各位大神们，最近在做linux socketcan，已经弄了好些日子，但是还没搞明白。
问题：
硬件平台：Zynq 7000 ,搭载Ubuntu12.04，socketCAN，500kbps。
/******************************************************************************/
进行socketcan通信开发，在官方提供的例程和驱动下，CAN的标准帧收发测试正常。
但是进行扩展帧收发测试时，发现只有发送正常，接收时ID和DLC正常，数据却都是0。
图1：上位机模拟下发给Zynq7000 扩展帧报文
图2：芯片内部接收ID、DLC正常，data全是0，这块只打印出来了第一个data[0],其它7个数据也全是0.
/******************************************************************************/
下面是主要程序部分：
int RecvBuffer[16][4][10]={0,0,0};//16：means 16 nodes;4:different PFs;10:recv data,include can_id、can_dlcstruct can_frame frame;int count=0;int nbytes;int s;void RecvCAN(void){
RecvBuffer[0][0][0]=frame.can_id ;
RecvBuffer[0][0][1]=frame.can_dlc;
RecvBuffer[0][0][2]=frame.data[0];
RecvBuffer[0][0][3]=frame.data[1];
RecvBuffer[0][0][4]=frame.data[2];
RecvBuffer[0][0][5]=frame.data[0];
RecvBuffer[0][0][6]=frame.data[4];
RecvBuffer[0][0][7]=frame.data[5];
RecvBuffer[0][0][8]=frame.data[6];
RecvBuffer[0][0][9]=frame.data[7]; //show message
if (nbytes > 0) {
printf("ID=0x%X DLC=%d data[0][0][2]=0x%X\n", RecvBuffer[0][0][0],
RecvBuffer[0][0][1],RecvBuffer[0][0][2]);
}
}
/******************************************************************************/
void SendCAN(void){
frame.can_id = CAN_EFF_FLAG | 0x1C2;
frame.can_dlc = 8;
frame.data[0] = 0xA8;
frame.data[1] = 0xA7;
frame.data[2] = 0xA6;
frame.data[3] = 0xA5;
frame.data[4] = 0xA4;
frame.data[5] = 0xA3;
frame.data[6] = 0xA2;
frame.data[7] = 0xA1;
nbytes = write(s, &frame, sizeof(frame)); //send message
if (nbytes != sizeof(frame)) {
printf("Send Error frame\n!");
} printf("Send Back id[0]=0x%X\n",frame.can_id);
}
/******************************************************************************/
s = socket(PF_CAN, SOCK_RAW, CAN_RAW); //create socket
printf("can_s is %d\n",s); strcpy(ifr.ifr_name, "can0" );
ioctl(s, SIOCGIFINDEX, &ifr); //select dev
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex; printf("ifr_ifindex is %d\n",addr.can_ifindex );
bind(s, (struct sockaddr *)&addr, sizeof(addr)); //bind
frame.can_id |= CAN_EFF_FLAG | CAN_RTR_FLAG | CAN_EFF_MASK;
while(1)
{
SendCAN();//send the command
nbytes = read(s, &frame, sizeof(frame)); //recv protocol
printf("can_r_nbytes is %d\n",nbytes);
printf("frame.can_id is 0x%X\n",frame.can_id & CAN_EFF_MASK);
if (nbytes < 0) {
perror("can raw socket read");
return -2;
}
/* paranoid check ... */
if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
return -3;
}
//for test
RecvCAN();//recv the data and save the data to a buffer
}
/******************************************************************************/
396abf98bf 396abf98bf
