imx6ul can调试（代码）-蒲公英云

imx6ul can调试（代码）

电玩女神 2022-12-30 03:56 363阅读 0赞

下面是我的代码，然后代码呢实际的使用需要注意，如果重新设置了can的引脚对应关系，需要重新配置设备树文件；

更改设备树文件：https://blog.csdn.net/cao849861802/article/details/111604277

然后注意can0SystemInit和can1SystemInit中的频率，125000，这个可以修改和从机相同的频率用来通信；

can_id这个是表示can的id这个发送接收的对应要注意；

#include <sys/ioctl.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <pthread.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#ifndef PF_CAN
#define PF_CAN 29
#endif
#ifndef AF_CAN
#define AF_CAN PF_CAN
#endif
/****************CAN START******************/
int can0fd;
int can1fd;
struct sockaddr_can can0Addr;
struct sockaddr_can can1Addr;
void can0fdCreate()
{
    struct ifreq ifr;
    int ret = 0;
    memset(&ifr,0,sizeof(ifr));
    can0fd = socket(PF_CAN,SOCK_RAW,CAN_RAW);
    if(can0fd < 0)
    {
        printf("can0fd create failed \r\n");
        return ;
    }    
        strcpy((char *)(ifr.ifr_name),"can0");
        ioctl(can0fd,SIOCGIFINDEX,&ifr);
    can0Addr.can_family = AF_CAN;
        can0Addr.can_ifindex = ifr.ifr_ifindex;
    if((ret = bind(can0fd,(struct sockaddr*)&can0Addr,sizeof(can0Addr))) < 0)
    {
        printf("bind can0fd failed ,error = %d\r\n",ret);
    }
}
void can1fdCreate()
{
    struct ifreq ifr;
    int ret = 0;
    memset(&ifr,0,sizeof(ifr));
    can1fd = socket(PF_CAN,SOCK_RAW,CAN_RAW);
    if(can1fd < 0)
    {
        printf("can1fd create failed \r\n");
    }
        strcpy((char *)(ifr.ifr_name),"can1");
        ioctl(can1fd,SIOCGIFINDEX,&ifr);
    can1Addr.can_family = AF_CAN;
        can1Addr.can_ifindex = ifr.ifr_ifindex;
    if((ret = bind(can1fd,(struct sockaddr*)&can1Addr,sizeof(can1Addr))) < 0)
    {
        printf("bind can1fd failed ,error = %d\r\n",ret);
    }
}
void can0SystemInit()
{
    system("ifconfig can0 down");
    system("ip link set can0 type can bitrate 125000 triple-sampling on");
    system("ifconfig can0 up");
}
void can1SystemInit()
{
    system("ifconfig can1 down");
    system("ip link set can1 type can bitrate 125000 triple-sampling on");
    system("ifconfig can1 up");
}
int can0BufSend(char *buf,int len)
{
    int i = 0;
    int nbytes = 0;
    struct can_frame frame;
    printf("can 0 send buf = %s\r\n",buf);
    frame.can_id = 123;
        fcntl(fd,F_SETFL,FNDELAY);
    while(len > 0)
    {
        frame.can_dlc = (len >= 8) ? 8 : len;
        memcpy(frame.data,buf,frame.can_dlc);
        buf = buf + frame.can_dlc;
        len = len - frame.can_dlc;
        if ((nbytes = write(can0fd, &frame, sizeof(frame))) != sizeof(frame)) 
        {
            printf("can0 send buf failed ret = %d\r\n",nbytes);
                        fcntl(fd,F_SETFL,0);
            return nbytes;
        }
    }
        fcntl(fd,F_SETFL,0);
    return 0;
}
int can1BufSend(char *buf,int len)
{
    int i = 0;
    int nbytes = 0;
    struct can_frame frame;
    printf("can 1 send buf = %s\r\n",buf);
    frame.can_id = 124;
    while(len > 0)
    {
        frame.can_dlc = (len >= 8) ? 8 : len;
        memcpy(frame.data,buf,frame.can_dlc);
        buf = buf + frame.can_dlc;
        len = len - frame.can_dlc;
        if ((nbytes = write(can1fd, &frame, sizeof(frame))) != sizeof(frame)) 
        {
            printf("can1 send buf failed ret = %d\r\n",nbytes);
            return nbytes;
        }
    }
    return 0;
}
void *can0Task(void *arg)
{
    int nbytes = 0;
    struct can_frame frame;
    char buf[16];
    can0SystemInit();
    can0fdCreate();
    while(1)
    {
            memset(&frame,0,sizeof(frame));
                if ((nbytes = read(can0fd, &frame, sizeof(frame))) <= 0) 
        {
            printf("can 0 recv failed,return \r\n");
            return NULL;
                }
                if(frame.can_dlc == 0)
                    continue;
                if(frame.can_id == 124)
                {
                memset(buf,0,sizeof(buf));
            memcpy(buf,frame.data,frame.can_dlc);
            printf("can 0 recv buf = %s\r\n",buf);
                }
    }
    return NULL;
}
void *can1Task(void *arg)
{
    int nbytes = 0;
    struct can_frame frame;
    char buf[16];
    can1SystemInit();
    can1fdCreate();
    while(1)
    {
        memset(&frame,0,sizeof(frame));
                if ((nbytes = read(can1fd, &frame, sizeof(frame))) <= 0) 
        {
            printf("can 1 recv failed,return \r\n");
            return NULL;
                }
                if(frame.can_dlc == 0)
                    continue;
                if(frame.can_id == 123)
                {
            memset(buf,0,sizeof(buf));
            memcpy(buf,frame.data,frame.can_dlc);        
            printf("can 1 recv buf = %s\r\n",buf);
                }
    }
    return NULL;
}
void canTask()
{
    pthread_t ntid;
    pthread_create(&ntid, NULL, can0Task, NULL);
    printf("can 0 task start ---------\r\n");
    pthread_create(&ntid, NULL, can1Task, NULL);
    printf("can 1 task start ---------\r\n");    
    sleep(5);
    can0BufSend("can 0 send",strlen("can 0 send"));
    can0BufSend("can 0 send",strlen("can 0 send"));
    can0BufSend("can 0 send",strlen("can 0 send"));
    sleep(5);
    can1BufSend("can 1 send",strlen("can 1 send"));
    can1BufSend("can 1 send",strlen("can 1 send"));
    can1BufSend("can 1 send",strlen("can 1 send"));
}
/****************CAN stop******************/
int main()
{
    canTask();
    while(1)
    {
        sleep(1);
    }
    return 0;
}