imx6ul can调试（代码）

电玩女神 2022-12-30 03:56 303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][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;
    }

[https_blog.csdn.net_cao849861802_article_details_111604277]: https://blog.csdn.net/cao849861802/article/details/111604277