123 lines
3.6 KiB
C
123 lines
3.6 KiB
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);
|
||
} |