libsocketcan 的文档或示例代码
时间: 2023-07-29 14:13:30 浏览: 41
libsocketcan 是一个用于在 Linux 平台上与 CAN 总线进行通信的库。以下是一个简单的示例代码,演示如何使用 libsocketcan 发送和接收 CAN 数据帧:
```c
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>
int main(void)
{
int s;
struct sockaddr_can addr;
struct ifreq ifr;
struct can_frame frame;
int nbytes;
const char *ifname = "can0";
/* 创建 socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
/* 获取 CAN 网络接口名称 */
strcpy(ifr.ifr_name, ifname);
ioctl(s, SIOCGIFINDEX, &ifr);
/* 设置地址 */
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
/* 绑定 socket */
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
/* 准备发送数据 */
memset(&frame, 0, sizeof(frame));
frame.can_id = 0x123;
frame.can_dlc = 2;
frame.data[0] = 0x11;
frame.data[1] = 0x22;
/* 发送数据 */
nbytes = write(s, &frame, sizeof(frame));
if (nbytes != sizeof(frame)) {
perror("write");
return 1;
}
/* 接收数据 */
nbytes = read(s, &frame, sizeof(frame));
if (nbytes < 0) {
perror("read");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
}
/* 打印接收到的数据 */
printf("Received CAN frame: can_id = 0x%X, can_dlc = %d, data = ", frame.can_id, frame.can_dlc);
for (int i = 0; i < frame.can_dlc; i++) {
printf("%02X ", frame.data[i]);
}
printf("\n");
/* 关闭 socket */
close(s);
return 0;
}
```
更多信息和用法请参考 libsocketcan 的官方文档:https://github.com/linux-can/can-utils/blob/master/doc/README.libsocketcan
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