网站建设郑州公司,健康湖州网站,装完wordpress怎么IP访问,做外贸哪个网站可以接单一、内核开启CAN
CAN 设置 NUC980 系列带有2个CAN(Controller Area Network), 可以分别独立设置。 请按以下的说明来使能CAN功能. 每个CAN可以单独的开关. CAN0有多组管脚可以选择, 需要一并设置。 使用者也可以设置CAN的唤醒功能。步骤如下#xff1a; 进入 NUC980-linux-4.…一、内核开启CAN
CAN 设置 NUC980 系列带有2个CAN(Controller Area Network), 可以分别独立设置。 请按以下的说明来使能CAN功能. 每个CAN可以单独的开关. CAN0有多组管脚可以选择, 需要一并设置。 使用者也可以设置CAN的唤醒功能。步骤如下 进入 NUC980-linux-4.4.y-master 打开终端输入
make menuconfig选择 Networking support 选择 CAN bus subsystem support 选择 CAN Device Drivers 选择 NUC980 CAN0~CAN3 devices 根据电路选择对应的引脚 保存退出。 重新编译镜像下载到开发板即可。
注意 内核配置中查看使用的CAN引脚是否和其它功能比如串口有冲突有的话需要取消未使用的功能配置。
电路设计使用 CAN芯片 SN65HVD230 SN65HVD23x 3.3V CAN 总线收发器。 需要注意RS引脚该引脚是模式配置。
二、测试代码
指令查看
ifconfig -a或者
ls /sys/class/net官方测试代码
/** Copyright (c) 2014 Nuvoton technology corporation* All rights reserved.** This program is free software; you can redistribute it and/or modify* it under the terms of the GNU General Public License as published by* the Free Software Foundation; either version 2 of the License, or* (at your option) any later version.**//* libsocketcan.c** (C) 2009 Luotao Fu l.fupengutronix.de** This library is free software; you can redistribute it and/or modify it under* the terms of the GNU Lesser General Public License as published by the Free* Software Foundation; either version 2.1 of the License, or (at your option)* any later version.** This library is distributed in the hope that it will be useful, but WITHOUT* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS* FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more* details.** You should have received a copy of the GNU Lesser General Public License* along with this library; if not, write to the Free Software Foundation, Inc.,* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA*/#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 poll.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 8struct 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 7static 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]);elsecontinue;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;} elsefprintf(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;} elsefprintf(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;} elsefprintf(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;} elsefprintf(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;} elsefprintf(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;} elsefprintf(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. Therere 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?id88* 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);
}void can_write_test(int arg)
{int s (int) arg;struct can_frame frame;int dlc 8;int i, rtr 0, extended 0;ssize_t len;int err;struct pollfd fds[] {{.fd s,.events POLLOUT,},};for(i 0; i dlc; i) {frame.data[i] 0x31 i;}frame.can_id 0x100;frame.can_dlc dlc;if (extended) {frame.can_id CAN_EFF_MASK;frame.can_id | CAN_EFF_FLAG;}elseframe.can_id CAN_SFF_MASK;if (rtr)frame.can_id | CAN_RTR_FLAG;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);again:while(1) {err poll(fds, 1, 1000);if((err -1) || (err 0))printf(\n poll write error %d \n, err);elsebreak;}/* send frame */len write(s, frame, sizeof(frame));usleep(500);if(len ! sizeof(frame))printf(\n write error %d \n, errno);if (len -1) {switch (errno) {case ENOBUFS:usleep(1000);break;case EINTR: /* fallthrough */usleep(1000);goto again;default:usleep(1000);goto again;}}printf(\n CAN0 transfer end !!!\n);
}void can_read_test(int arg)
{int s (int) arg;struct can_frame Rx_frame;fd_set readfds;int i;ssize_t nbytes;int err;struct pollfd fds[] {{.fd s,.events POLLIN,},};while(1) {err poll(fds, 1, 10000);if((err -1) || (err 0))printf(\n poll read error %d , err);elsebreak;}nbytes read(s, Rx_frame, sizeof(Rx_frame));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 Rx_frame.can_dlc; i)printf( 0x%02x, Rx_frame.data[i]);printf(\n);
}int main(int argc, char **argv)
{struct ifreq ifr;struct sockaddr_can addr;int family PF_CAN, type SOCK_RAW, proto CAN_RAW;int s[2];int j;can_set_bitrate(can0, 500000);can_do_start(can0);can_set_bitrate(can1, 500000);can_do_start(can1);for(j 0; j 1; j){if(j 0){strcpy(ifr.ifr_name, can0);}else if(j 1){strcpy(ifr.ifr_name, can1);}s[j] socket(family, type, proto);if (s[j] 0){printf(ERROR);return 1;}addr.can_family family;if (ioctl(s[j], SIOCGIFINDEX, ifr) 0){printf(ERROR);return 1;}addr.can_ifindex ifr.ifr_ifindex;if (bind(s[j], (struct sockaddr *)addr, sizeof(addr)) 0){printf(ERROR);return 1;}}can_write_test(s[0]);can_read_test(s[1]);can_do_stop(can0);can_do_stop(can1);return 0;
}参考官方修改CAN0口测试收发修改后代码如下
int main(int argc, char **argv)
{struct can_frame frame;struct can_frame Rx_frame;struct ifreq ifr;struct sockaddr_can addr;int family PF_CAN, type SOCK_RAW, proto CAN_RAW;int dlc 8;int can0_fd, ret, i, err,rtr 0, extended 0;int j;int ret1;int Tx_cnt 0;ssize_t nbytes;can_set_bitrate(can0, 5000);can_do_start(can0);strcpy(ifr.ifr_name, can0);can0_fd socket(family, type, proto);if (can0_fd 0){printf(ERROR);return 1;}addr.can_family family;if (ioctl(can0_fd, SIOCGIFINDEX, ifr) 0){printf(ERROR);return 1;}addr.can_ifindex ifr.ifr_ifindex;if (bind(can0_fd, (struct sockaddr *)addr, sizeof(addr)) 0){printf(ERROR);return 1;}for(i 0; i dlc; i){frame.data[i] Tx_cnt%34 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 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);ret1 0;for(;;){//sendfor(i 0; i dlc; i){frame.data[i] Tx_cnt%34 i;Rx_frame.data[i] 0;}ret write(can0_fd, frame, sizeof(frame));if (ret -1){printf(write error !! \n);}printf(\n CAN0 transfer Data:\t);for (i 0; i frame.can_dlc; i)printf( 0x%02x, frame.data[i]);Tx_cnt;printf(\t Tx: %d \n, Tx_cnt);//rxstruct pollfd fds[] {{.fd can0_fd,.events POLLIN,},};err poll(fds, 1, 10000);switch(err){case -1://出错printf(\n poll read error %d , err);break;case 0://超时printf(\n poll read error %d , err);break;default:nbytes read(can0_fd, Rx_frame, sizeof(Rx_frame));printf(\n CAN0 receive id %d, Rx_frame.can_id);printf(\n CAN0 receive dlc %d, Rx_frame.can_dlc);printf(\n CAN0 receive Data:\n);for (i 0; i Rx_frame.can_dlc; i)printf( 0x%02x, Rx_frame.data[i]);printf(\n);break;}sleep(10);}can_do_stop(can0); return 0;
}三、测试结果
CAN0口连接周立功USBCAN-E-mini连接电脑测试收发。 参考 https://blog.csdn.net/wallace89/article/details/111303439
