Socket can 远程帧

远程帧

远程帧由6个场组成：帧起始、仲裁场、控制场、CRC场、应答场和帧结束。远程帧不存在数据场。

远程帧的RTR位必须是隐位。

DLC的数据值是独立的，它可以是0～8中的任何数值，为对应数据帧的数据长度。

pp

头文件#ifndef  __CANPROTO_DEF_H#define  __CANPROTO_DEF_H#include "printdef.h"#include "UI.h"#define CAN_EFF_FLAG 0x80000000U //扩展帧的标识#define CAN_RTR_FLAG 0x40000000U //远程帧的标识#define CAN_ERR_FLAG 0x20000000U //错误帧的标识用于检查错误typedef struct tagCANFRAME {    unsigned int  canID;    unsigned char len;    unsigned char flag;    unsigned char rev[2];    unsigned char data[8];}CanFrame, *CanFrmPtr;#define MAX_BUFLEN        (512)class CanProto {public:    CanProto();    ~CanProto();public:    UI     *m_pUI;         // send to UI handle    void SetUI(UI *ui) { m_pUI = ui;}    int Start(void);    // 将串口接收到的数据写加到分析缓冲区中    int AddData(unsigned char *ibuf, int len);    // 分析接收到的数据    int Parse(unsigned char *ibuf = NULL, int len = 0);static void *Receive_Pthread(void *p);int Hex_Int(unsigned int inc);void status_id_10(int i,unsigned char *data);void status_id_11(int i,unsigned char *data);void status_id_01(int i,unsigned char *data);//打印接受到的数据void printf_frame(unsigned int frame_id,unsigned char *data,unsigned char len);    CanFrmPtr GetRFrame() { return (CanFrmPtr)&m_RecvFrame; }private:    unsigned short m_buflen;                     // m_anaBuf data len    unsigned char  m_anaBuf[MAX_BUFLEN];         // 接收到等待分析的数据命令    CanFrame       m_RecvFrame, m_SendFrame;     // 最后一次接收或发送的数据包};extern CanProto gCanProto;#endif// __CANPROTO_DEF_H

int m_fd;//socket打开句柄void * Send_Pthread(void *p)   //线程发送函数{    CanFrame cf[2]= {{0}};   // CanFrame cf;    cf[0].canID = 0x00000010 | CAN_RTR_FLAG;    cf[1].canID = 0x00000011 | CAN_RTR_FLAG;    cf[0].len = 8;    cf[1].len = 8;    //cf[0].data = 0x10;    while(1){        int ret = write(m_fd,&cf[0],sizeof(cf[0]));        if(ret!=sizeof(cf[0])){            printf("write Error cf[0]\n");        }        usleep(50000);        int ret1 = write(m_fd,&cf[1],sizeof(cf[1]));        if(ret1!=sizeof(cf[1])){            printf("write Error cf[1]\n");        }        usleep(50000);    }    return NULL;}void CanProto::printf_frame(unsigned int frame_id,unsigned char *data,unsigned char lea)//处理打印函数{    char buf[128] = {0};    int i=0,j=0;    int check;    check = Hex_Int(frame_id);    if(check == 16){        for(i == 0 ;data && i<lea && i<8;i++){            j +=  sprintf(buf+j,"%02X",data[i]);               //status_id_10(i,data);        }    }    else if(check == 17){        for(i == 0 ;data && i<lea && i<8;i++){            j +=  sprintf(buf+j,"%02X",data[i]);   //            status_id_11(i,data);        }    }    else if(check == 2){        for(i == 0 ;data && i<lea && i<8;i++){            j +=  sprintf(buf+j,"%02X",data[i]);   //            status_id_01(i,data);        }    }    else if(check == 1){        printf("-----\n");        for(i == 0 ;data && i<lea && i<8;i++){        printf("-----%d,,,\n",i);            j +=  sprintf(buf+j,"%02X",data[i]);   //            status_id_01(i,data);        }    }        //    m_pUI->OnHostStatus(byte_data,leg);    printf("ID=0x%X  DLE=%d  data=%s ,check=%d\n",frame_id,lea,buf,check);        leg=0;        len=0;}void * CanProto::Receive_Pthread(void *p)//线程接收{    CanFrame frame;    unsigned char *precvframe = (unsigned char *)&frame;    const int can_frame_len = sizeof(CanFrame);    int maxfd,ret;    fd_set rfds;    struct timeval timeout;    timeout.tv_sec = 0;    memset(&frame,0x00,sizeof(frame));    while(1) {        FD_ZERO(&rfds);        FD_SET(m_fd,&rfds);        timeout.tv_usec = 8000;        memset(precvframe,0x00 ,can_frame_len);        maxfd = m_fd +1;        if((ret = select(maxfd,&rfds,NULL,NULL,&timeout)) < 0 ){            PERROR("select");        }        if(ret > 0){            int ret = read(m_fd,(char*)precvframe,can_frame_len);            printf("ret = %d\n",ret);            ((CanProto *)p)->printf_frame(frame.canID,frame.data,frame.len);        }    }}int CanProto::Start(void){    int rdlen;        CanDev can;    CmdProcess m_canProc;    m_fd = can.Open();    if(m_fd < 0)return 0;    pthread_t pid;    int pidbyte = pthread_create(&pid,NULL,Send_Pthread,NULL);    pthread_t pidt;    int resepidt = pthread_create(&pidt,NULL,CanProto::Receive_Pthread,this);    return 0;}

<pre name="code" class="cpp">int CanDev::Open(const char *dev){    int fd;    struct ifreq ifr;    struct sockaddr_can addr;    if((fd = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)return -1;        addr.can_family = AF_CAN;    memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));    strcpy(ifr.ifr_name, dev);    if (strcmp(ANYDEV, ifr.ifr_name)) {if (ioctl(fd, SIOCGIFINDEX, &ifr) < 0) {    close(fd);    return -2;}addr.can_ifindex = ifr.ifr_ifindex;    }    elseaddr.can_ifindex = 0; /* any can interface */        PFUNC("canifindex=%d %s \n", addr.can_ifindex, ANYDEV);    if (!addr.can_ifindex) {PERROR("Get can interface\n");close(fd);return -3;    }//    setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);    if(bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {PERROR("can bind ERROR\n");close(fd);return -4;    }    m_fd = fd;    return fd;}

上面的程序不可以运行，仅供参考发送和接收，完整的程序可以运行的