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