linux c can总线

sudo apt-get update
sudo apt-get install can-utils socketcan

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int main() {
    int s;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame;

    // 创建SocketCAN套接字
    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
        perror("Socket");
        return 1;
    }

    // 设置接口名称
    strcpy(ifr.ifr_name, "can0");

    // 绑定套接字到CAN接口
    ioctl(s, SIOCGIFINDEX, &ifr);
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("Bind");
        return 1;
    }

    // 发送CAN消息
    frame.can_id = 0x123;  // CAN标识符
    frame.can_dlc = 8;      // 数据长度
    memset(frame.data, 0xAA, 8);  // 填充数据
    if (write(s, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
        perror("Write");
        return 1;
    }

    // 接收CAN消息
    if (read(s, &frame, sizeof(struct can_frame)) > 0) {
        printf("Received CAN frame with ID: %X\n", frame.can_id);
        for (int i = 0; i < frame.can_dlc; i++) {
            printf("%02X ", frame.data[i]);
        }
        printf("\n");
    }

    close(s);
    return 0;
}