[IMX6UL] CAN 测试

首先使用ifconfig  -a  命令确认是否有can0 和can1存在

然后使用 ifconfig 看 两个can 是否打开，

如果没有打开，使用

ip link set can1 type can bitrate 500000

ip link set can1 up // 启动can1

ip link set can0 type can bitrate 500000 //设置can0 为500kbps

ip link set can0 up // 启动can0

使用下边的两条指令查看统一参数

ip -details -statistics link show can0

ip -details link show can0

使用 ./can_test1 -r can1 &    //can1 进行接收

./can_test -s  can0      //can0发送   将

将can0和can1 短接 即可看到有数据接收 

源码如下

/*
 * cantest.c
 *
 *  Created on: 2017-5-16
 *      Author: simon

*  add :print 

* author :xiaov
*/

#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>


int main(int argc, char *argv[])
{
int s, nbytes;
char *array[2] = {"-r", "-s"};
struct sockaddr_can addr;
struct ifreq ifr;
struct can_frame frame;
struct can_filter rfilter[1];
    int i;

/* handle (optional) flags first */
if(argc != 3) {
fprintf(stderr, "Usage:  %s <-r> <can interface name> for receiving\nor <-s> <can interface name> for sending\n", argv[0]);
exit(1);
}
    /* create socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
{
   perror("Create socket failed");
   exit(-1);
}

/* set up can interface */
strcpy(ifr.ifr_name, argv[2]);
printf("can port is %s\n",ifr.ifr_name);
/* assign can device */
ioctl(s, SIOCGIFINDEX, &ifr);
    addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
    /* bind can device */
if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
{
perror("Bind can device failed\n");
close(s);
exit(-2);
}

/* configure receiving */
if(!strcmp(argv[1],array[0]))
{
   /* set filter for only receiving packet with can id 0x1F */
   rfilter[0].can_id = 0x1F;
   rfilter[0].can_mask = CAN_SFF_MASK;
   if(setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter)) < 0)
   {
    perror("set receiving filter error\n");
    close(s);
    exit(-3);
   }
   /* keep reading */
   while(1){
       nbytes = read(s, &frame, sizeof(frame));
       if(nbytes > 0)
       {
        printf("read datas:%s ID=%#x data length=%d\n", ifr.ifr_name, frame.can_id, frame.can_dlc);
        for ( i=0; i < frame.can_dlc; i++)
        printf("%#x ", frame.data[i]);
        printf("\n");
       }
printf("read over\n");
   }
}
/* configure sending */
else if(!strcmp(argv[1],array[1]))
{   
        /* configure can_id and can data length */
frame.can_id = 0x1F;
        frame.can_dlc = 8;
        printf("%s ID=%#x data length=%d\n", ifr.ifr_name, frame.can_id, frame.can_dlc);
        /* prepare data for sending: 0x11,0x22...0x88 */
        for (i=0; i<8; i++)
        {
        frame.data[i] = ((i+1)<<4) | (i+1);
        printf("%#x ", frame.data[i]);
        }
        printf("Sent out\n");
        /* Sending data */
        if(write(s, &frame, sizeof(frame)) < 0)
{
            perror("Send failed");
            close(s);
            exit(-4);
}
    }
/* wrong parameter input situation */
else
{
   printf("wrong parameter input\n");
}

close(s);
    return 0;
}