个人软件网站域名,镇江网站建设制作,阿里巴巴运营技巧,广东如何做企业网站设计Linux CAN通信 实现了Linux下的CAN通信——初始化#xff0c;发两个送和接收#xff08;采用队列形式#xff09;#xff0c;使用两个线程#xff0c;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 stdio.h
#incl…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 stdio.h
#include sys/ioctl.h
#include arpa/inet.h
#include net/if.h
#include linux/socket.h
#include linux/can.h
#include linux/can/error.h
#include linux/can/raw.h
#include fcntl.h
#include unistd.h
#include stdlib.h
#include string.h
#include errno.h
#include time.h
#include pthread.h
#include can_queue.h
#include type.h#ifndef AF_CAN
#define AF_CAN 29
#endif
#ifndef PF_CAN
#define PF_CAN AF_CAN
#endiftypedef enum
{CAN_PORT_0 0, // can0CAN_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.hstatic 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(current-send_thread, NULL, can_send_thread, (void *)current);pthread_create(current-recv_thread, NULL, can_recv_thread, (void *)current);
}
