121 lines
2.5 KiB
C
121 lines
2.5 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <pthread.h>
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#include <net/if.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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const char *ifname = "can0";
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static unsigned char payload[] = {0xAA, 0xAA, 0xAA, 0xAA, 0x07, 0x00, 0x00, 0x00};
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int packet_len = 8;
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int dir = 0;
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void *write_thread( void *dat ){
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int nbytes;
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struct can_frame frame;
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int s = *((int*) dat);
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while(1){
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for(int i = 0; i < 1; i ++){
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if(packet_len % 2){
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frame.can_id = 0x8AA | CAN_EFF_FLAG;
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}else{
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frame.can_id = 0xAA;
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}
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frame.can_dlc = packet_len;
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memcpy(frame.data, payload, frame.can_dlc);
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nbytes = write(s, &frame, sizeof(struct can_frame));
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printf("Wrote %d bytes; addr: %lx; datlen: %d\n", nbytes, frame.can_id, frame.can_dlc);
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if(dir){
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packet_len++;
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if(packet_len >= 8)
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dir = 0;
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}else{
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packet_len--;
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if(packet_len <= 0)
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dir = 1;
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}
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}
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sleep(2);
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}
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}
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int main(void)
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{
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pthread_t sndthread;
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int err, s, nbytes;
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struct sockaddr_can addr;
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struct can_frame frame;
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struct ifreq ifr;
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if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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perror("Error while opening socket");
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return -1;
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}
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strcpy(ifr.ifr_name, ifname);
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ioctl(s, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
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if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("Error in socket bind");
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return -2;
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}
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/////// Create Write Thread
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err = pthread_create( &sndthread, NULL, write_thread, (void*) &s);
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if(err){
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fprintf(stderr,"Error - pthread_create() return code: %d\n", err);
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exit(EXIT_FAILURE);
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}
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/////// Listen to socket
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while (1) {
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struct can_frame framein;
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// Read in a CAN frame
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int numBytes = read(s, &framein, CANFD_MTU);
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switch (numBytes) {
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case CAN_MTU:
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if(framein.can_id & 0x80000000)
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printf("Received %u byte payload; canid 0x%lx (EXT)\n",
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framein.can_dlc, framein.can_id & 0x7FFFFFFF);
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else
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printf("Received %u byte payload; canid 0x%lx\n", framein.can_dlc, framein.can_id);
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break;
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case CANFD_MTU:
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// TODO: Should make an example for CAN FD
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break;
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case -1:
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// Check the signal value on interrupt
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//if (EINTR == errno)
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// continue;
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// Delay before continuing
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sleep(1);
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default:
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continue;
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}
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}
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return 0;
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}
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