NUC972 linux CAN 操作 socket raw读写

linux 平台上CAN操作

[*]Networking support -->
    <*>CAN bus subsystem support -->
        CAN Device Drivers
            <*> NUC970/N9H30 CAN0/CAN1 devices

 

 

 

测试代码：

 

#include <getopt.h>
#include <libgen.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <limits.h>
#include <errno.h>


#include <net/if.h>

#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <sys/uio.h>

#include <linux/types.h>

#include <linux/can.h>
#include <linux/can/raw.h>

#include <linux/rtnetlink.h>
#include <linux/netlink.h>


/*
 * CAN bit-timing parameters
 */
struct can_bittiming {
	__u32 bitrate;		/* Bit-rate in bits/second */
	__u32 sample_point;	/* Sample point in one-tenth of a percent */
	__u32 tq;		/* Time quanta (TQ) in nanoseconds */
	__u32 prop_seg;		/* Propagation segment in TQs */
	__u32 phase_seg1;	/* Phase buffer segment 1 in TQs */
	__u32 phase_seg2;	/* Phase buffer segment 2 in TQs */
	__u32 sjw;		/* Synchronisation jump width in TQs */
	__u32 brp;		/* Bit-rate prescaler */
};

/*
 * CAN harware-dependent bit-timing constant
 */
struct can_bittiming_const {
	char name[16];		/* Name of the CAN controller hardware */
	__u32 tseg1_min;	/* Time segement 1 = prop_seg + phase_seg1 */
	__u32 tseg1_max;
	__u32 tseg2_min;	/* Time segement 2 = phase_seg2 */
	__u32 tseg2_max;
	__u32 sjw_max;		/* Synchronisation jump width */
	__u32 brp_min;		/* Bit-rate prescaler */
	__u32 brp_max;
	__u32 brp_inc;
};

/*
 * CAN clock parameters
 */
struct can_clock {
	__u32 freq;		/* CAN system clock frequency in Hz */
};

/*
 * CAN operational and error states
 */
enum can_state {
	CAN_STATE_ERROR_ACTIVE = 0,	/* RX/TX error count < 96 */
	CAN_STATE_ERROR_WARNING,	/* RX/TX error count < 128 */
	CAN_STATE_ERROR_PASSIVE,	/* RX/TX error count < 256 */
	CAN_STATE_BUS_OFF,		/* RX/TX error count >= 256 */
	CAN_STATE_STOPPED,		/* Device is stopped */
	CAN_STATE_SLEEPING,		/* Device is sleeping */
	CAN_STATE_MAX
};

/*
 * CAN bus error counters
 */
struct can_berr_counter {
	__u16 txerr;
	__u16 rxerr;
};

/*
 * CAN controller mode
 */
struct can_ctrlmode {
	__u32 mask;
	__u32 flags;
};

#define CAN_CTRLMODE_LOOPBACK	0x01	/* Loopback mode */
#define CAN_CTRLMODE_LISTENONLY	0x02 	/* Listen-only mode */
#define CAN_CTRLMODE_3_SAMPLES	0x04	/* Triple sampling mode */
#define CAN_CTRLMODE_ONE_SHOT 0x08 /* One-Shot mode */
#define CAN_CTRLMODE_BERR_REPORTING 0x10 /* Bus-error reporting */

/*
 * CAN device statistics
 */
struct can_device_stats {
	__u32 bus_error;	/* Bus errors */
	__u32 error_warning;	/* Changes to error warning state */
	__u32 error_passive;	/* Changes to error passive state */
	__u32 bus_off;		/* Changes to bus off state */
	__u32 arbitration_lost; /* Arbitration lost errors */
	__u32 restarts;		/* CAN controller re-starts */
};

/*
 * CAN netlink interface
 */
enum {
	IFLA_CAN_UNSPEC,
	IFLA_CAN_BITTIMING,
	IFLA_CAN_BITTIMING_CONST,
	IFLA_CAN_CLOCK,
	IFLA_CAN_STATE,
	IFLA_CAN_CTRLMODE,
	IFLA_CAN_RESTART_MS,
	IFLA_CAN_RESTART,
	IFLA_CAN_BERR_COUNTER,
	__IFLA_CAN_MAX
};


#define parse_rtattr_nested(tb, max, rta) \
	(parse_rtattr((tb), (max), RTA_DATA(rta), RTA_PAYLOAD(rta)))

#define NLMSG_TAIL(nmsg) \
	((struct rtattr *) (((void *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len)))

#define IFLA_CAN_MAX	(__IFLA_CAN_MAX - 1)

#define IF_UP 1
#define IF_DOWN 2

#define GET_STATE 1
#define GET_RESTART_MS 2
#define GET_BITTIMING 3
#define GET_CTRLMODE 4
#define GET_CLOCK 5
#define GET_BITTIMING_CONST 6
#define GET_BERR_COUNTER 7
#define GET_XSTATS 8

struct get_req {
	struct nlmsghdr n;
	struct rtgenmsg g;
};

struct set_req {
	struct nlmsghdr n;
	struct ifinfomsg i;
	char buf[1024];
};

struct req_info {
	__u8 restart;
	__u8 disable_autorestart;
	__u32 restart_ms;
	struct can_ctrlmode *ctrlmode;
	struct can_bittiming *bittiming;
};

#define PF_CAN 29

#define SIOCGIFINDEX    0x8933          /* name -> if_index mapping     */
#define SIOCGIFFLAGS    0x8913          /* get flags                    */

/* Standard well-defined IP protocols.  */
enum
{
    IPPROTO_IP = 0,         /* Dummy protocol for TCP       */
    IPPROTO_ICMP = 1,       /* Internet Control Message Protocol    */
    IPPROTO_IGMP = 2,       /* Internet Group Management Protocol   */
    IPPROTO_IPIP = 4,       /* IPIP tunnels (older KA9Q tunnels use 94) */
    IPPROTO_TCP = 6,        /* Transmission Control Protocol    */
    IPPROTO_EGP = 8,        /* Exterior Gateway Protocol        */
    IPPROTO_PUP = 12,       /* PUP protocol             */
    IPPROTO_UDP = 17,       /* User Datagram Protocol       */
    IPPROTO_IDP = 22,       /* XNS IDP protocol         */
    IPPROTO_DCCP = 33,      /* Datagram Congestion Control Protocol */
    IPPROTO_RSVP = 46,      /* RSVP protocol            */
    IPPROTO_GRE = 47,       /* Cisco GRE tunnels (rfc 1701,1702)    */
    IPPROTO_IPV6 = 41,      /* IPv6-in-IPv4 tunnelling      */
    IPPROTO_ESP = 50,           /* Encapsulation Security Payload protocol */
    IPPROTO_AH = 51,                /* Authentication Header protocol       */
    IPPROTO_BEETPH = 94,            /* IP option pseudo header for BEET */
    IPPROTO_PIM    = 103,       /* Protocol Independent Multicast   */
    IPPROTO_COMP   = 108,           /* Compression Header protocol */
    IPPROTO_SCTP   = 132,       /* Stream Control Transport Protocol    */
    IPPROTO_UDPLITE = 136,      /* UDP-Lite (RFC 3828)          */
    IPPROTO_RAW  = 255,     /* Raw IP packets           */
    IPPROTO_MAX
};

/* particular protocols of the protocol family PF_CAN */
#define CAN_RAW         1 /* RAW sockets */
#define CAN_BCM         2 /* Broadcast Manager */
#define CAN_TP16        3 /* VAG Transport Protocol v1.6 */
#define CAN_TP20        4 /* VAG Transport Protocol v2.0 */
#define CAN_MCNET       5 /* Bosch MCNet */
#define CAN_ISOTP       6 /* ISO 15765-2 Transport Protocol */
#define CAN_NPROTO      7

static void
parse_rtattr(struct rtattr **tb, int max, struct rtattr *rta, int len)
{
	memset(tb, 0, sizeof(*tb) * max);
	while (RTA_OK(rta, len)) {
		if (rta->rta_type <= max) {
			tb[rta->rta_type] = rta;
		}

		rta = RTA_NEXT(rta, len);
	}
}

static int addattr32(struct nlmsghdr *n, size_t maxlen, int type, __u32 data)
{
	int len = RTA_LENGTH(4);
	struct rtattr *rta;

	if (NLMSG_ALIGN(n->nlmsg_len) + len > maxlen) {
		fprintf(stderr,
			"addattr32: Error! max allowed bound %zu exceeded\n",
			maxlen);
		return -1;
	}

	rta = NLMSG_TAIL(n);
	rta->rta_type = type;
	rta->rta_len = len;
	memcpy(RTA_DATA(rta), &data, 4);
	n->nlmsg_len = NLMSG_ALIGN(n->nlmsg_len) + len;

	return 0;
}

static int addattr_l(struct nlmsghdr *n, size_t maxlen, int type,
		     const void *data, int alen)
{
	int len = RTA_LENGTH(alen);
	struct rtattr *rta;

	if (NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len) > maxlen) {
		fprintf(stderr,
			"addattr_l ERROR: message exceeded bound of %zu\n",
			maxlen);
		return -1;
	}

	rta = NLMSG_TAIL(n);
	rta->rta_type = type;
	rta->rta_len = len;
	memcpy(RTA_DATA(rta), data, alen);
	n->nlmsg_len = NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len);

	return 0;
}

/**
 * @ingroup intern
 * @brief send_mod_request - send a linkinfo modification request
 *
 * @param fd decriptor to a priorly opened netlink socket
 * @param n netlink message containing the request
 *
 * sends a request to setup the the linkinfo to netlink layer and awaits the
 * status.
 *
 * @return 0 if success
 * @return negativ if failed
 */
static int send_mod_request(int fd, struct nlmsghdr *n)
{
	int status;
	struct sockaddr_nl nladdr;
	struct nlmsghdr *h;

	struct iovec iov = {
		.iov_base = (void *)n,
		.iov_len = n->nlmsg_len
	};
	struct msghdr msg = {
		.msg_name = &nladdr,
		.msg_namelen = sizeof(nladdr),
		.msg_iov = &iov,
		.msg_iovlen = 1,
	};
	char buf[16384];

	memset(&nladdr, 0, sizeof(nladdr));

	nladdr.nl_family = AF_NETLINK;
	nladdr.nl_pid = 0;
	nladdr.nl_groups = 0;

	n->nlmsg_seq = 0;
	n->nlmsg_flags |= NLM_F_ACK;

	status = sendmsg(fd, &msg, 0);

	if (status < 0) {
		perror("Cannot talk to rtnetlink");
		return -1;
	}

	iov.iov_base = buf;
	while (1) {
		iov.iov_len = sizeof(buf);
		status = recvmsg(fd, &msg, 0);
		for (h = (struct nlmsghdr *)buf; (size_t) status >= sizeof(*h);) {
			int len = h->nlmsg_len;
			int l = len - sizeof(*h);
			if (l < 0 || len > status) {
				if (msg.msg_flags & MSG_TRUNC) {
					fprintf(stderr, "Truncated message\n");
					return -1;
				}
				printf("!!!malformed message: len=%d\n", len);
				return -1;
			}

			if (h->nlmsg_type == NLMSG_ERROR) {
				struct nlmsgerr *err =
				    (struct nlmsgerr *)NLMSG_DATA(h);
				if ((size_t) l < sizeof(struct nlmsgerr)) {
					fprintf(stderr, "ERROR truncated\n");
				} else {
					errno = -err->error;
					if (errno == 0)
						return 0;

					perror("RTNETLINK answers");
				}
				return -1;
			}
			status -= NLMSG_ALIGN(len);
			h = (struct nlmsghdr *)((char *)h + NLMSG_ALIGN(len));
		}
	}

	return 0;
}

/**
 * @ingroup intern
 * @brief send_dump_request - send a dump linkinfo request
 *
 * @param fd decriptor to a priorly opened netlink socket
 * @param family rt_gen message family
 * @param type netlink message header type
 *
 * @return 0 if success
 * @return negativ if failed
 */
static int send_dump_request(int fd, int family, int type)
{
	struct get_req req;

	memset(&req, 0, sizeof(req));

	req.n.nlmsg_len = sizeof(req);
	req.n.nlmsg_type = type;
	req.n.nlmsg_flags = NLM_F_REQUEST | NLM_F_ROOT | NLM_F_MATCH;
	req.n.nlmsg_pid = 0;
	req.n.nlmsg_seq = 0;

	req.g.rtgen_family = family;

	return send(fd, (void *)&req, sizeof(req), 0);
}



  
//extern int optind, opterr, optopt;

/**
 * @ingroup intern
 * @brief open_nl_sock - open a netlink socket
 *
 * opens a netlink socket and returns the socket descriptor
 *
 * @return 0 if success
 * @return negativ if failed
 */
static int open_nl_sock()
{
	int fd;
	int sndbuf = 32768;
	int rcvbuf = 32768;
	unsigned int addr_len;
	struct sockaddr_nl local;

	fd = socket(AF_NETLINK, SOCK_RAW, NETLINK_ROUTE);
	if (fd < 0) {
		printf("Cannot open netlink socket");
		return -1;
	}

	setsockopt(fd, SOL_SOCKET, SO_SNDBUF, (void *)&sndbuf, sizeof(sndbuf));

	setsockopt(fd, SOL_SOCKET, SO_RCVBUF, (void *)&rcvbuf, sizeof(rcvbuf));

	memset(&local, 0, sizeof(local));
	local.nl_family = AF_NETLINK;
	local.nl_groups = 0;

	if (bind(fd, (struct sockaddr *)&local, sizeof(local)) < 0) {
		printf("Cannot bind netlink socket");
		return -1;
	}

	addr_len = sizeof(local);
	if (getsockname(fd, (struct sockaddr *)&local, &addr_len) < 0) {
		printf("Cannot getsockname");
		return -1;
	}
	if (addr_len != sizeof(local)) {
		printf("Wrong address length %u\n", addr_len);
		return -1;
	}
	if (local.nl_family != AF_NETLINK) {
		printf("Wrong address family %d\n", local.nl_family);
		return -1;
	}
	return fd;
}

/**
 * @ingroup intern
 * @brief do_get_nl_link - get linkinfo
 *
 * @param fd socket file descriptor to a priorly opened netlink socket
 * @param acquire  which parameter we want to get
 * @param name name of the can device. This is the netdev name, as ifconfig -a
 * shows in your system. usually it contains prefix "can" and the numer of the
 * can line. e.g. "can0"
 * @param res pointer to store the result
 *
 * This callback send a dump request into the netlink layer, collect the packet
 * containing the linkinfo and fill the pointer res points to depending on the
 * acquire mode set in param acquire.
 *
 * @return 0 if success
 * @return -1 if failed
 */

static int do_get_nl_link(int fd, __u8 acquire, const char *name, void *res)
{
	struct sockaddr_nl peer;

	char cbuf[64];
	char nlbuf[1024 * 8];

	int ret = -1;
	int done = 0;

	struct iovec iov = {
		.iov_base = (void *)nlbuf,
		.iov_len = sizeof(nlbuf),
	};

	struct msghdr msg = {
		.msg_name = (void *)&peer,
		.msg_namelen = sizeof(peer),
		.msg_iov = &iov,
		.msg_iovlen = 1,
		.msg_control = &cbuf,
		.msg_controllen = sizeof(cbuf),
		.msg_flags = 0,
	};
	struct nlmsghdr *nl_msg;
	ssize_t msglen;

	struct rtattr *linkinfo[IFLA_INFO_MAX + 1];
	struct rtattr *can_attr[IFLA_CAN_MAX + 1];

	if (send_dump_request(fd, AF_PACKET, RTM_GETLINK) < 0) {
		perror("Cannot send dump request");
		return ret;
	}

	while (!done && (msglen = recvmsg(fd, &msg, 0)) > 0) {
		size_t u_msglen = (size_t) msglen;
		/* Check to see if the buffers in msg get truncated */
		if (msg.msg_namelen != sizeof(peer) ||
		    (msg.msg_flags & (MSG_TRUNC | MSG_CTRUNC))) {
			fprintf(stderr, "Uhoh... truncated message.\n");
			return -1;
		}

		for (nl_msg = (struct nlmsghdr *)nlbuf;
		     NLMSG_OK(nl_msg, u_msglen);
		     nl_msg = NLMSG_NEXT(nl_msg, u_msglen)) {
			int type = nl_msg->nlmsg_type;
			int len;

			if (type == NLMSG_DONE) {
				done++;
				continue;
			}
			if (type != RTM_NEWLINK)
				continue;

			struct ifinfomsg *ifi = NLMSG_DATA(nl_msg);
			struct rtattr *tb[IFLA_MAX + 1];

			len =
				nl_msg->nlmsg_len - NLMSG_LENGTH(sizeof(struct ifaddrmsg));
			parse_rtattr(tb, IFLA_MAX, IFLA_RTA(ifi), len);

			if (strcmp
			    ((char *)RTA_DATA(tb[IFLA_IFNAME]), name) != 0)
				continue;

			if (tb[IFLA_LINKINFO])
				parse_rtattr_nested(linkinfo,
						    IFLA_INFO_MAX, tb[IFLA_LINKINFO]);
			else
				continue;

			if (acquire == GET_XSTATS) {
				if (!linkinfo[IFLA_INFO_XSTATS])
					fprintf(stderr, "no can statistics found\n");
				else {
					memcpy(res, RTA_DATA(linkinfo[IFLA_INFO_XSTATS]),
					       sizeof(struct can_device_stats));
					ret = 0;
				}
				continue;
			}

			if (!linkinfo[IFLA_INFO_DATA]) {
				fprintf(stderr, "no link data found\n");
				return ret;
			}

			parse_rtattr_nested(can_attr, IFLA_CAN_MAX,
					    linkinfo[IFLA_INFO_DATA]);

			switch (acquire) {
			case GET_STATE:
				if (can_attr[IFLA_CAN_STATE]) {
					*((int *)res) = *((__u32 *)
							  RTA_DATA(can_attr
								   [IFLA_CAN_STATE]));
					ret = 0;
				} else {
					fprintf(stderr, "no state data found\n");
				}

				break;
			case GET_RESTART_MS:
				if (can_attr[IFLA_CAN_RESTART_MS]) {
					*((__u32 *) res) = *((__u32 *)
							     RTA_DATA(can_attr
								      [IFLA_CAN_RESTART_MS]));
					ret = 0;
				} else
					fprintf(stderr, "no restart_ms data found\n");

				break;
			case GET_BITTIMING:
				if (can_attr[IFLA_CAN_BITTIMING]) {
					memcpy(res,
					       RTA_DATA(can_attr[IFLA_CAN_BITTIMING]),
					       sizeof(struct can_bittiming));
					ret = 0;
				} else
					fprintf(stderr, "no bittiming data found\n");

				break;
			case GET_CTRLMODE:
				if (can_attr[IFLA_CAN_CTRLMODE]) {
					memcpy(res,
					       RTA_DATA(can_attr[IFLA_CAN_CTRLMODE]),
					       sizeof(struct can_ctrlmode));
					ret = 0;
				} else
					fprintf(stderr, "no ctrlmode data found\n");

				break;
			case GET_CLOCK:
				if (can_attr[IFLA_CAN_CLOCK]) {
					memcpy(res,
					       RTA_DATA(can_attr[IFLA_CAN_CLOCK]),
					       sizeof(struct can_clock));
					ret = 0;
				} else
					fprintf(stderr,
						"no clock parameter data found\n");

				break;
			case GET_BITTIMING_CONST:
				if (can_attr[IFLA_CAN_BITTIMING_CONST]) {
					memcpy(res,
					       RTA_DATA(can_attr[IFLA_CAN_BITTIMING_CONST]),
					       sizeof(struct can_bittiming_const));
					ret = 0;
				} else
					fprintf(stderr, "no bittiming_const data found\n");

				break;
			case GET_BERR_COUNTER:
				if (can_attr[IFLA_CAN_BERR_COUNTER]) {
					memcpy(res,
					       RTA_DATA(can_attr[IFLA_CAN_BERR_COUNTER]),
					       sizeof(struct can_berr_counter));
					ret = 0;
				} else
					fprintf(stderr, "no berr_counter data found\n");

				break;

			default:
				fprintf(stderr, "unknown acquire mode\n");
			}
		}
	}

	return ret;
}

/**
 * @ingroup intern
 * @brief get_link - get linkinfo
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param acquire which parameter we want to get
 * @param res pointer to store the result
 *
 * This is a wrapper for do_get_nl_link
 *
 * @return 0 if success
 * @return -1 if failed
 */
static int get_link(const char *name, __u8 acquire, void *res)
{
	int err, fd;

	fd = open_nl_sock();
	if (fd < 0)
		return -1;

	err = do_get_nl_link(fd, acquire, name, res);
	close(fd);

	return err;

}

/**
 * @ingroup intern
 * @brief do_set_nl_link - setup linkinfo
 *
 * @param fd socket file descriptor to a priorly opened netlink socket
 * @param if_state state of the interface we want to put the device into. this
 * parameter is only set if you want to use the callback to driver up/down the
 * device
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param req_info request parameters
 *
 * This callback can do two different tasks:
 * - bring up/down the interface
 * - set up a netlink packet with request, as set up in req_info
 * Which task this callback will do depends on which parameters are set.
 *
 * @return 0 if success
 * @return -1 if failed
 */
static int do_set_nl_link(int fd, __u8 if_state, const char *name,
			  struct req_info *req_info)
{
	struct set_req req;

	const char *type = "can";

	memset(&req, 0, sizeof(req));

	req.n.nlmsg_len = NLMSG_LENGTH(sizeof(struct ifinfomsg));
	req.n.nlmsg_flags = NLM_F_REQUEST | NLM_F_ACK;
	req.n.nlmsg_type = RTM_NEWLINK;
	req.i.ifi_family = 0;

	req.i.ifi_index = if_nametoindex(name);
	if (req.i.ifi_index == 0) {
		fprintf(stderr, "Cannot find device \"%s\"\n", name);
		return -1;
	}

	if (if_state) {
		switch (if_state) {
		case IF_DOWN:
			req.i.ifi_change |= IFF_UP;
			req.i.ifi_flags &= ~IFF_UP;
			break;
		case IF_UP:
			req.i.ifi_change |= IFF_UP;
			req.i.ifi_flags |= IFF_UP;
			break;
		default:
			fprintf(stderr, "unknown state\n");
			return -1;
		}
	}

	if (req_info != NULL) {
		/* setup linkinfo section */
		struct rtattr *linkinfo = NLMSG_TAIL(&req.n);
		addattr_l(&req.n, sizeof(req), IFLA_LINKINFO, NULL, 0);
		addattr_l(&req.n, sizeof(req), IFLA_INFO_KIND, type,
			  strlen(type));
		/* setup data section */
		struct rtattr *data = NLMSG_TAIL(&req.n);
		addattr_l(&req.n, sizeof(req), IFLA_INFO_DATA, NULL, 0);

		if (req_info->restart_ms > 0 || req_info->disable_autorestart)
			addattr32(&req.n, 1024, IFLA_CAN_RESTART_MS,
				  req_info->restart_ms);

		if (req_info->restart)
			addattr32(&req.n, 1024, IFLA_CAN_RESTART, 1);

		if (req_info->bittiming != NULL) {
			addattr_l(&req.n, 1024, IFLA_CAN_BITTIMING,
				  req_info->bittiming,
				  sizeof(struct can_bittiming));
		}

		if (req_info->ctrlmode != NULL) {
			addattr_l(&req.n, 1024, IFLA_CAN_CTRLMODE,
				  req_info->ctrlmode,
				  sizeof(struct can_ctrlmode));
		}

		/* mark end of data section */
		data->rta_len = (void *)NLMSG_TAIL(&req.n) - (void *)data;

		/* mark end of link info section */
		linkinfo->rta_len =
		    (void *)NLMSG_TAIL(&req.n) - (void *)linkinfo;
	}

	return send_mod_request(fd, &req.n);
}

/**
 * @ingroup intern
 * @brief set_link - open a netlink socket and setup linkinfo
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a
 * shows in your system. usually it contains prefix "can" and the numer of the
 * can line. e.g. "can0"
 * @param if_state state of the interface we want to put the device into. this
 * parameter is only set if you want to use the callback to driver up/down the
 * device
 * @param req_info request parameters
 *
 * This is a wrapper for do_set_nl_link. It opens a netlink socket and sends
 * down the requests.
 *
 * @return 0 if success
 * @return -1 if failed
 */
static int set_link(const char *name, __u8 if_state, struct req_info *req_info)
{
	int err, fd;

	fd = open_nl_sock();
	if (fd < 0)
		return -1;

	err = do_set_nl_link(fd, if_state, name, req_info);
	close(fd);

	return err;
}

/**
 * @ingroup extern
 * can_do_start - start the can interface
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 *
 * This starts the can interface with the given name. It simply changes the if
 * state of the interface to up. All initialisation works will be done in
 * kernel. The if state can also be queried by a simple ifconfig.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_do_start(const char *name)
{
	return set_link(name, IF_UP, NULL);
}

/**
 * @ingroup extern
 * can_do_stop - stop the can interface
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 *
 * This stops the can interface with the given name. It simply changes the if
 * state of the interface to down. Any running communication would be stopped.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_do_stop(const char *name)
{
	return set_link(name, IF_DOWN, NULL);
}

/**
 * @ingroup extern
 * can_do_restart - restart the can interface
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 *
 * This triggers the start mode of the can device.
 *
 * NOTE:
 * - restart mode can only be triggerd if the device is in BUS_OFF and the auto
 * restart not turned on (restart_ms == 0)
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_do_restart(const char *name)
{
	int state;
	__u32 restart_ms;

	/* first we check if we can restart the device at all */
	if ((can_get_state(name, &state)) < 0) {
		fprintf(stderr, "cannot get bustate, "
			"something is seriously wrong\n");
		return -1;
	} else if (state != CAN_STATE_BUS_OFF) {
		fprintf(stderr,
			"Device is not in BUS_OFF," " no use to restart\n");
		return -1;
	}

	if ((can_get_restart_ms(name, &restart_ms)) < 0) {
		fprintf(stderr, "cannot get restart_ms, "
			"something is seriously wrong\n");
		return -1;
	} else if (restart_ms > 0) {
		fprintf(stderr,
			"auto restart with %ums interval is turned on,"
			" no use to restart\n", restart_ms);
		return -1;
	}

	struct req_info req_info = {
		.restart = 1,
	};

	return set_link(name, 0, &req_info);
}

/**
 * @ingroup extern
 * can_set_restart_ms - set interval of auto restart.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param restart_ms interval of auto restart in milliseconds
 *
 * This sets how often the device shall automatically restart the interface in
 * case that a bus_off is detected.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_set_restart_ms(const char *name, __u32 restart_ms)
{
	struct req_info req_info = {
		.restart_ms = restart_ms,
	};

	if (restart_ms == 0)
		req_info.disable_autorestart = 1;

	return set_link(name, 0, &req_info);
}

/**
 * @ingroup extern
 * can_set_ctrlmode - setup the control mode.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 *
 * @param cm pointer of a can_ctrlmode struct
 *
 * This sets the control mode of the can device. There're currently three
 * different control modes:
 * - LOOPBACK
 * - LISTEN_ONLY
 * - TRIPPLE_SAMPLING
 *
 * You have to define the control mode struct yourself. a can_ctrlmode struct
 * is declared as:
 *
 * @code
 * struct can_ctrlmode {
 *	__u32 mask;
 *	__u32 flags;
 * }
 * @endcode
 *
 * You can use mask to select modes you want to control and flags to determine
 * if you want to turn the selected mode(s) on or off. Every control mode is
 * mapped to an own macro
 *
 * @code
 * #define CAN_CTRLMODE_LOOPBACK   0x1
 * #define CAN_CTRLMODE_LISTENONLY 0x2
 * #define CAN_CTRLMODE_3_SAMPLES  0x4
 * @endcode
 *
 * e.g. the following pseudocode
 *
 * @code
 * struct can_ctrlmode cm;
 * memset(&cm, 0, sizeof(cm));
 * cm.mask = CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY;
 * cm.flags = CAN_CTRLMODE_LOOPBACK;
 * can_set_ctrlmode(candev, &cm);
 * @endcode
 *
 * will turn the loopback mode on and listenonly mode off.
 *
 * @return 0 if success
 * @return -1 if failed
 */

int can_set_ctrlmode(const char *name, struct can_ctrlmode *cm)
{
	struct req_info req_info = {
		.ctrlmode = cm,
	};

	return set_link(name, 0, &req_info);
}

/**
 * @ingroup extern
 * can_set_bittiming - setup the bittiming.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param bt pointer to a can_bittiming struct
 *
 * This sets the bittiming of the can device. This is for advantage usage. In
 * normal cases you should use can_set_bitrate to simply define the bitrate and
 * let the driver automatically calculate the bittiming. You will only need this
 * function if you wish to define the bittiming in expert mode with fully
 * manually defined timing values.
 * You have to define the bittiming struct yourself. a can_bittiming struct
 * consists of:
 *
 * @code
 * struct can_bittiming {
 *	__u32 bitrate;
 *	__u32 sample_point;
 *	__u32 tq;
 *	__u32 prop_seg;
 *	__u32 phase_seg1;
 *	__u32 phase_seg2;
 *	__u32 sjw;
 *	__u32 brp;
 * }
 * @endcode
 *
 * to define a customized bittiming, you have to define tq, prop_seq,
 * phase_seg1, phase_seg2 and sjw. See http://www.can-cia.org/index.php?id=88
 * for more information about bittiming and synchronizations on can bus.
 *
 * @return 0 if success
 * @return -1 if failed
 */

int can_set_bittiming(const char *name, struct can_bittiming *bt)
{
	struct req_info req_info = {
		.bittiming = bt,
	};

	return set_link(name, 0, &req_info);
}

/**
 * @ingroup extern
 * can_set_bitrate - setup the bitrate.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param bitrate bitrate of the can bus
 *
 * This is the recommended way to setup the bus bit timing. You only have to
 * give a bitrate value here. The exact bit timing will be calculated
 * automatically. To use this function, make sure that CONFIG_CAN_CALC_BITTIMING
 * is set to y in your kernel configuration. bitrate can be a value between
 * 1000(1kbit/s) and 1000000(1000kbit/s).
 *
 * @return 0 if success
 * @return -1 if failed
 */

int can_set_bitrate(const char *name, __u32 bitrate)
{
	struct can_bittiming bt;

	memset(&bt, 0, sizeof(bt));
	bt.bitrate = bitrate;

	return can_set_bittiming(name, &bt);
}

/**
 * @ingroup extern
 * can_set_bitrate_samplepoint - setup the bitrate.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param bitrate bitrate of the can bus
 * @param sample_point sample point value
 *
 * This one is similar to can_set_bitrate, only you can additionally set up the
 * time point for sampling (sample point) customly instead of using the
 * CIA recommended value. sample_point can be a value between 0 and 999.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_set_bitrate_samplepoint(const char *name, __u32 bitrate,
				__u32 sample_point)
{
	struct can_bittiming bt;

	memset(&bt, 0, sizeof(bt));
	bt.bitrate = bitrate;
	bt.sample_point = sample_point;

	return can_set_bittiming(name, &bt);
}

/**
 * @ingroup extern
 * can_get_state - get the current state of the device
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param state pointer to store the state
 *
 * This one stores the current state of the can interface into the given
 * pointer. Valid states are:
 * - CAN_STATE_ERROR_ACTIVE
 * - CAN_STATE_ERROR_WARNING
 * - CAN_STATE_ERROR_PASSIVE
 * - CAN_STATE_BUS_OFF
 * - CAN_STATE_STOPPED
 * - CAN_STATE_SLEEPING
 *
 * The first four states is determined by the value of RX/TX error counter.
 * Please see relevant can specification for more information about this. A
 * device in STATE_STOPPED is an inactive device. STATE_SLEEPING is not
 * implemented on all devices.
 *
 * @return 0 if success
 * @return -1 if failed
 */

int can_get_state(const char *name, int *state)
{
	return get_link(name, GET_STATE, state);
}

/**
 * @ingroup extern
 * can_get_restart_ms - get the current interval of auto restarting.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param restart_ms pointer to store the value.
 *
 * This one stores the current interval of auto restarting into the given
 * pointer.
 *
 * The socketcan framework can automatically restart a device if it is in
 * bus_off in a given interval. This function gets this value in milliseconds.
 * restart_ms == 0 means that autorestarting is turned off.
 *
 * @return 0 if success
 * @return -1 if failed
 */

int can_get_restart_ms(const char *name, __u32 *restart_ms)
{
	return get_link(name, GET_RESTART_MS, restart_ms);
}

/**
 * @ingroup extern
 * can_get_bittiming - get the current bittimnig configuration.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param bt pointer to the bittiming struct.
 *
 * This one stores the current bittiming configuration.
 *
 * Please see can_set_bittiming for more information about bit timing.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_get_bittiming(const char *name, struct can_bittiming *bt)
{
	return get_link(name, GET_BITTIMING, bt);
}

/**
 * @ingroup extern
 * can_get_ctrlmode - get the current control mode.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param cm pointer to the ctrlmode struct.
 *
 * This one stores the current control mode configuration.
 *
 * Please see can_set_ctrlmode for more information about control modes.
 *
 * @return 0 if success
 * @return -1 if failed
 */

int can_get_ctrlmode(const char *name, struct can_ctrlmode *cm)
{
	return get_link(name, GET_CTRLMODE, cm);
}

/**
 * @ingroup extern
 * can_get_clock - get the current clock struct.
 *
 * @param name: name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param clock pointer to the clock struct.
 *
 * This one stores the current clock configuration. At the time of writing the
 * can_clock struct only contains information about the clock frequecy. This
 * information is e.g. essential while setting up the bit timing.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_get_clock(const char *name, struct can_clock *clock)
{
	return get_link(name, GET_CLOCK, clock);
}

/**
 * @ingroup extern
 * can_get_bittiming_const - get the current bittimnig constant.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param btc pointer to the bittiming constant struct.
 *
 * This one stores the hardware dependent bittiming constant. The
 * can_bittiming_const struct consists:
 *
 * @code
 * struct can_bittiming_const {
 *	char name[16];
 *	__u32 tseg1_min;
 *	__u32 tseg1_max;
 *	__u32 tseg2_min;
 *	__u32 tseg2_max;
 *	__u32 sjw_max;
 *	__u32 brp_min;
 *	__u32 brp_max;
 *	__u32 brp_inc;
 *	};
 * @endcode
 *
 * The information in this struct is used to calculate the bus bit timing
 * automatically.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_get_bittiming_const(const char *name, struct can_bittiming_const *btc)
{
	return get_link(name, GET_BITTIMING_CONST, btc);
}


/**
 * @ingroup extern
 * can_get_berr_counter - get the tx/rx error counter.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param bc pointer to the error counter struct..
 *
 * This one gets the current rx/tx error counter from the hardware.
 *
 * @code
 * struct can_berr_counter {
 *	__u16 txerr;
 *	__u16 rxerr;
 *	};
 * @endcode
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_get_berr_counter(const char *name, struct can_berr_counter *bc)
{
	return get_link(name, GET_BERR_COUNTER, bc);
}

/**
 * @ingroup extern
 * can_get_device_stats - get the can_device_stats.
 *
 * @param name name of the can device. This is the netdev name, as ifconfig -a shows
 * in your system. usually it contains prefix "can" and the numer of the can
 * line. e.g. "can0"
 * @param bc pointer to the error counter struct..
 *
 * This one gets the current can_device_stats.
 *
 * Please see struct can_device_stats for more information.
 *
 * @return 0 if success
 * @return -1 if failed
 */
int can_get_device_stats(const char *name, struct can_device_stats *cds)
{
	return get_link(name, GET_XSTATS, cds);
}

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <sys/time.h>
#include <errno.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h>

void my_mSleep(int lTime)
{
	struct timeval sTime;
	sTime.tv_sec	=0;
	sTime.tv_usec	=lTime*1000;
	select(0, NULL, NULL, NULL, &sTime);
}

#define CAN_NAME "can0"


int main(int argc, char **argv)
{
	struct can_frame frame;
	struct can_frame Rx_frame;
	struct ifreq ifr;
	struct sockaddr_can addr;
	
	int dlc = 8;
	int ret, i, rtr = 0, extended = 0;
    int net_fd;

	can_do_stop(CAN_NAME); 
	can_set_bitrate(CAN_NAME, 500000);
	can_do_start(CAN_NAME);

    net_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);

    strcpy(ifr.ifr_name, CAN_NAME);
    if (ioctl(net_fd, SIOCGIFINDEX, &ifr) < 0)
    {
        printf("ERROR");
        return 1;
    }

    addr.can_family = PF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    if (bind(net_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
    {
        printf("ERROR");
        return 1;
    }

	for(i = 0; i < dlc; i++)
	{
		frame.data[i] = 0x31 + i;
		Rx_frame.data[i] = 0;
	}

	frame.can_id = 0x100;
	frame.can_dlc = dlc;

	if (extended)
	{
		frame.can_id &= CAN_EFF_MASK;
		frame.can_id |= CAN_EFF_FLAG;
	} 
	else
	{
		frame.can_id &= CAN_SFF_MASK;
	}

	if (rtr)
		frame.can_id |= CAN_RTR_FLAG;

	printf("\n Please connect CAN0 and CAN1 to CAN bus\n");
	
	printf("\n CAN0 transfer id: %d", frame.can_id);
	printf("\n CAN0 transfer dlc: %d", frame.can_dlc);
	printf("\n CAN0 transfer Data:\n");
	for (i = 0; i < frame.can_dlc; i++)
		printf(" 0x%02x", frame.data[i]);
	printf("\n");
 	i=0;
    while(1)
    {
        ret = write(net_fd, &frame, sizeof(frame));
        if (ret == -1)
        {
            printf("write error !! \n");
        }
        frame.data[7]=0x30+(i%10);
        frame.data[6]=0x30+((i/10)%10);
        frame.data[5]=0x30+((i/100)%10);
        frame.data[4]=0x30+((i/1000)%10);
		i++;
        my_mSleep(10);
    }


	// ret1 = 0;
	// while(ret1 < sizeof(Rx_frame))
	// {
	// 	ret = read(s[1], &Rx_frame, sizeof(Rx_frame));
	// 	if (ret == -1)
	// 	{
	// 		printf("write error !! \n");
	// 	}
	// 	ret1 += ret;
	// }

	// printf("\n CAN1 receive id = %d", Rx_frame.can_id);
	// printf("\n CAN1 receive dlc = %d", Rx_frame.can_dlc);
	// printf("\n CAN1 receive Data:\n");
	// for (i = 0; i < frame.can_dlc; i++)
	// 	printf(" 0x%02x", Rx_frame.data[i]);

	// printf("\n");

	// can_do_stop("can0"); 
        
	return 0;
}