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int CAN_init_can (can_t* CanStruct)
{
int s, flags, iNbytes;
struct sockaddr_can addr;
struct ifreq ifr;
//if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
if((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0)
{
perror("Error while opening socket\n");
return -1;
}
strcpy(ifr.ifr_name, CanStruct->sCanPort );
if(ioctl(s, SIOCGIFINDEX, &ifr) < 0)
{
printf("ioctl error: %s\n", strerror(errno));
perror(strerror(errno));
return -1;
}
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
/* Set socket to non-blocking */
flags = fcntl(s, F_GETFL, 0);
if (flags < 0)
{
perror("fcntl: F_GETFL");
return errno;
}
if (fcntl(s, F_SETFL, flags | O_NONBLOCK) < 0)
{
perror("fcntl: F_SETFL");
return errno;
}
#ifdef DEBUG
printf("Can ID: %s at index %d\n", CanStruct->sCanPort, ifr.ifr_ifindex);
#endif
//if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
if(connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
{
printf("Error in socket bind");
return -1;
}
struct can_msg_BCM CanBcmFrameRx;
/*CanStruct->*/CanBcmFrameRx.msg_head.opcode = RX_SETUP;
/*CanStruct->*/CanBcmFrameRx.msg_head.can_id = 0x18FEF100;
/*CanStruct->*/CanBcmFrameRx.msg_head.flags = 0;
/*CanStruct->*/CanBcmFrameRx.msg_head.nframes = 0;
iNbytes = write(s, &/*CanStruct->*/CanBcmFrameRx, sizeof(struct can_msg_BCM));
if( iNbytes < 0)
{
printf("write error init: RX_SETUP");
//return errno;
}
iNbytes = read(s, &/*CanStruct->*/CanBcmFrameRx, sizeof(struct can_msg_BCM));
if (iNbytes < 0)
printf ("read error %d", errno);
/* CanStruct->CanBcmFrameTx.msg_head.opcode = TX_SETUP;
CanStruct->CanBcmFrameTx.msg_head.can_id = 0x124;
CanStruct->CanBcmFrameTx.msg_head.flags = 0;
CanStruct->CanBcmFrameTx.msg_head.nframes = 0;
CanStruct->CanBcmFrameTx.canframe.can_id = 0x18fef999;
CanStruct->CanBcmFrameTx.canframe.can_dlc = 2;
CanStruct->CanBcmFrameTx.canframe.data[0] = 0xFF;
CanStruct->CanBcmFrameTx.canframe.data[1] = 0xFF;
if( write(s, &CanStruct->CanBcmFrameTx, sizeof(struct can_msg_BCM)) < 0)
{
printf("write error init: TX_SETUP %d", errno);
//return errno;
}
iNbytes = read(s, &CanStruct->CanBcmFrameTx, sizeof(struct can_msg_BCM));
*/
return s;
} |
