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AM335X Can 应用程序，下载：
am335x-can-app.c
(2.05 KB, 下载次数: 7932)
源码：
[mw_shl_code=c,true]#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <pthread.h>
#include <stdio.h>
#include <string.h>
#ifndef PF_CAN
#define PF_CAN 29
#endif
#ifndef AF_CAN
#define AF_CAN PF_CAN
#endif
int main(char *argv[], int argc)
{
int s,res;
pthread_t id;
unsigned long nbytes;
struct sockaddr_can addr;
struct ifreq ifr;
struct can_frame frame;
char senddata[80] = { "test" };
int len;
int index;
s = socket(PF_CAN,SOCK_RAW,CAN_RAW); // Create a socket with PF_CAN family, SOCK_RAW and CAN_RAW protocol
strcpy((char *)(ifr.ifr_name),"can0"); // Use can0
res = ioctl(s,SIOCGIFINDEX,&ifr); // Control device and get information
printf("ioctl:%d\n", res);
printf("can0 can_ifindex = %x\n",ifr.ifr_ifindex);
int loopback = 0; /* 0 = disabled, 1 = enabled (default) */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback)); // Setting lookback options
printf("set can0 sock loopback unable:%d\n", res);
int recv_own_msgs = 0; /* 0 = disabled (default), 1 = enabled */
res = setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, // Setting receiver own massages options
&recv_own_msgs, sizeof(recv_own_msgs));
printf("set can0 do not receiver own massage:%d\n", res);
addr.can_family = AF_CAN; // Use AF_CAN protocol family
addr.can_ifindex = ifr.ifr_ifindex; // frame index
res = bind(s,(struct sockaddr*)&addr,sizeof(addr)); // Binding sock
printf("bind can0 sock:%d\n", res);
frame.can_id = 0x123;
len = strlen(senddata) - 1;
while (1) {
strncpy(frame.data, senddata, 5);
frame.can_dlc = strlen(frame.data);
nbytes = sendto(s, &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
if (nbytes != -1) {
printf("Send success: %d %s\n", nbytes, senddata);
usleep(500000);
nbytes = recvfrom(s, &frame, sizeof(struct can_frame), 0, (struct sockaddr *)&addr, &len);
if (nbytes != -1) {
printf("Recv message: %d %s\n", nbytes, frame.data);
}
}
}
return 0;
}
[/mw_shl_code]
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