linux can 程序

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

int main(void)
{
    int s; /* CAN raw socket */
    int nbytes;
    struct sockaddr_can addr;
    struct can_frame frame;
    struct ifreq ifr;

    const char *ifname = "can0";

    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
        perror("Socket");
        return 1;
    }

    strcpy(ifr.ifr_name, ifname);
    ioctl(s, SIOCGIFINDEX, &ifr);

    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;

    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("Bind");
        return 1;
    }

    frame.can_id = 0x123;
    frame.can_dlc = 8;
    strcpy(frame.data, "HelloCAN");

    nbytes = write(s, &frame, sizeof(struct can_frame));
    if (nbytes < 0) {
        perror("Write");
        return 1;
    }

    nbytes = read(s, &frame, sizeof(struct can_frame));
    if (nbytes < 0) {
        perror("Read");
        return 1;
    }

    printf("Received CAN frame with ID: %X, DLC: %d, Data: ", frame.can_id, frame.can_dlc);
    for (int i = 0; i < frame.can_dlc; i++)
        printf("%02X ", frame.data[i]);
    printf("\n");

    close(s);
    return 0;
}