树莓派有can通信吗_树莓派CAN通讯(c语言)

【实例简介】

【实例截图】

【核心代码】

#include

#include

#include

#include

#include

#include

#include

#include

#include

int main()

{

int ret;

int s, nbytes;

struct sockaddr_can addr;

struct ifreq ifr;

struct can_frame frame;

memset(&frame, 0, sizeof(struct can_frame));

system("sudo ip link set can0 type can bitrate 100000");

system("sudo ifconfig can0 up");

printf("this is a can send demo\r\n");

//1.Create socket

s = socket(PF_CAN, SOCK_RAW, CAN_RAW);

if (s < 0) {

perror("socket PF_CAN failed");

return 1;

}

//2.Specify can0 device

strcpy(ifr.ifr_name, "can0");

ret = ioctl(s, SIOCGIFINDEX, &ifr);

if (ret < 0) {

perror("ioctl failed");

return 1;

}

//3.Bind the socket to can0

addr.can_family = AF_CAN;

addr.can_ifindex = ifr.ifr_ifindex;

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

if (ret < 0) {

perror("bind failed");

return 1;

}

//4.Disable filtering rules, do not receive packets, only send

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

//5.Set send data

frame.can_id = 0x123;

frame.can_dlc = 8;

frame.data[0] = 1;

frame.data[1] = 2;

frame.data[2] = 3;

frame.data[3] = 4;

frame.data[4] = 5;

frame.data[5] = 6;

frame.data[6] = 7;

frame.data[7] = 8;

printf("can_id = 0x%X\r\n", frame.can_id);

printf("can_dlc = %d\r\n", frame.can_dlc);

int i = 0;

for(i = 0; i < 8; i )

printf("data[%d] = %d\r\n", i, frame.data[i]);

//6.Send message

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

if(nbytes != sizeof(frame)) {

printf("Send Error frame[0]!\r\n");

system("sudo ifconfig can0 down");

}

//7.Close the socket and can0

close(s);

system("sudo ifconfig can0 down");

return 0;

}