EMS/drv/drv_can.c

#include "drv_can.h"

void can_recv(char cannum[], unsigned int canID[], int canIDnum, int dataLength) 
{
    struct sockaddr_can addr;
    struct can_frame frame;
    struct can_frame frame_send;
    int s;
    int nbytes;
    struct can_filter filters[canIDnum];

    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (s < 0) {
        perror("Socket creation failed");
        exit(EXIT_FAILURE);
    }
    printf("创建Can_recv_Socket sucess\n");

    memset(&addr, 0, sizeof(struct sockaddr_can));
    addr.can_family = AF_CAN;
    addr.can_ifindex = if_nametoindex(cannum); // 设置can接口

    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("Binding failed");
        exit(EXIT_FAILURE);
    }
    printf("连接CAN设备 sucess\n");

    // 设置发送帧的参数，使用传入的canID和数据长度
    frame_send.can_id = 0x123456;
    frame_send.can_dlc = dataLength;
    memset(frame_send.data, 0, dataLength);
    frame_send.data[0] = 0x11;
    frame_send.data[1] = 0x22;

    // 设置过滤规则，只接收指定canID的帧
    for(int i = 0; i < canIDnum; i++)
    {
        filters[i].can_id = canID[i];
        filters[i].can_mask = 0x7FF;  // 这里的掩码根据实际需求设置，0x7FF表示只匹配canID的低11位
    }

    if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, filters, sizeof(filters)) < 0) {
        perror("Setting filter failed");
        exit(EXIT_FAILURE);
    }

    nbytes = read(s, &frame, sizeof(struct can_frame));
    if (nbytes < 0) {
        perror("Read failed");
        exit(EXIT_FAILURE);
    }
    int match_found = 0;
    for (int i = 0; i < canIDnum; i++) {
        if ((frame.can_id & filters[i].can_mask) == filters[i].can_id) {
            match_found = 1;
            break;
        }
    }
    if (match_found) {
        printf("Received %d bytes: CAN ID 0x%X, Data: ", nbytes, frame.can_id);
        for (int i = 0; i < frame.can_dlc; i++) {
            printf("%02X ", frame.data[i]);
        }
        printf("\n");
        // nbytes = write(s, &frame_send, sizeof(struct can_frame));
        // if (nbytes < 0) {
        //     perror("Send failed");
        //     exit(EXIT_FAILURE);
        // }
        // printf("Sent %d bytes: CAN ID 0x%X, Data: ", nbytes, frame_send.can_id);
        // for (int i = 0; i < frame_send.can_dlc; i++) {
        //     printf("%02X ", frame_send.data[i]);
        // }
        // printf("\n");
    }
    close(s);
}

void can_send(char cannum[], unsigned int canID, char* dataToSend, int dataLength) 
{
    struct sockaddr_can addr;
    struct can_frame frame_send;
    int s;

    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (s < 0) {
        perror("Socket creation failed for sending");
        exit(EXIT_FAILURE);
    }
    printf("create the can_send socket success!\n");

    memset(&addr, 0, sizeof(struct sockaddr_can));
    addr.can_family = AF_CAN;
    addr.can_ifindex = if_nametoindex(cannum);

    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("Binding failed for sending");
        exit(EXIT_FAILURE);
    }

    // 设置发送帧的参数
    frame_send.can_id = canID;
    frame_send.can_dlc = dataLength;
    memset(frame_send.data, 0, dataLength);
    for (int i = 0; i < dataLength; i++) {
        frame_send.data[i] = dataToSend[i];
    }

    int nbytes = write(s, &frame_send, sizeof(struct can_frame));
    if (nbytes < 0) {
    perror("Send failed");
    exit(EXIT_FAILURE);
    }

    printf("Sent %d bytes: CAN ID 0x%X, Data: ", nbytes, frame_send.can_id);
    for (int i = 0; i < frame_send.can_dlc; i++) {
    printf("%02X ", frame_send.data[i]);
    }
    printf("\n");

    close(s);
}