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.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(&current->send_thread, NULL, can_send_thread, (void *)current);pthread_create(&current->recv_thread, NULL, can_recv_thread, (void *)current);
}