can20-bus-scanner.ino

BPI-5202 Loongson 2K1000LAi Embedded Single Board Industrial Computer · File : can20-bus-scanner.ino · Language : C · Use case : Scanner le bus CAN2.0 pour détecter les nœuds actifs et afficher les trames reçues.

C program using the Linux kernel SocketCAN API to read frames on the board's CAN2.0 ports.

can20-bus-scanner.ino

#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 s;
    struct ifreq ifr;
    struct can_frame frame;
    struct sockaddr_can addr;

    // Créer une socket CAN brute
    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (s < 0) {
        perror("Socket");
        return 1;
    }

    // Configurer l'interface CAN (ex: can0)
    strcpy(ifr.ifr_name, "can0");
    if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
        perror("SIOCGIFINDEX");
        close(s);
        return 1;
    }

    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;

    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("Bind");
        close(s);
        return 1;
    }

    printf("Scanner CAN activé sur can0...\n");
    printf("ID       DLC  Data\n");
    printf("-------------------\n");

    while (1) {
        int nbytes = read(s, &frame, sizeof(frame));
        if (nbytes < 0) {
            perror("Read");
            break;
        }
        if (nbytes == sizeof(struct can_frame)) {
            printf("%03X   %d    ", frame.can_id, frame.can_dlc);
            for (int i = 0; i < frame.can_dlc; i++) {
                printf("%02X ", frame.data[i]);
            }
            printf("\n");
        }
    }

    close(s);
    return 0;
}

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