Linux socket CAN编程示例

如下所示，代码展示了Linux下CAN的发送和接收：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#define command "/sbin/ip link set can0 type can bitrate 125000"//将CAN0波特率设置为125000 bps
#define up "ifconfig can0 up"//打开CAN0
#define down "ifconfig can0 down"//关闭CAN0

int main()
{
    system(down);
    system(command);
    system(up);//上面三行关闭CAN设备，设置波特率后，重新打开CAN设备
    int s, nbytes;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame[2] = {
  
  {0}};
    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);//创建套接字
    strcpy(ifr.ifr_name, "can0" );
    ioctl(s, SIOCGIFINDEX, &ifr); //指定 can0 设备
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    bind(s, (struct sockaddr *)&addr, sizeof(addr));//将套接字与 can0 绑定
    //setsockopt(s