倍福can通信设置例程

以下是使用倍福CAN进行通信的示例代码：

#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <string.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int main()
{
    int socket_can;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame;
    int nbytes;
    int i;

    // 打开CAN socket
    socket_can = socket(PF_CAN, SOCK_RAW, CAN_RAW);

    // 设置CAN接口名
    strcpy(ifr.ifr_name, "can0");
    ioctl(socket_can, SIOCGIFINDEX, &ifr);

    // 绑定CAN socket和CAN接口
    addr.can_family = PF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    bind(socket_can, (struct sockaddr *)&addr, sizeof(addr));

    // 设置CAN帧ID和数据
    frame.can_id = 0x123;   // 设置CAN帧ID
    frame.can_dlc = 8;      // 设置CAN帧数据长度
    for(i=0; i<8; i++)
    {
        frame.data[i] = i+1;  // 设置CAN帧数据
    }

    // 发送CAN帧
    nbytes = write(socket_can, &frame, sizeof(frame));
    if(nbytes != sizeof(frame))
    {
        printf("Send CAN frame failed!\n");
    }
    else
    {
        printf("Send CAN frame success!\n");
    }

    // 接收CAN帧
    nbytes = read(socket_can, &frame, sizeof(frame));
    if(nbytes > 0)
    {
        printf("Receive CAN frame success!\n");
        printf("CAN frame ID: 0x%x\n", frame.can_id);
        printf("CAN frame DLC: %d\n", frame.can_dlc);
        printf("CAN frame data: ");
        for(i=0; i<frame.can_dlc; i++)
        {
            printf("%02X ", frame.data[i]);
        }
        printf("\n");
    }
    else
    {
        printf("Receive CAN frame failed!\n");
    }

    // 关闭CAN socket
    close(socket_can);

    return 0;
}

需要注意的是，在使用以上的代码之前，需要先安装CAN驱动程序，并且需要将CAN总线的物理连接正确接好。此外，还需要根据具体情况修改CAN接口名和CAN帧ID等参数。