You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
120 lines
2.5 KiB
120 lines
2.5 KiB
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <unistd.h>
|
|
#include <string.h>
|
|
#include <pthread.h>
|
|
|
|
#include <net/if.h>
|
|
#include <sys/types.h>
|
|
#include <sys/socket.h>
|
|
#include <sys/ioctl.h>
|
|
|
|
#include <linux/can.h>
|
|
#include <linux/can/raw.h>
|
|
|
|
const char *ifname = "can0";
|
|
|
|
static unsigned char payload[] = {0xAA, 0xAA, 0xAA, 0xAA, 0x07, 0x00, 0x00, 0x00};
|
|
int packet_len = 8;
|
|
int dir = 0;
|
|
|
|
void *write_thread( void *dat ){
|
|
int nbytes;
|
|
struct can_frame frame;
|
|
int s = *((int*) dat);
|
|
|
|
while(1){
|
|
for(int i = 0; i < 1; i ++){
|
|
if(packet_len % 2){
|
|
frame.can_id = 0x8AA | CAN_EFF_FLAG;
|
|
}else{
|
|
frame.can_id = 0xAA;
|
|
}
|
|
|
|
frame.can_dlc = packet_len;
|
|
memcpy(frame.data, payload, frame.can_dlc);
|
|
|
|
nbytes = write(s, &frame, sizeof(struct can_frame));
|
|
|
|
printf("Wrote %d bytes; addr: %lx; datlen: %d\n", nbytes, frame.can_id, frame.can_dlc);
|
|
|
|
if(dir){
|
|
packet_len++;
|
|
if(packet_len >= 8)
|
|
dir = 0;
|
|
}else{
|
|
packet_len--;
|
|
if(packet_len <= 0)
|
|
dir = 1;
|
|
}
|
|
}
|
|
sleep(2);
|
|
}
|
|
}
|
|
|
|
|
|
int main(void)
|
|
{
|
|
pthread_t sndthread;
|
|
int err, s, nbytes;
|
|
struct sockaddr_can addr;
|
|
struct can_frame frame;
|
|
struct ifreq ifr;
|
|
|
|
if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
|
|
perror("Error while opening socket");
|
|
return -1;
|
|
}
|
|
|
|
strcpy(ifr.ifr_name, ifname);
|
|
ioctl(s, SIOCGIFINDEX, &ifr);
|
|
|
|
addr.can_family = AF_CAN;
|
|
addr.can_ifindex = ifr.ifr_ifindex;
|
|
|
|
printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
|
|
|
|
if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
|
|
perror("Error in socket bind");
|
|
return -2;
|
|
}
|
|
|
|
/////// Create Write Thread
|
|
|
|
err = pthread_create( &sndthread, NULL, write_thread, (void*) &s);
|
|
if(err){
|
|
fprintf(stderr,"Error - pthread_create() return code: %d\n", err);
|
|
exit(EXIT_FAILURE);
|
|
}
|
|
|
|
/////// Listen to socket
|
|
while (1) {
|
|
struct can_frame framein;
|
|
|
|
// Read in a CAN frame
|
|
int numBytes = read(s, &framein, CANFD_MTU);
|
|
switch (numBytes) {
|
|
case CAN_MTU:
|
|
if(framein.can_id & 0x80000000)
|
|
printf("Received %u byte payload; canid 0x%lx (EXT)\n",
|
|
framein.can_dlc, framein.can_id & 0x7FFFFFFF);
|
|
else
|
|
printf("Received %u byte payload; canid 0x%lx\n", framein.can_dlc, framein.can_id);
|
|
break;
|
|
case CANFD_MTU:
|
|
// TODO: Should make an example for CAN FD
|
|
break;
|
|
case -1:
|
|
// Check the signal value on interrupt
|
|
//if (EINTR == errno)
|
|
// continue;
|
|
|
|
// Delay before continuing
|
|
sleep(1);
|
|
default:
|
|
continue;
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|