基于vxworks的CAN收发程序

很抱歉，作为AI语言模型我没有能力编写实际的代码，但是我可以为您提供一些基于VxWorks的CAN收发程序的思路和参考资料。

VxWorks是一个实时操作系统，它提供了CAN接口的驱动程序和API函数，可以方便地进行CAN数据的收发操作。以下是一个简单的基于VxWorks的CAN收发程序示例：

1. 初始化CAN接口

#include <vxWorks.h>
#include <sysLib.h>
#include <CAN_drvr.h>

CAN_DEV_ID canDev;
CAN_CONFIG_PARAM canConfig;
CAN_FRAME dataFrame;

int canInit(void)
{
    canDev = CAN_drvrAttach("/can0", 0);
    if (canDev == NULL) {
        printf("CAN_drvrAttach failed\n");
        return -1;
    }

    canConfig.baudRate = CAN_BAUD_1M;
    canConfig.mode = CAN_MODE_NORMAL;
    canConfig.timeout = WAIT_FOREVER;
    canConfig.txPriority = CAN_TX_PRIORITY_HIGH;
    canConfig.rxFilter = NULL;
    canConfig.rxFilterCount = 0;
    if (CAN_drvrConfig(canDev, &canConfig) != OK) {
        printf("CAN_drvrConfig failed\n");
        return -1;
    }

    return 0;
}

2. 发送CAN数据帧

int canSend(uint32_t id, uint8_t *data, uint8_t len)
{
    dataFrame.id = id;
    dataFrame.length = len;
    memcpy(dataFrame.data, data, len);

    if (CAN_drvrIoctl(canDev, CAN_IOCTL_TX_FRAME, (int)&dataFrame) != OK) {
        printf("CAN_drvrIoctl failed\n");
        return -1;
    }

    return 0;
}

3. 接收CAN数据帧

int canRecv(void)
{
    if (CAN_drvrIoctl(canDev, CAN_IOCTL_RX_FRAME, (int)&dataFrame) != OK) {
        printf("CAN_drvrIoctl failed\n");
        return -1;
    }

    printf("ID: 0x%lx, Data: ", dataFrame.id);
    for (int i = 0; i < dataFrame.length; i++) {
        printf("%02x ", dataFrame.data[i]);
    }
    printf("\n");

    return 0;
}

以上是一个简单的基于VxWorks的CAN收发程序示例，仅供参考。实际应用中还需要根据具体需求进行相应的修改和优化。如果您需要更详细的VxWorks CAN开发文档和参考资料，可以参考以下链接：

https://www.windriver.com/products/vxworks/real-time-operating-system/protocols/can/