1、首先进行CAN的波特率设置、过滤规则的设置、read()和write()函数设置为非堵塞方式发送和 接收(注意波特率的设置需要先关闭,再设置、然后打开 。
#define ip_cmd_open "ifconfig can0 up" /* 打开CAN0 */
#define ip_cmd_close "ifconfig can0 down" /* 关闭CAN0 */
#define ip_cmd_set_50k "/usr/bin/ip link set can0 up type can bitrate 5000000 loopback off"
int CAN_Set_Controller( void )
{
/*************************************************************/
int sock_fd;
struct sockaddr_can addr;
struct ifreq ifr;
/*************************************************************/
/* 通过system调用ip命令设置CAN波特率 */
system(ip_cmd_close);
system(ip_cmd_set_50k);
system(ip_cmd_open);
/*************************************************************/
/* 创建套接口 sock_fd */
sock_fd = socket(AF_CAN, SOCK_RAW, CAN_RAW);
if(sock_fd < 0) {
perror("socket create error!\n");
return -1;
}
/*************************************************************/
//将套接字与 can0 绑定
strcpy(ifr.ifr_name, "can0");
ioctl(sock_fd, SIOCGIFINDEX,&ifr); // can0 device
ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
DBGT_printf("ifr_name:%s \n",ifr.ifr_name);
DBGT_printf("can_ifindex:%d \n",ifr.ifr_ifindex);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if(bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0 )
{
perror("bind error!\n");
return -1;
}
/*******************************设置过滤规则,根据需要选择过滤接收和发送设置******************************/
// 定义接收规则,只接收表示符等于 0x201 的报文
// struct can_filter rfilter[1];
// rfilter[0].can_id = 0x201;
// rfilter[0].can_mask = CAN_SFF_MASK;
// setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
// 定义过滤器(3个)
// struct can_filter rfilter[3];
// rfilter[0].can_id = 0x201;
// rfilter[0].can_mask = CAN_SFF_MASK;
// rfilter[1].can_id = 0x401;
// rfilter[1].can_mask = CAN_SFF_MASK;
// rfilter[2].can_id = 0x601;
// rfilter[2].can_mask = CAN_SFF_MASK;
// setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
// 禁用过滤规则,本进程不接收报文,只负责发送
// setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
/*************************************************************/
//设置read()和write()函数设置为非堵塞方式
int flags;
flags = fcntl(sock_fd, F_GETFL);
flags |= O_NONBLOCK;
fcntl(sock_fd, F_SETFL, flags);
/*************************************************************/
/*返回套接口*/
return sock_fd;
/*************************************************************/
}
/**********************************************************************
* 函数名称: void CAN_Write(int can_port, CanTxMsg send_msg)
* 功能描述: CAN报文发送接口
* 输入参数: can_port,端口号
* 输出参数: send_msg:发送报文
***********************************************************************/
void CAN_Write(int can_port, CanTxMsg send_msg)
{
unsigned char i;
static unsigned int txcounter=0;
int nbytes;
struct can_frame txframe;
txframe.can_id = send_msg.StdId;
txframe.can_dlc = send_msg.DLC;
memcpy(&txframe.data[0], &send_msg.Data[0], txframe.can_dlc);
nbytes = write(can_port, &txframe, sizeof(struct can_frame)); //发送 frame[0]
if(nbytes == sizeof(txframe))
{
DBGT_printf("txcounter=%d, ID=%03X, DLC=%d, data=%02X %02X %02X %02X %02X %02X %02X %02X \n", \
txframe.can_id, txframe.can_dlc, \
txframe.data[0],\
txframe.data[1],\
txframe.data[2],\
txframe.data[3],\
txframe.data[4],\
txframe.data[5],\
txframe.data[6],\
txframe.data[7] );
}
else
{
printf("Send Error frame[0], nbytes=%d\n!",nbytes);
}
return ;
}
void CAN_Read(int can_port, CanRxMsg* recv_msg)
{
unsigned char i;
static unsigned int rxcounter =0;
int nbytes;
struct can_frame rxframe;
nbytes = read(can_port, &rxframe, sizeof(struct can_frame));
if(nbytes>0)
{
//sysUsecTime();
recv_msg->StdId = rxframe.can_id;
recv_msg->DLC = rxframe.can_dlc;
memcpy( recv_msg->Data, &rxframe.data[0], rxframe.can_dlc);
DBGT_printf("接收 ID=%03X, DLC=%d, data=%02X %02X %02X %02X %02X %02X %02X %02X \n", \
rxframe.can_id, rxframe.can_dlc, \
rxframe.data[0],\
rxframe.data[1],\
rxframe.data[2],\
rxframe.data[3],\
rxframe.data[4],\
rxframe.data[5],\
rxframe.data[6],\
rxframe.data[7] );
}
return ;
}
/************************************************************
* CAN发送报文结构定义
************************************************************/
typedef struct
{
unsigned int StdId; /* CAN标准帧ID,占11bit,范围:0~0x7FF */
unsigned char DLC; /* CAN报文数据长度, 范围:0~8 */
unsigned char Data[8]; /* CAN报文数据内容,每个字节范围:0~0xFF*/
} CanTxMsg;
/**
* CAN接收报文结构定义
*/
typedef struct
{
unsigned int StdId; /* CAN标准帧ID,范围:0~0x7FF */
unsigned char DLC; /* CAN报文数据长度, 范围:0~8 */
unsigned char Data[8]; /* CAN报文数据内容,每个字节范围:0~0xFF*/
} CanRxMsg;
int main(int argc, char **argv)
{
int Can_Port = 0;
CanTxMsg TxMessage;//发送报文
CanRxMsg RxMessage; //接收报文
Can_Port = CAN_Set_Controller();
while(1)
{
CAN_Read(Can_Port, &RxMessage);//接收到CAN数据
memcpy(TxMessage.Data,RxMessage.Data,RxMessage.DLC);
TxMessage.DLC=RxMessage.DLC;
TxMessage.StdId=RxMessage.StdId;//将接收到的ID以同样的ID发送出去
CAN_Write(Can_Port, TxMessage);//将接收到的数据用CAN发送出去
sleep(1);
}
}