写一个linux开发板的 can通信的应用程序

好的，这里提供一个简单的Linux开发板的CAN通信的应用程序示例：

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

#define CAN_INTERFACE "can0" // CAN接口名称
#define CAN_ID 0x123        // CAN ID

int main(void)
{
    int s; // socket描述符
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame;
    int nbytes;

    // 创建socket
    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if(s < 0) {
        perror("socket PF_CAN failed");
        return 1;
    }

    // 设置CAN接口
    strcpy(ifr.ifr_name, CAN_INTERFACE);
    ioctl(s, SIOCGIFINDEX, &ifr);
    addr.can_family = PF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    bind(s, (struct sockaddr *)&addr, sizeof(addr));

    // 发送CAN数据
    frame.can_id = CAN_ID;
    frame.can_dlc = 2;
    frame.data[0] = 0x01;
    frame.data[1] = 0x02;
    nbytes = write(s, &frame, sizeof(struct can_frame));
    if(nbytes != sizeof(struct can_frame)) {
        perror("write failed");
        close(s);
        return 1;
    }

    // 接收CAN数据
    nbytes = read(s, &frame, sizeof(struct can_frame));
    if(nbytes < 0) {
        perror("read failed");
        close(s);
        return 1;
    }
    printf("can_id = 0x%X, can_dlc = %d, data = %02X %02X\n", 
        frame.can_id, frame.can_dlc, frame.data[0], frame.data[1]);

    close(s);
    return 0;
}

该程序首先创建了一个CAN socket，然后绑定了CAN接口，接着发送了一个CAN数据帧，并最后接收了一个CAN数据帧。其中CAN_INTERFACE和CAN_ID需要根据实际情况进行修改。