PEAK-System Forum

Code: Select all

$ ip -details -statistics link show can0
3: can0: <NOARP,UP,LOWER_UP> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10
    link/can  promiscuity 0 
    can state ERROR-ACTIVE restart-ms 0 
	  bitrate 125000 sample-point 0.875 
	  tq 125 prop-seg 27 phase-seg1 28 phase-seg2 8 sjw 1
	  pcan: tseg1 1..64 tseg2 1..16 sjw 1..16 brp 1..1024 brp-inc 1
	  pcan: dtseg1 1..16 dtseg2 1..8 dsjw 1..4 dbrp 1..1024 dbrp-inc 1
	  clock 80000000

Code: Select all

#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 <linux/can.h>
#include <linux/can/bcm.h>

int main(void)
{
        int s;
        int nbytes;
        struct sockaddr_can addr;
        struct ifreq ifr;
        struct {
                struct bcm_msg_head msg_head;
                struct can_frame frame[1];
        } msg;

        if((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
                perror("Error while opening socket");
                return -1; }

        addr.can_family = AF_CAN;
        strcpy(ifr.ifr_name, "can0");
        ioctl(s, SIOCGIFINDEX, &ifr);
        addr.can_ifindex = ifr.ifr_ifindex;

        if(connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
                perror("Error in socket connect");
                return -2; }

// cyclic transmission
    msg.msg_head.opcode  = TX_SETUP;
    msg.msg_head.can_id  = 0x123;
    msg.msg_head.flags   = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
    msg.msg_head.nframes = 1;
    msg.msg_head.count = 0;
    msg.msg_head.ival1.tv_sec = 0;
    msg.msg_head.ival1.tv_usec = 0;
    msg.msg_head.ival2.tv_sec = 0;
    msg.msg_head.ival2.tv_usec = 100000;
//    msg.frame[0].can_id    = 0x123; /* obsolete when using TX_CP_CAN_ID */
    msg.frame[0].can_dlc   = 3;
    msg.frame[0].data[0]   = 0x52;
    msg.frame[0].data[1]   = 0x53;
    msg.frame[0].data[2]   = 0x53;

        write(s, &msg, sizeof(msg));

        return 0;
}

Code: Select all

...
        write(s, &msg, sizeof(msg));

        printf("To end the transmission hit a key: ");
        getchar();
        printf("\n");

        return 0;
}