编译canutils\iproute\libsocketcan应用程序测试can

怼烎@ 2022-02-20 08:41 582阅读 0赞

1.   
执行 ip link set can0 up type can bitrate 125000 等命令时,提示:   
ip: either “dev” is duplicate, or “type” is garbage   
Try1：   
配置内核:（下面的选项应该选上）   
Networking support —>   
CAN bus subsystem support —>   
— CAN bus subsystem support   
Raw CAN Protocol (raw access with CAN-ID filtering)   
Broadcast Manager CAN Protocol (with content filtering)   
CAN Device Drivers —>   
Virtual Local CAN Interface (vcan) //原来没有选   
Platform CAN drivers with Netlink support   
\[Y\] CAN bit-timing calculation   
再次运行 ip link set can0 up type can bitrate 125000，依旧提示ip: either “dev” is duplicate, or “type” is garbage   
（BUSYBOX制作的IP命令工具不支持对socketcan的设置，必须要自己去下载iproute2的源代码自己编译）

移植Iproute   
(http://www.linuxgrill.com/anonymous/iproute2/NEW-OSDL/ 下载地址)   
./configure 错误，出现如下提示:   
TC schedulers   
ATM no   
IPT Package xtables was not found in the pkg-config search path.   
Perhaps you should add the directory containing \`xtables.pc’   
to the PKG\_CONFIG\_PATH environment variable   
No package ‘xtables’ found   
using iptables   
IPSET no  
iptables modules directory: /lib/xtables   
libc has setns: yes   
SELinux support: no

Sudo apt-get install xtables-addons-common   
Sudo apt-get install xtables-addons-source 无效

https://www.kernel.org/pub/linux/utils/net/iproute2/ 下载iproute2 4.2.0 4.6.0 4.4.0的版本. 编译失败   
发现有configure 还有Makefile ，.configure 不起作用， 修改Makefile 后直接编译   
Make 失败，阅读makefile文档，安装如下库   
sudo apt-get install libdb4.8-dev

出现如下错误:   
../lib/libnetlink.a: could not read symbols: Archive has no index; run ranlib to add one   
collect2: ld returned 1 exit status   
make\[1\]: \* \[ip\] Error 1

用厂家提供的内核和文件系统，实验Can的ip 命令和功能都好用   
root@ok335x:/bin\# which ip   
/bin/ip   
root@ok335x:/bin\# ls -l ip   
lrwxrwxrwx 1 root root 19 Jun 17 2014 ip -> ../sbin/ip.iproute2

解决办法: 借用Ti厂家提供的文件系统，移植ip 和 iprotue2 到 开发板的文件系统中   
book@ubuntu:~/work/software$ ls   
bin Code Composer Studio 6.1.3.desktop libsocketcan-0.0.8 setup.sh   
board-support docs linux-devkit targetNFS   
busybox-1.7.0 example-applications Makefile xdctools\_3\_31\_03\_43\_core   
busybox-1.7.0.tar.bz2 filesystem mtd-utils-05.07.23   
canutils-4.0.6 iproute2 mtd-utils-05.07.23.tar.bz2   
ccsv6 iproute2-2.4.7-now-ss010824.tar.gz Rules.make

其中 绿色标记的字体为安装 ti linux sdk 包生成的文件.   
Cd filesystem

book@ubuntu:~/work/software/filesystem/sbin$ ls ip -l   
lrwxrwxrwx 1 book book 17 Apr 5 16:56 ip -> /sbin/ip.iproute2

将命令cp 到开发板   
Cp ip ip.iproute2 /sbin -R

Libsockecan   
./configure –host=arm-linux-gnueabihf prefix=$PWD/temp\_install   
Make   
Make install  
常用命令:   
ip link set can0 type can bitrate 125000   
ip link set can0 down   
ip link set can0 up   
ifconfig can0 up ifconfig can0 down cat /proc/net/can/version cat /proc/net/can/stats   
Candump   
candump can0   
cansend   
cansend can0 500\#1E.10.10 向地址0x1E, 0x10, 0x10的can设备发送数据 500   
cansend can0 500\#R 发送远程请求帧，数据为500   
3.EmbededConfig、EmbededDebug 工具的使用   
Arm板,设定can bitrate：   
ip link set can0 type can bitrate 10000   
Ip link set can0 up

3.1使用EmbededConfig设置虚拟串口的波特率、设置can的波特率（注意EmbededConfig与Embededdebug的串口波特率要设为一致）   
Embededdebug 软件设置:(注意串口的波特率一定要与EmbededConfig号一直)   
Can 程序调试:   
调试过程: 将usb-can 与Am3354的can 连接后，Am3354运行2个进程，一个进程只发送数据（发送的Id 为0x11，0x22），另一个进程发送完数据后收数据（过滤设置为0x11）。   
结果： 收发进程能收到另一进程的发送数据（Id 为0x11），但用Usb-can 发送数据，却无法接收数据（原因是usb-can 设备坏了，不能发送数据）。   
CAN 发送:源码:

\#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 can\_fd, nbytes;  
int ret=0;  
struct sockaddr\_can can\_addr\_sendtask;  
struct ifreq can\_devices\_sendtask;  
struct can\_frame frame\[2\] = \{ \{0\}\};

can\_fd = socket(PF\_CAN, SOCK\_RAW, CAN\_RAW);//创建can套接字  
if(can\_fd==-1)  
\{  
  printf("socket can is fail \\n");  
  exit(0);  
\}

strcpy(can\_devices\_sendtask.ifr\_name, "can0" );

ioctl(can\_fd, SIOCGIFINDEX, &can\_devices\_sendtask); //指定 can0 设备

can\_addr\_sendtask.can\_family = AF\_CAN;  // 设置can  
can\_addr\_sendtask.can\_ifindex = can\_devices\_sendtask.ifr\_ifindex;

ret=bind(can\_fd, (struct sockaddr \*)&can\_addr\_sendtask, sizeof(can\_addr\_sendtask));//将套接字与 can0 绑定  
if(ret==-1)  
\{  
  printf("bind fail \\n");  
  exit(0);  
\}

//禁用过滤规则，本进程不接收报文，只负责发送

// 因为这个任务只发送，禁用can接收报文  
ret=setsockopt(can\_fd, SOL\_CAN\_RAW, CAN\_RAW\_FILTER, NULL,0);// 禁用过滤规则  
if(ret==-1)  
\{  
    printf("setsockopt fail \\n");  
    exit(0);

\}  
int loopback =1 ;// 关闭回环模式  
//发送的两个报文设置  
frame\[0\].can\_id = 0x11;// can 标示为0x11 的设备  
frame\[0\].can\_dlc = 1;   // 发送数据长度  
frame\[0\].data\[0\] = 11;

frame\[1\].can\_id = 0x22;  
frame\[1\].can\_dlc = 1;// 发送数据长度  
frame\[1\].data\[0\] = 22;  
//循环发送两个报文  
while(1)  
\{  
nbytes = write(can\_fd, &frame\[0\], sizeof(frame\[0\])); //发送 frame\[0\]

if(nbytes != sizeof(frame\[0\]))  
\{  
printf("Send Error frame\[0\]\\n!");  
\}

sleep(1);

nbytes = write(can\_fd, &frame\[1\], sizeof(frame\[1\])); //发送 frame\[1\]  
if(nbytes != sizeof(frame\[0\]))  
\{  
printf("Send Error frame\[1\],write count is %d\\n!",nbytes);  
\}

sleep(1);  
\}  
close(can\_fd);  
return 0;  
\}  
Can 收发进程源码:  
/\*  
//禁用过滤规则

setsockopt(can\_fd, SOL\_CAN\_RAW, CAN\_RAW\_FILTER, NULL, 0); //禁用过滤规则

//通过错误掩码可以实现对错误帧的过滤  
can\_err\_mask\_t err\_mask = ( CAN\_ERR\_TX\_TIMEOUT | CAN\_ERR\_BUSOFF );  
setsockopt(can\_fd, SOL\_CAN\_RAW, CAN\_RAW\_ERR\_FILTER, err\_mask, sizeof(err\_mask));

在默认情况下，本地回环功能是开启的，可以使用下面的方法关闭回环/开启功能：  
int loopback = 0; // 0 表示关闭, 1 表示开启(默认)  
setsockopt(can\_fd, SOL\_CAN\_RAW, CAN\_RAW\_LOOPBACK, &loopback, sizeof(loopback));

\*/

int main()  
\{  
int can\_fd, nbytes;  
int ret=0;  
struct sockaddr\_can can\_addr\_sendtask;  
struct ifreq can\_devices\_sendtask;

can\_fd = socket(PF\_CAN, SOCK\_RAW, CAN\_RAW);//创建套接字  
if(can\_fd==-1)  
\{  
  printf("socket can is fail \\n");  
  exit(0);  
\}

strcpy(can\_devices\_sendtask.ifr\_name, "can0" );

ioctl(can\_fd, SIOCGIFINDEX, &can\_devices\_sendtask); //指定 can0 设备

can\_addr\_sendtask.can\_family = AF\_CAN;  
can\_addr\_sendtask.can\_ifindex = can\_devices\_sendtask.ifr\_ifindex;

ret=bind(can\_fd, (struct sockaddr \*)&can\_addr\_sendtask, sizeof(can\_addr\_sendtask));//将套接字与 can0 绑定  
if(ret==-1)  
\{  
  printf("bind fail \\n");  
  exit(0);  
\}

int loopback =1 ;    
ret=setsockopt(can\_fd, SOL\_CAN\_RAW, CAN\_RAW\_LOOPBACK, &loopback, sizeof(loopback));  
if(ret==-1)  
\{  
    printf("loopback fail \\n");  
    exit(0);

\}  
//  设定过滤规则  
struct can\_frame rec\_frame\[1\];  
struct can\_filter rfilter\[1\];

rfilter\[0\].can\_id   = 0x11; // 接收id为0x11的帧  
rfilter\[0\].can\_mask = CAN\_SFF\_MASK;

ret=setsockopt(can\_fd, SOL\_CAN\_RAW,CAN\_RAW\_FILTER, &rfilter, sizeof(rfilter));

if(ret==-1)  
\{  
    printf("setsockopt fail \\n");  
    exit(0);

struct can\_frame frame\[2\] = \{ \{0\}\};

//发送两个报文  
frame\[0\].can\_id = 0x11;// can 标示为0x11 的设备  
frame\[0\].can\_dlc = 1;   // 发送数据长度  
frame\[0\].data\[0\] = 0x11;  
frame\[1\].can\_id = 0x22;  
frame\[1\].can\_dlc = 1;// 发送数据长度  
frame\[1\].data\[0\] = 0x22;

while(1)  
\{  
nbytes = write(can\_fd, &frame\[0\], sizeof(frame\[0\])); //发送 frame\[0\]

if(nbytes != sizeof(frame\[0\]))  
\{  
printf("Send Error frame\[0\]\\n!");  
\}

nbytes = write(can\_fd, &frame\[1\], sizeof(frame\[1\])); //发送 frame\[1\]  
if(nbytes != sizeof(frame\[0\]))  
\{  
printf("Send Error frame\[1\],write count is %d\\n!",nbytes);  
\}  
printf("send 2 frame \\n");  
sleep(1);

nbytes=read(can\_fd,&rec\_frame, sizeof(rec\_frame\[0\]));  
if(nbytes != sizeof(rec\_frame\[0\]))  
\{  
printf("rece Error frame,rece count is %d\\n!",nbytes);  
\}

printf("rec %d bytes,id is %d \\n",rec\_frame\[0\].can\_dlc,rec\_frame\[0\].can\_id);

\}  
close(can\_fd);  
return 0;  
\}