嵌入式linux CAN 应用测试代码

#include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <string.h> #include <net/if.h> #include <sys/types.h> #include <sys/socket.h> #include <sys/ioctl.h> #include <sys/mman.h> #include <linux/can.h> #include <linux/can/raw.h> #define DEBUG #ifdef DEBUG #define DEBUG_INFO(fmt, args...) fprintf(stderr, fmt, ##args) #define DEBUG_ERROR(fmt, args...) fprintf(stderr, fmt"%s\t%s\t%d\n", ##args, __FILE__,__FUNCTION__,__LINE__) #else #define DEBUG_INFO(fmt, args...) #define DEBUG_ERROR(fmt, args...) #endif #define SHMSIZE 10 #define SHMNAME "shmtest" #define RET_SUCCESS 0 #define RET_FAILED -1 #define BUF_SIZE 512 #define DEV_CAN "can0" #define CAN_TEST_READ 0 #define CAN_TEST_WRITE 1 #define CAN_ID 0x123 #define CAN_DATA_LEN_MAX 8 struct can_frame frame; static int can_send(int socket, struct can_frame *pframe) { if (sizeof(struct can_frame) != write(socket, pframe, sizeof(struct can_frame))) { return RET_FAILED; } else { return RET_SUCCESS; } } static int can_rcv(int socket, struct can_frame *pframe) { if (sizeof(struct can_frame) != read(socket, pframe, sizeof(struct can_frame))) { return RET_FAILED; } else { return RET_SUCCESS; } } static void can_exit(int socketfd) { close(socketfd); } static int can_init(int *psocket) { int socked; struct sockaddr_can can_addr; struct ifreq ifr; if((socked = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { DEBUG_ERROR("open can socket error."); return RET_FAILED; } memset(&ifr, 0, sizeof(ifr)); strcpy(ifr.ifr_name, DEV_CAN); if (RET_SUCCESS != ioctl(socked, SIOCGIFINDEX, &ifr)) { DEBUG_ERROR("ioctl SIOCGIFINDEX failed."); close(socked); return RET_FAILED; } memset(&can_addr, 0, sizeof(can_addr)); can_addr.can_family = AF_CAN; can_addr.can_ifindex = ifr.ifr_ifindex; if(bind(socked, (struct sockaddr *)&can_addr, sizeof(can_addr)) < 0) { DEBUG_ERROR("bind can socket failed."); close(socked); return RET_FAILED; } *psocket = socked; return RET_SUCCESS; } static int can_test_rcv(int socked, struct can_frame *pframe) { int i; int ret; int fd; char *ptr; fd = shm_open(SHMNAME, O_CREAT | O_TRUNC | O_RDWR, S_IRUSR | S_IWUSR); if (fd<0) { perror("shm_open error"); exit(-1); } ftruncate(fd, SHMSIZE); ptr = mmap(NULL, SHMSIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0); if (ptr == MAP_FAILED) { perror("mmap error"); exit(-1); } while (1) { ret = can_rcv(socked, pframe); if (RET_SUCCESS == ret) { DEBUG_INFO("recieve can datas: can_id = 0x%x," "data_len = %d\n", pframe->can_id, pframe->can_dlc); for (i = 0; i < pframe->can_dlc; i++) { DEBUG_INFO("data[%d] = 0x%x\n", i, pframe->data[i]); } *ptr = pframe->can_id & 0xff; *ptr = pframe->can_id >>8; *ptr = pframe->data[0]; *ptr = pframe->data[1]; *ptr = pframe->data[2]; *ptr = pframe->data[3]; *ptr = pframe->data[4]; *ptr = pframe->data[5]; *ptr = pframe->data[6]; *ptr = pframe->data[7]; } else { DEBUG_ERROR("read can datas failed.\n"); } } ret = can_rcv(socked, pframe); if (RET_SUCCESS == ret) { DEBUG_INFO("recieve can datas: can_id = 0x%x," "data_len = %d\n", pframe->can_id, pframe->can_dlc); for (i = 0; i < pframe->can_dlc; i++) { DEBUG_INFO("data[%d] = 0x%x\n", i, pframe->data[i]); } } else { DEBUG_ERROR("read can datas failed.\n"); } return ret; } static int can_test_send(int socked, struct can_frame *pframe) { int i; int ret; pframe->can_id = CAN_ID; pframe->can_dlc = CAN_DATA_LEN_MAX; for (i = 0; i < CAN_DATA_LEN_MAX; i++) { pframe->data[i] = i; } ret = can_send(socked, pframe); if (RET_SUCCESS == ret) { DEBUG_INFO("send can datas: can_id = 0x%x," "data_len = %d\n", pframe->can_id, pframe->can_dlc); for (i = 0; i < pframe->can_dlc; i++) { DEBUG_INFO("data[%d] = 0x%x\n", i, pframe->data[i]); } } else { DEBUG_ERROR("send can datas failed.\n"); } return ret; } static int can_test(int test_index) { int i; int socked; int ret; memset(&frame, 0, sizeof(frame)); ret = can_init(&socked); if (RET_SUCCESS == ret) { if (CAN_TEST_READ == test_index) { ret = can_test_rcv(socked, &frame); } else if (CAN_TEST_WRITE == test_index) { ret = can_test_send(socked, &frame); } else { DEBUG_ERROR("invalid test item.\n"); } can_exit(socked); } return ret; } static void print_usage(const char *filename) { DEBUG_INFO("Usage: %s [01]\n", filename); DEBUG_INFO(" 0 -- test can recieve.\n" " 1 -- test can send.\n"); } int main(int argc, char *argv[]) { int index; int wr_ret; int rd_ret; FILE *fp; unsigned long file_size; char wr_buf[20] = "hello world"; char rd_buf[100]; fp = fopen( "/home/ftptest/storage.txt", "a+" );//文件追加，可读可写，文件不存在则创建 if(fp == NULL) { perror("open file error haha:");//只有上面的函数设置了error全局错误号，才可使用，会根据error输出对应的错误信息 return -1; } if (RET_SUCCESS == can_test(CAN_TEST_READ)) { DEBUG_INFO("Test Success.\n"); } else { DEBUG_INFO("Test Failed.\n"); } for(index = 0;index<8;index++) { wr_buf[index]=frame.data[index] ; } wr_ret = fwrite( wr_buf, 8, 1, fp); printf("wr_ret = %d\n", wr_ret); rewind(fp);//上面的写操作，文件位置偏移量也会相应的移动，此处将文件偏移到文件开始位置，然后才能读取刚刚输入的内容 rd_ret = fread(rd_buf, sizeof(rd_buf), 1, fp); printf("rd_ret = %d\n",rd_ret); printf("content=%s\n", rd_buf); fseek(fp, 0, SEEK_END); file_size = ftell(fp); printf("file_size = %lu\n", file_size); fclose(fp);//关闭文件 return 0; }