socket CAN
<pre><code>ifconfig –a
# ip命令设置baudrate
ip link set can0 type cantq 125 prop-seg 6phase-seg1 7 phase-seg2 2 sjw 1
#或直接设置
ip link set can0 type can bitrate 125000
#查询设定值
ip -details link show can0
#使能can
ifconfig can0 up
#关闭can
ifconfig can0 down
#查询can工作状态
ip -details -statistics link show can0</code></pre>
<pre><code>struct sockaddr_can addr;
struct ifreq ifr;
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);//创建 SocketCAN 套接字
strcpy(ifr.ifr_name, "can0" );
ioctl(s, SIOCGIFINDEX, &ifr);//指定 can0 设备
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
bind(s, (struct sockaddr *)&addr, sizeof(addr)); //将套接字与 can0 绑定
struct can_frame frame;
int nbytes = write(s, &frame, sizeof(frame)); //发送数据
if(nbytes != sizeof(frame)) //如果 nbytes 不等于帧长度，就说明发送失败
write(s, &frame, sizeof(frame));
int nbytes = read(s, &frame, sizeof(frame));
# 过滤
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); //禁用过滤规则
# 过滤错误帧
can_err_mask_t err_mask = ( CAN_ERR_TX_TIMEOUT | CAN_ERR_BUSOFF );
setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, err_mask, sizeof(err_mask));
#回环
int loopback = 0; // 0 表示关闭, 1 表示开启( 默认)
setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));</code></pre>