[ADD] can driver
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6332f6b17d
commit
d92ffe2966
301
drv/drv_can.c
301
drv/drv_can.c
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#include "drv_can.h"
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#include <errno.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <net/if.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <termios.h> /*PPSIX 终端控制定义*/
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#include "drv_can.h"
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/*
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* @description : 字符串按格式输出
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* @param - *destpoint : 字符串格式缓冲区
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* @param - *fmt : 多个参数
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* @return : 按格式输出字符串缓冲区首指针
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*/
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char func_dprintf(char *destpoint, char *fmt, ...)
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{
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va_list arg_ptr;
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char ulen, *tmpBuf;
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tmpBuf = destpoint;
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va_start(arg_ptr, fmt);
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ulen = vsprintf(tmpBuf, fmt, arg_ptr);
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va_end(arg_ptr);
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return ulen;
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}
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/*
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* @description : 打开can外设，设置波特率，创建文件描述符
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* @param - *device : 设备名称
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* @param - para : can应用参数
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* @return : 打开设备执成功返回文件描述符，失败返回-1
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*/
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int func_open_can(char *device, struct_can_param para)
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{
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FILE *fstream = NULL;
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char buff[300] = {0}, command[50] = {0};
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int fd = -1;
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struct sockaddr_can addr;
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struct ifreq ifr;
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/*关闭can设备 ifconfig can0 down*/
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memset(buff, 0, sizeof(buff));
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memset(command, 0, sizeof(command));
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func_dprintf(command, "ifconfig %s down", device);
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printf("%s \n", command);
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if (NULL == (fstream = popen(command, "w")))
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{
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fprintf(stderr, "execute command failed: %s", strerror(errno));
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}
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while (NULL != fgets(buff, sizeof(buff), fstream))
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{
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printf("%s\n", buff);
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if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
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return -1;
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}
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pclose(fstream);
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sleep(1);
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/*设置can波特率 ip link set can0 up type can bitrate 250000 triple-sampling on*/
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memset(buff, 0, sizeof(buff));
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memset(command, 0, sizeof(command));
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if (para.loopback_mode == 1)
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{
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func_dprintf(command, "ip link set %s up type can bitrate %d triple-sampling on loopback on", device, para.baudrate);
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}
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else
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{
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func_dprintf(command, "ip link set %s up type can bitrate %d triple-sampling on loopback off", device, para.baudrate);
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}
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printf("%s \n", command);
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if (NULL == (fstream = popen(command, "w")))
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{
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fprintf(stderr, "execute command failed: %s", strerror(errno));
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}
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while (NULL != fgets(buff, sizeof(buff), fstream))
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{
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printf("%s\n", buff);
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if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
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return -1;
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}
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pclose(fstream);
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sleep(1);
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/*打开can设备 ifconfig can0 up*/
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memset(buff, 0, sizeof(buff));
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memset(command, 0, sizeof(command));
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func_dprintf(command, "ifconfig %s up", device);
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printf("%s \n", command);
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if (NULL == (fstream = popen(command, "w")))
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{
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fprintf(stderr, "execute command failed: %s", strerror(errno));
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}
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while (NULL != fgets(buff, sizeof(buff), fstream))
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{
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printf("%s\n", buff);
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if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
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return -1;
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}
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pclose(fstream);
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sleep(3);
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/* 创建 socket */
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fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (fd < 0)
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{
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printf("socket:%s", strerror(errno));
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return -1;
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}
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/* 设置接口设备名称 */
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strcpy(ifr.ifr_name, device);
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/* 确定接口 index */
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if (ioctl(fd, SIOCGIFINDEX, &ifr) < 0)
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{
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printf("SIOCGIFINDEX:%s\n", strerror(errno));
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return -1;
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}
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memset(&addr, 0, sizeof(addr));
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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/* 绑定 socket到 CAN 接口 */
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if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
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{
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printf("bind:%s\n", strerror(errno));
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return -1;
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}
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return fd;
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}
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/*
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* @description : 设置can回环模式和过滤规则
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* @param - fd : 文件描述符
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* @param - para: can应用参数
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* @return : 设置成功返回1，失败返回-1
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*/
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int func_set_can(int fd, struct_can_param para)
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{
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int loopback = 1;
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int reciveown = 1;
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if (para.loopback_mode == 1)
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{
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//回环设置 0 关闭回环 1 打开回环
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setsockopt(fd, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
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//接收自己的帧 0 不接收自己帧 1 接收自己帧
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setsockopt(fd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &reciveown, sizeof(reciveown));
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}
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/* 设置过滤规则 */
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if (setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FILTER, ¶.filter, sizeof(para.filter)) < 0)
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{
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printf("error when set filter\n");
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return -1;
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}
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return 1;
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}
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/*
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* @description : can接收一个can帧
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* @param - fd : 文件描述符
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* @param - *pframe: 一个can帧结构体指针
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* @return : 接收数据长度
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*/
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int func_receive_can_frame(int fd, struct can_frame *pframe)
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{
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int rx_count = 0;
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rx_count = recv(fd, pframe, sizeof(*pframe), 0);
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if (rx_count <= 0)
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{
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return rx_count;
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}
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else
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{
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if (pframe->can_id & CAN_EFF_FLAG) /*如果是扩展帧，清除扩展帧标识*/
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{
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pframe->can_id &= (~CAN_EFF_FLAG);
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}
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else
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{
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pframe->can_id &= (~CAN_SFF_MASK);
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}
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}
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return pframe->can_dlc;
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}
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/*
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* @description : can接收一组数据包
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* @param - fd : 文件描述符
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* @param - *buff: 要接收can一组数据的缓冲区首指针
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* @param - len : 接收到一组数据的长度
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* @return : 接收数据长度
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*/
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int func_receive_can_buff(int fd, unsigned char *buff, int len)
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{
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int receive_len = 0, total_receive_len = 0;
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struct can_frame frame;
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int i = 0;
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while (1)
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{
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receive_len = func_receive_can_frame(fd, &frame);
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for (i = 0; i < receive_len; i++)
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{
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*(buff + total_receive_len) = frame.data[i];
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total_receive_len++;
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}
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if ((receive_len < 8) || (total_receive_len > (len - 8)))
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{
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return total_receive_len;
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}
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}
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return total_receive_len;
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}
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/*
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* @description : can发送一个can帧
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* @param - fd : 文件描述符
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* @param - *pframe: 一个can帧结构体指针
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* @param - param : can应用参数
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* @return : 发送数据长度，发送失败返回-1
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*/
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int func_send_can_frame(int fd, struct can_frame *pframe, struct_can_param param)
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{
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int result = 0;
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if (param.extend == 1) /*扩展帧增加扩展帧标志*/
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{
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pframe->can_id &= CAN_EFF_MASK;
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pframe->can_id |= CAN_EFF_FLAG;
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}
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else
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{
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pframe->can_id &= CAN_SFF_MASK;
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}
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result = send(fd, pframe, sizeof(struct can_frame), 0);
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if (result == -1)
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{
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printf("send:%s\n", strerror(errno));
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return -1;
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}
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return result;
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}
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/*
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* @description : can发送一组数据包
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* @param - fd : 文件描述符
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* @param - *buff: 要发送can一组数据的缓冲区首指针
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* @param - len : 发送数据的长度
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* @param - param: can应用参数
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* @return : 实际发送数据长度
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*/
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int func_send_can_buff(int fd, unsigned char *buff, int len, struct_can_param param)
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{
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int remain_frame_len = 0, frame_numb = 0;
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struct can_frame frame;
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int i = 0;
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remain_frame_len = len;
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while (1)
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{
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if (remain_frame_len >= 8)
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{
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frame.can_dlc = 8; /*填充发送长度*/
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remain_frame_len -= 8; /*剩余数据长度*/
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}
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else
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{
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frame.can_dlc = remain_frame_len; /*填充发送长度*/
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remain_frame_len = 0; //
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}
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frame.can_id = param.id; /*填充发送id*/
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for (i = 0; i < frame.can_dlc; i++)
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{
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frame.data[i] = buff[frame_numb * 8 + i]; /*填充发送数据*/
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}
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func_send_can_frame(fd, &frame, param);
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frame_numb++;
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if (remain_frame_len == 0)
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{
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return len;
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}
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}
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return len;
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}
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@ -0,0 +1,33 @@
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#ifndef __DRV_CAN_H_
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#define __DRV_CAN_H_
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#include <linux/can.h>
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#define CAN_MODE 0
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#define CAN_FD_MODE 1
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#define _DEFAULT_SOURCE
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/*CAN口参数结构体 */
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typedef struct
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{
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unsigned long baudrate; /*波特率 5k~1000k*/
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unsigned int id; /*设备ID*/
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struct can_filter filter; /*接收设备过滤ID*/
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unsigned char extend; /*扩展ID*/
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unsigned char loopback_mode; /*回环模式*/
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unsigned char canfd_mode; /*CANFD模式*/
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unsigned long data_baudrate; /*CANFD模式下需要单独设置数据波特率*/
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} struct_can_param;
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int func_open_can(char *device, struct_can_param para);
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int func_set_can(int fd, struct_can_param para);
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int func_receive_can_buff(int fd, unsigned char *buff, int len);
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int func_send_can_buff(int fd, unsigned char *buff, int len, struct_can_param param);
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// int func_open_canfd(char *device, struct_can_param para);
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// int func_set_canfd(int fd, struct_can_param para);
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// int func_receive_canfd_buff(int fd, unsigned char *buff, int len);
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// int func_send_canfd_buff(int fd, unsigned char *buff, int len, struct_can_param param);
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#endif
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