	
	return 0;
}

Linux 实现定时器中断

linux can命令详解,Linux CAN编程详解