[技术]

【米尔MYD-JX8MMA7开发板-ARM+FPGA架构试用体验】四、CAN通讯

2023-5-23 08:54:15 4734 ARM FPGA

0 【MYD-JX8MMA7】（四）CAN通讯理论因为在经过两天的时间研究can通讯发现，can通讯存在问题，后咨询厂家技术，厂家技术表示此板子系统里没有配置can通讯相关内容。所以一下是理论内容一、硬件电路 1、CAN-IO 首先是查硬件用户手册，板载没有CAN通讯芯片，所以需要查下预留的CAN通讯接口，还可查看原理图，找到CAN通讯接口，还需要找到供电电源。 2、CAN硬件电路 CAN硬件电路是一个比较标准的电路，在这里使用的是NXP1042CAN通讯芯片。 3、CAN分析仪 CAN分析仪用于电脑和开发板通讯的测试使用，在此使用的是创新科技的CAN分析仪。国产CAN分析仪虽然稳定性不够好，但是很实惠啊。二、软件代码 1.代码文件.c #include <can_config.h> #include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <string.h> #include <signal.h> #include <libgen.h> #include <getopt.h> #include <limits.h> #include <sys/types.h> #include <sys/socket.h> #include <sys/uio.h> #include <sys/ioctl.h> #include <net/if.h> #include <linux/can.h> #include <linux/can/raw.h> extern int optind, opterr, optopt; static int running = 1; enum { VERSION_OPTION = CHAR_MAX + 1, }; void print_usage(char prg) { fprintf(stderr, "Usage: %s [] [Options]\n" "\n" "Send all messages received on to \n" "If is omitted, then <can_interface> is used for sending\n" "\n" "Options:\n" " -f, --family=FAMILY Protocol family (default PF_CAN = %d)\n" " -t, --type=TYPE Socket type, see man 2 socket (default SOCK_RAW = %d)\n" " -p, --protocol=PROTO CAN protocol (default CAN_RAW = %d)\n" " -v, --verbose be verbose\n" " -h, --help this help\n" " --version print version information and exit\n", prg, PF_CAN, SOCK_RAW, CAN_RAW); } void sigterm(int signo) { running = 0; } int main(int argc, char argv) { struct can_frame frame; struct ifreq ifr[2]; struct sockaddr_can addr[2]; char intf_name[2]; int family = PF_CAN, type = SOCK_RAW, proto = CAN_RAW; int nbytes, i, out; int opt; int s[2]; int verbose = 0; signal(SIGTERM, sigterm); signal(SIGHUP, sigterm); signal(SIGINT, sigterm); struct option long_options[] = { { "help", no_argument, 0, 'h' }, { "family", required_argument, 0, 'f' }, { "protocol", required_argument, 0, 'p' }, { "type", required_argument, 0, 't' }, { "version", no_argument, 0, VERSION_OPTION}, { "verbose", no_argument, 0, 'v'}, { 0, 0, 0, 0}, }; while ((opt = getopt_long(argc, argv, "hf:t:p:v", long_options, NULL)) != -1) { switch (opt) { case 'f': family = atoi(optarg); break; case 't': type = atoi(optarg); break; case 'p': proto = atoi(optarg); break; case 'v': verbose = 1; break; case 'h': print_usage(basename(argv[0])); exit(0); case VERSION_OPTION: printf("version : %s\\n", VERSION); exit(0); default: fprintf(stderr, "Unknown option %c\\n", opt); break; } } if (optind == argc) { print_usage(basename(argv[0])); exit(0); } intf_name[0] = argv[optind++]; if (optind == argc) intf_name[1] = intf_name[0]; else intf_name[1] = argv[optind]; printf("interface-in = %s, interface-out = %s, family = %d, type = %d, proto = %d\\n", intf_name[0], intf_name[1], family, type, proto); if (intf_name[0] == intf_name[1]) out = 0; else out = 1; for (i = 0; i <= out; i++) { if ((s[i] = socket(family, type, proto)) < 0) { perror("socket"); return 1; } addr[i].can_family = family; strcpy(ifr[i].ifr_name, intf_name[i]); ioctl(s[i], SIOCGIFINDEX, &ifr[i]); addr[i].can_ifindex = ifr[i].ifr_ifindex; if (bind(s[i], (struct sockaddr )&addr[i], sizeof(addr)) < 0) { perror("bind"); return 1; } } while (running) { if ((nbytes = read(s[0], &frame, sizeof(frame))) < 0) { perror("read"); return 1; } if (verbose) { printf("%04x: ", frame.can_id); if (frame.can_id & CAN_RTR_FLAG) { printf("remote request"); } else { printf("[%d]", frame.can_dlc); for (i = 0; i < frame.can_dlc; i++) { printf(" %02x", frame.data[i]); } } printf("\\n"); } frame.can_id++; write(s[out], &frame, sizeof(frame)); } return 0; } 2.代码文件.h / include/can_config.h. Generated from can_config.h.in by configure. / / include/can_config.h.in. Generated from configure.ac by autoheader. / / debugging / / #undef DEBUG / / Define to 1 if you have the <dlfcn.h> header file. / #define HAVE_DLFCN_H 1 / Define to 1 if you have the <fcntl.h> header file. / #define HAVE_FCNTL_H 1 / Define to 1 if you have the <inttypes.h> header file. / #define HAVE_INTTYPES_H 1 / Define to 1 if you have the <limits.h> header file. / #define HAVE_LIMITS_H 1 / Define to 1 if you have the <memory.h> header file. / #define HAVE_MEMORY_H 1 / Define to 1 if you have the `socket' function. / #define HAVE_SOCKET 1 / Define to 1 if `stat' has the bug that it succeeds when given the zero-length file name argument. / #define HAVE_STAT_EMPTY_STRING_BUG 1 / Define to 1 if you have the <stdint.h> header file. / #define HAVE_STDINT_H 1 / Define to 1 if you have the <stdlib.h> header file. / #define HAVE_STDLIB_H 1 / Define to 1 if you have the `strchr' function. / #define HAVE_STRCHR 1 / Define to 1 if you have the <strings.h> header file. / #define HAVE_STRINGS_H 1 / Define to 1 if you have the <string.h> header file. / #define HAVE_STRING_H 1 / Define to 1 if you have the `strtoul' function. / #define HAVE_STRTOUL 1 / Define to 1 if you have the <sys/ioctl.h> header file. / #define HAVE_SYS_IOCTL_H 1 / Define to 1 if you have the <sys/socket.h> header file. / #define HAVE_SYS_SOCKET_H 1 / Define to 1 if you have the <sys/stat.h> header file. / #define HAVE_SYS_STAT_H 1 / Define to 1 if you have the <sys/types.h> header file. / #define HAVE_SYS_TYPES_H 1 / Define to 1 if you have the <unistd.h> header file. / #define HAVE_UNISTD_H 1 / Define to 1 if `lstat' dereferences a symlink specified with a trailing slash. / #define LSTAT_FOLLOWS_SLASHED_SYMLINK 1 / Define as the return type of signal handlers (`int' or` void'). / #define RETSIGTYPE void / Define to 1 if you have the ANSI C header files. / #define STDC_HEADERS 1 / Version number of package / #define VERSION "1.0" / Define for Solaris 2.5.1 so the uint32_t typedef from <sys/synch.h>, <pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the #define below would cause a syntax error. / / #undef _UINT32_T / / Define to empty if `const' does not conform to ANSI C. / / #undef const / / Define to `unsigned int' if <sys/types.h> does not define. / / #undef size_t / / Define to `int' if <sys/types.h> does not define. / / #undef ssize_t / / Define to the type of an unsigned integer type of width exactly 32 bits if such a type exists and the standard includes do not define it. / / #undef uint32_t / 3.makefile文件 source /home/jack/omapl138/ti/mcsdk_1_01_00_02/linux-devkit/environment-setup #CC = gcc CFLAGS = -Wall -g INCLUDES = -I. LDFLAGS = VPATH = . OBJS = tl_can_echo.o TARGETS = tl_can_echo all : $(TARGETS) tl_can_echo: $(OBJS) (CC) -o @ ^ (LDFLAGS) %.o:%.c (CC) -c < -o @ (INCLUDES) $(CFLAGS) .PHONY: clean: rm -f $(TARGETS) .o 0
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