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can接收应用程序：
[mw_shl_code=c,true]#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <getopt.h>
/**
* @brief: print usage message
* @Param: stream: output device
* @Param: exit_code: error code which want to exit
*/
void print_usage (FILE *stream, int exit_code)
{
fprintf(stream, "Usage: option [ dev... ] \n");
fprintf(stream,
"\t-h --help Display this usage information.\n"
"\t-d --device The device can[0-1]\n"
"\t-i --id Set the can id that want to receive\n");
exit(exit_code);
}
/**
* @brief: main function
* @Param: argc: number of parameters
* @Param: argv: parameters list
*/
int main(int argc, char *argv[])
{
int s, nbytes, i;
char *device;
int id, next_option, device_flag=0, id_flag=0;
struct sockaddr_can addr;
struct ifreq ifr;
struct can_frame frame;
struct can_filter rfilter[1];
const char *const short_options = "hd:i:";
const struct option long_options[] = {
{ "help", 0, NULL, 'h'},
{ "device", 1, NULL, 'd'},
{ "id", 1, NULL, 'i'},
{ NULL, 0, NULL, 0 }
};
while (1) {
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if (next_option < 0)
break;
switch (next_option) {
case 'h':
print_usage (stdout, 0);
break;
case 'd':
device = optarg;
device_flag = 1;
break;
case 'i':
id = atoi(optarg);
id_flag = 1;
break;
case '?':
print_usage (stderr, 1);
break;
default:
abort ();
}
}
if (!device_flag) {
print_usage (stdout, 0);
exit(0);
}
/* create a socket */
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
strcpy(ifr.ifr_name, device);
/* determine the interface index */
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
/* bind the socket to a CAN interface */
bind(s, (struct sockaddr *)&addr, sizeof(addr));
if (id_flag) {
/* define the filter rules */
rfilter[0].can_id = id;
rfilter[0].can_mask = CAN_SFF_MASK;
/* Set the filter rules */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
}
while(1) {
/* receive frame */
nbytes = read(s, &frame, sizeof(frame));
/* printf the received frame */
if (nbytes > 0) {
printf("%s %#x [%d] ", ifr.ifr_name, frame.can_id, frame.can_dlc);
for (i = 0; i < frame.can_dlc; i++)
printf("%#x ", frame.data);
printf("\n");
}
}
close(s);
return 0;
} [/mw_shl_code]
can发送应用程序：
[mw_shl_code=c,true]#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <getopt.h>
char *program_name;
/**
* @brief: print usage message
* @Param: stream: output device
* @Param: exit_code: error code which want to exit
*/
void print_usage (FILE *stream, int exit_code)
{
fprintf(stream, "Usage: %s [ dev... ] \n", program_name);
fprintf(stream,
"\t-h --help Display this usage information.\n"
"\t-d --device The device can[0-1]\n"
"\t-i --id Set the can id that want to send\n");
exit(exit_code);
}
/**
* @brief: Hexadecimal number converted to decimal number
* @Param: pHex: the Hexadecimal number that formularize string format
*/
int hex2dec(const char * phex)
{
int dwhexnum=0;
if ((phex[0] == '0') && (phex[1] == 'x' || phex[1] == 'X')) {
phex = phex + 2;
}
for (; *phex!=0 ; phex++) {
dwhexnum *= 16;
if ((*phex>='0') && (*phex<='9'))
dwhexnum += *phex-'0';
else if ((*phex>='a') && (*phex<='f'))
dwhexnum += *phex-'a'+10;
else if ((*phex>='A') && (*phex<='F'))
dwhexnum += *phex-'A'+10;
else {
printf("hex format error!\n");
exit(0);
}
}
return dwhexnum;
}
/**
* @brief: main function
* @Param: argc: number of parameters
* @Param: argv: parameters list
*/
int main(int argc, char *argv[])
{
int s, nbytes, i;
char *device;
int id, next_option, device_flag=0, id_flag=0;
struct sockaddr_can addr;
struct ifreq ifr;
struct can_frame frame[1];
const char *const short_options = "hd:i:";
const struct option long_options[] = {
{ "help", 0, NULL, 'h'},
{ "device", 1, NULL, 'd'},
{ "id", 1, NULL, 'i'},
{ NULL, 0, NULL, 0 }
};
program_name = argv[0];
while (1) {
next_option = getopt_long (argc, argv, short_options, long_options, NULL);
if (next_option < 0)
break;
switch (next_option) {
case 'h':
print_usage (stdout, 0);
break;
case 'd':
device = optarg;
device_flag = 1;
break;
case 'i':
id = hex2dec(optarg);
id_flag = 1;
break;
case '?':
print_usage (stderr, 1);
break;
default:
abort ();
}
}
if (!device_flag || !id_flag) {
print_usage (stdout, 0);
exit(0);
}
/* create a socket */
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
strcpy(ifr.ifr_name, device );
/* determine the interface index */
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
/* bind the socket to a CAN interface */
bind(s, (struct sockaddr *)&addr, sizeof(addr));
/* Set the filter rules */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
/* generate CAN frames */
frame[0].can_id = id;
frame[0].can_dlc = argc - 5;
for(i = 0; i < frame[0].can_dlc; i++) {
frame[0].data = hex2dec(argv[5 + i]);
}
/* send CAN frames */
while(1) {
nbytes = write(s, &frame[0], sizeof(frame[0]));
if (nbytes < 0) {
perror("can raw socket write");
return 1;
}
/* paranoid check ... */
if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
}
sleep(1);
}
close(s);
return 0;
} [/mw_shl_code]
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