CAN-BUS Raspberry-pi

PICAN CAN-Bus Board for Raspberry Pi

• PICAN CAN-Bus Board for Raspberry Pi SK-PANG

• RPi CANBus at http://elinux.org
• integrate improved SPI with less latencies by using RealTime threads

Simple C++ Code

• Simple read/write to CANbus
• Compiled in R-Pi with GCC

<cpp>

#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/raw.h>
#include <iostream>

using namespace std;

int main(void)
{
int s;
int i;
int nbytes;
struct sockaddr_can addr;
struct can_frame frame;
struct ifreq ifr;

char *ifname = "can0";

if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
   cout<<"Error while opening socket"<<endl;

return -1;

}
strcpy(ifr.ifr_name, ifname);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_family  = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex; 
cout<<ifname<<"at index"<<std::dec<<ifr.ifr_ifindex<<endl;

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

//write data no remote request
frame.can_id  = 0x802D1012;
frame.can_dlc = 1;
frame.data[0] = 0xFF;
frame.data[1] = 0x22;
nbytes = write(s, &frame, sizeof(struct can_frame));
cout<<"Wrote "<<std::dec<<nbytes<< "bytes"<<endl;

nbytes = read(s, &frame, sizeof(struct can_frame));
cout<<"READ FRAME "<<std::dec<<nbytes<< "bytes"<<endl;
cout<<"CANID "<<std::hex<<frame.can_id<<endl;
cout<<"NUMBER OF DATA "<<std::dec<<(int)frame.can_dlc<<endl;
for (i=(int)frame.can_dlc;i>0;i--)

cout<<"DATA PACKAGE["<<std::dec<<(int)frame.can_dlc-i<<"]:"<<std::hex<<(int)frame.data[(int)frame.can_dlc-i]<<endl;

//write data remote request
frame.can_id  = 0xC02C0005;
frame.can_dlc = 0;
frame.data[0] = 0x11;
frame.data[1] = 0x22;
nbytes = write(s, &frame, sizeof(struct can_frame));
cout<<"Wrote "<<std::dec<<nbytes<< "bytes"<<endl;

nbytes = read(s, &frame, sizeof(struct can_frame));
cout<<"READ FRAME "<<std::dec<<nbytes<< " bytes"<<endl;
cout<<"CANID "<<std::hex<<frame.can_id<<endl;
cout<<"NUMBER OF DATA "<<std::dec<<(int) frame.can_dlc<<" "<<endl;
for (i=(int)frame.can_dlc;i>0;i--)

cout<<"DATA PACKAGE["<<std::dec<<(int)frame.can_dlc-i<<"]:"<<std::hex<<(int)frame.data[(int)frame.can_dlc-i]<<endl;

return 0;
}

</cpp>

Gallery

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