Advantech RSB-4210 Evaluation Kit Manual de usuario descargar pdf (Pagina 79)

71 RSB-4210 User Manual

Chapter 3 Software Functionality

close(fd);

printf("test exit\n");

return 0;

}

(More detail please reference "source/linux-2.6.35.3/Documentation/serial/tty.txt")

3.11.4 CAN bus

CAN bus is a set of open source CAN drivers and a networking stack contributed by

Volkswagen Research to the Linux kernel. Formerly known as Low Level CAN

Framework (LLCF).

Typical CAN communication layers. With SocketCAN (left) or conventional (right).

Traditional CAN drivers for Linux are based on the model of character devices. Typi-

cally they only allow sending to and receiving from the CAN controller. Conventional

implementations of this class of device driver only allow a single process to access

the device, which means that all other processes are blocked in the meantime. In

addition, these drivers typically all differ slightly in the interface presented to the

application, stifling portability. The SocketCAN concept on the other hand uses the

model of network devices, which allows multiple applications to access one CAN

device simultaneously. Also, a single application is able to access multiple CAN net-

works in parallel.

The application first sets up its access to the CAN interface by initialising a socket

(much like in TCP/IP communications), then binding that socket to an interface (or all

interfaces, if the application so desires). Once bound, the socket can then be used

like a UDP socket via read, write, etc...

The following is a simple (incomplete) example, that sends a packet, then reads back

a packet using the raw interface. It is based on the notes documented in the Linux

Kernel.

#include <can_config.h>

#include <getopt.h>

#include <li/jointfilesconvert/402216/bgen.h>

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Advantech RSB-4210 Evaluation Kit Manual de usuario Pagina 79