生成嵌入式场景的CAN通信代码

CAN (Controller Area Network) 是一种工业标准串行通信协议，常用于汽车、自动化设备等嵌入式系统中。在编写嵌入式设备的CAN通信代码时，一般会涉及硬件初始化、数据帧发送和接收处理等方面。下面是一个简单的基于C语言的Linux环境下的CAN通信代码示例：

#include <stdio.h>
#include <can.h> // Linux CAN库

// CAN配置结构体
struct can_config {
    struct can_device *dev; // CAN设备句柄
    uint32_t channel; // CAN通道
    uint32_t bitrate; // 数据传输速率
};

void can_init(struct can_config *cfg) {
    if ((cfg->dev = can_open("/dev/can0", O_RDWR)) == NULL) {
        perror("Can open failed");
        return;
    }
    
    if (can_set_bitrate(cfg->dev, cfg->channel, cfg->bitrate) < 0) {
        perror("Set bitrate failed");
        can_close(cfg->dev);
        return;
    }

    printf("CAN initialized with bitrate %u kbps\n", cfg->bitrate / 1000);
}

void send_can_message(uint8_t id, uint8_t data[]) {
    struct can_frame frame;

    frame.id = id;
    frame.flags |= CAN_FDF | CAN_EFF; // Data Frame and Remote Transmission Request
    frame.data[0] = data[0];
    frame.data[1] = data[1]; // Assuming a two-byte data payload

    if (can_send(cfg->dev, &frame, sizeof(frame), CAN_INV鲑) < 0) {
        perror("Sending CAN message failed");
    } else {
        printf("Sent CAN message with ID 0x%03X\n", id);
    }
}

int main() {
    struct can_config config = {NULL, 0, 500000}; // Example configuration: Channel 0, 500kbps bitrate
    can_init(&config);

    // Replace these with actual CAN messages for your application
    send_can_message(0x123, {0x45, 0x67}); // ID: 0x123, Data: {0x45, 0x67}

    can_close(config.dev); // Don't forget to close the device when done
    return 0;
}