【米尔王牌产品MYD-Y6ULX-V2开发板试用体验】CAN自动发送数据

【新提醒】【米尔王牌产品MYD-Y6ULX-V2开发板试用体验】测试CAN通讯 - 米尔科技 - 电子技术论坛 - 广受欢迎的专业电子论坛! (elecfans.com)
前面实现了手工用CAN发送数据的测试，下面用C编程来发送数据。
1、新建can.c:

#include  <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int main(int argc, char const *argv[])
{
    int s, nbytes;
    struct  sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame[2] = {{0}};
    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (s == -1){
        printf("open can error!");
        return -1;
    }
    strcpy(ifr.ifr_name, "can0");
    ioctl(s,  SIOCGIFINDEX, &ifr);
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    bind(s , (struct sockaddr *)&addr, sizeof(addr));
    //禁用过滤规则，本进程不接收报文，只负责发送
    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
    frame[0].can_id = 0x11;
    frame[0].can_dlc = 1;
    frame[0].data[0] = 0x11;
    frame[1].can_id =0x22;
    frame[1].can_dlc = 1;
    frame[1].data[0] = 0x22;
    
    while(1)
    {
        nbytes = write(s, &frame[0], sizeof(frame[0]));
        if(nbytes != sizeof(frame[0]))
        {
            printf("Send Error frame[0]!\n");
            break;
        }
        sleep(1);
        nbytes = write(s, &frame[1], sizeof(frame[1]));
        if(nbytes != sizeof(frame[1]))
        {
            printf("Send Error frame[1]!\n");
            break;
        }
        sleep(1);
    }
    close(s);
    return 0;
}

交叉编译后上传给开发板，打开CAN分析仪。开发板上手工开启can0:

root@myd-y6ull14x14:~# ip link set can0 type can bitrate 500000
root@myd-y6ull14x14:~# ifconfig can0 up
[ 3303.387293] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready

运行cat_test_send:

这样就实现自动给can总结发送数据了。