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, // can0  CAN_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);}