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V2400A Series Expansion Modules Software Installation and Programming Guide

4-17

nbytes = write(s, &frame, sizeof(struct can_frame));

printf("Wrote %d bytes\n", nbytes);

return 0;

}

The following sample code illustrates how to read the data.

File and Folder:

/examples/ExpansionCard/LX/EPM3112/can_read_write/can_read.c

#include <stdio.h>

#include <stdlib.h>

#include <unistd.h>

#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>

int

main(void)

{

int i;

int s;

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) {

perror("Error while opening socket");

return -1;

}

strcpy(ifr.ifr_name, ifname);

ioctl(s, SIOCGIFINDEX, &ifr);

addr.can_family = AF_CAN;

addr.can_ifindex = ifr.ifr_ifindex;

printf("%s at index %d\n", ifname, ifr.ifr_ifindex);

if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {

perror("Error in socket bind");

return -2;

}

nbytes = read(s, &frame, sizeof(struct can_frame));