Kontron KTAM3874-pITX - Manual (Page 76)

KTD-S0057-I Page 72 Linux® Programming Examples (DebianTM)
KTAM3874/pITX Software Guide
#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>
#define CAN0_INDEX 0
#define CAN1_INDEX 1
#define MAX_CAN_DEV 1
#define MAX_CAN_LEN 8
#define MAX_CAN_SSF 0x7FFUL /* CAN 2.0A */
#define DEF_ERR_MASK 0x1FFUL
#define WAIT_TIME 10000 /* 10 ms */
#define MAX_NAME_LEN 8
static int skt;
static const char *dev_name = "can%d";
int init_can_bus (canid_t id_min, canid_t id_max)
{
can_err_mask_t err_mask = DEF_ERR_MASK;
struct sockaddr_can addr;
struct can_filter rfilter;
if ((skt = socket (PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
return -1;
if (setsockopt (skt, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &err_mask, sizeof (err_mask)) < 0)
return -1;
if (id_min && id_max)
{
/* Define an identifier filter */
if ((id_min > id_max) || (id_min > MAX_CAN_SSF) || (id_max > MAX_CAN_SSF))
return -1;
rfilter.can_id = id_min;
rfilter.can_mask = (~ (id_max - id_min)) & MAX_CAN_SSF;
if (setsockopt (skt, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof (rfilter)) < 0)
return -1;
}
addr.can_family = AF_CAN;
addr.can_ifindex = 0; /* Bind all controllers */
return bind (skt, (struct sockaddr *) &addr, sizeof (addr));
}
int close_can_bus (void)
{
close
(skt);
}