【Linux】Socket Can(支持Canfd)编程及测试

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一、Ubuntu虚拟Can调试环境搭建

sudo modprobe vcan
# Create a vcan network interface with a specific name
sudo ip link add dev vcan0 type vcan
sudo ip link set dev vcan0 down
sudo ip link set vcan0 mtu 72 支持CAN FD
sudo ip link set dev vcan0 up
ifconfig
# Create a can network interface with a specific name
sudo ip link add dev can0 type vcan
sudo ip link set dev can0 down
sudo ip link set can0 mtu 72 支持CAN FD
sudo ip link set dev can0 up
ifconfig -a

二、Can发送与接收代码

1.Can发送代码

can_send.c

#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <unistd.h>

int main() {
    int s, nbytes;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame[2] = {{0}};
    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    strcpy(ifr.ifr_name, "can0");
    ioctl(s, SIOCGIFINDEX, &ifr);
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    bind(s, (struct sockaddr *)&addr, sizeof(addr));
    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);

    frame[0].can_id = 0x11;
    frame[0].can_dlc = 1;
    frame[0].data[0] = 'Y';
    frame[1].can_id = 0x11; // 0x33;
    frame[1].can_dlc = 1;
    frame[1].data[0] = 'N';
    while (1) {
        nbytes = write(s, &frame[0], sizeof(frame[0]));
        printf("nbytes=%d\n", nbytes);
        if (nbytes != sizeof(frame[0])) {
            printf("Send Error frame[0]\n!");
            break; //发送错误,退出
        }
        sleep(1);
        nbytes = write(s, &frame[1], sizeof(frame[1]));
        if (nbytes != sizeof(frame[1])) {
            printf("Send Error frame[1]\n!");
            break;
        }
        sleep(1);
    }
    close(s);
    return 0;
}

2.Can接收代码

can_recv.c

#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <unistd.h>
int main() {
    int s, nbytes;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame;
    struct can_filter rfilter[1];
    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
    //定义接收规则,只接收表示符等于 0x11 的报文
    rfilter[0].can_id = 0x11;
    rfilter[0].can_mask = CAN_SFF_MASK;
    //设置过滤规则
    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
    /* 支持Canfd */
    int canfd_on = 1;
    setsockopt(canFd->fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
    while (1) {
        nbytes = read(s, &frame, sizeof(frame));
        //接收报文//显示报文
        if (nbytes > 0) {
            printf("ID=0x%X DLC=%d data[0]=0x%X\n", frame.can_id, frame.can_dlc,
                   frame.data[0]);
            // printf(“ID=0x%X DLC=%d data[0]=0x%X\n”, frame.can_id,
            // frame.can_dlc, frame.data[0]);
        }
    }
    close(s);
    return 0;
}