linux can 通信程序,Linux CAN通信
Linux CAN通信
实现了Linux下的CAN通信——初始化，发两个送和接收(采用队列形式)，使用两个线程，还有一个超时响应目前未写。接收部分使用select实现。
#ifndef _CAN_H_
#define _CAN_H_
#include
#include
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#include
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#include
#include "can_queue.h"
#include "type.h"
#ifndef AF_CAN
#define AF_CAN 29
#endif
#ifndef PF_CAN
#define PF_CAN AF_CAN
#endif
typedef enum
{
CAN_PORT_0 = 0, // can0
CAN_PORT_1, // can1
}can_port_t ;
typedef struct
{
char *name;
int fd;
fd_set fdsr;
pthread_t send_thread;
pthread_t recv_thread;
pthread_t time_thread;
can_queue_t *send_queue; // 接受和发送的队列
can_queue_t *recv_queue;
} can_t;
void *CanInit(int arg);
#endif /* _CAN_H_ */
#include "can.h"
static can_t *can_init(int name)
{
int ret;
struct sockaddr_can addr;
struct ifreq ifr;
struct can_filter rfilter[1];
can_t *current = (can_t *)malloc(sizeof(can_t));
current->fd = Socket(PF_CAN, SOCK_RAW, CAN_RAW);
sprintf(ifr.ifr_name, "can%d", name);
current->name = (char *)malloc(6);
memset(current->name, 0, 6);
sprintf(current->name, "can%d", name);
ret = ioctl(current->fd, SIOCGIFINDEX, &ifr);
if(ret < 0)
{
exit(0);
}
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
Bind(current->fd, (struct sockaddr *)&addr, sizeof(addr));
rfilter[0].can_id = 0x2;
rfilter[0].can_mask = 0;
Setsockopt(current->fd, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
return current;
}
static void *can_send_thread(void *arg)
{
int ret;
can_t *current = arg;
can_frame_t frame;
uint8_t read_ret = 0;
while(1)
{
Write(current->fd, &frame, sizeof(frame));
read_ret = current->send_queue->can_read(current->send_queue, &frame);
if(CAN_OK == read_ret)
{
ret = Write(current->fd, &frame, sizeof(frame));
usleep(1200);
}
usleep(100);
}
return NULL;
}
static void *can_recv_thread(void *arg)
{
int ret, i;
can_frame_t frame;
struct timeval tv;
fd_set rset;
can_t *current = arg;
while (1)
{
tv.tv_sec = 0;
tv.tv_usec = 200;
FD_ZERO(&rset);
FD_SET(current->fd, &rset);
ret = select(current->fd + 1, &rset, NULL, NULL, NULL);
if (0 == ret)
{
return NULL;
}
ret = read(current->fd, &frame, sizeof(frame));
if (ret < sizeof(frame))
{
return NULL;
}
if (current->recv_queue->can_write(current->recv_queue, &frame) == CAN_ERROR)
{
}
}
return NULL;
}
void *CanInit(int arg)
{
can_t *current = can_init(arg);
current->recv_queue = CanQueueInit(CAN_RECV_QUEUE_SIZE);
current->send_queue = CanQueueInit(CAN_SEND_QUEUE_SIZE);
pthread_create(¤t->send_thread, NULL, can_send_thread, (void *)current);
pthread_create(¤t->recv_thread, NULL, can_recv_thread, (void *)current);
}