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DAY 26
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門外漢的嵌入式地獄系列 第 26 篇

Day 26 。初入嵌入式開發- CAN 驅動開發(二)

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上一篇文章是透過 linux 內建的 socketcan 來做指令測試，這篇文章會說明該如何使用 C++ 來實現上篇的功能，以及我們需要做哪些前置。

安裝交叉編譯器

這邊提供兩種方式來安裝，第一種是for 32 bit 的處理器 ，第二種是 for 64 bit 的處理器。

#for arm32
sudo apt-get update
sudo apt-get install gcc-arm-linux-gnueabi
sudo apt-get install g++-arm-linux-gnueabihf
which arm-linux-gnueabihf-gcc
which arm-linux-gnueabihf-g++
export PATH=$PATH:$/usr/bin/arm-linux-gnueabihf-g++
export PATH=$PATH:$/usr/bin/arm-linux-gnueabihf-gcc

#for arm64
sudo apt update
sudo apt install gcc make gcc-aarch64-linux-gnu binutils-aarch64-linux-gnu
sudo apt install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
which aarch64-linux-gnu-gcc
which aarch64-linux-gnu-g++
which aarch64-linux-gnu-ld
export PATH=$PATH:$/usr/bin/aarch64-linux-gnu-gcc
export PATH=$PATH:$/usr/bin/aarch64-linux-gnu-g++
export PATH=$PATH:$/usr/bin/aarch64-linux-gnu-ld

程式

#include <iostream>
#include <linux/can.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <linux/can/raw.h>
#include <unistd.h>
#include <cstdlib>
#include <string.h>
#include <atomic>
#include <signal.h>
#include <thread>
#include <condition_variable>
#include <mutex>

#define ip_cmd_set_can0_params "ip link set can0 type can bitrate 1000000 dbitrate 2000000 fd on"
#define ip_cmd_can0_up         "ip link set can0 up"
#define ip_cmd_can0_down       "ip link set can0 down"

int can_fd;

int system_call_up()
{
    int result = system(ip_cmd_set_can0_params);
    if (result == -1) {
        std::cerr << "Failed to set CAN0 parameters." << std::endl;
        return -1;
    }
    sleep(1);
    result = system(ip_cmd_can0_up);
    if (result == -1) {
        std::cerr << "Failed to bring up CAN0." << std::endl;
        return -1;
    }
    return 1;
}

int system_call_down()
{
    int result;
    result = system(ip_cmd_can0_down);
    if (result == -1) {
        std::cerr << "Failed to bring down CAN0." << std::endl;
        return -1;
    }
    else
        return 1;
}

int can_init()
{
    if(system_call_up() == -1)
    {
        std::cout << "BringUp CAN0 Failed" << std::endl;
        return -1;
    }
    sleep(1);
    can_fd = socket(AF_CAN, SOCK_RAW, CAN_RAW);
    if(can_fd < 0)
    {
        perror("socket can creat error!\n");
        return -1;
    }   

    struct ifreq ifr;  // if.h
    strcpy(ifr.ifr_name, "can0");  // search can 0
    ioctl(can_fd, SIOCGIFINDEX, &ifr);

    struct sockaddr_can addr;
    addr.can_family = AF_CAN;  // can procotol family
    addr.can_ifindex = ifr.ifr_ifindex;  // can device index

    //bind can and socket
    int bind_res = bind(can_fd, (struct sockaddr *)&addr, sizeof(addr));
    if(bind_res < 0)
    {
        perror("bind error!");
        return -1;
    }

    // set filter , and only receive ID is 1 2 3 Frame Data
    struct can_filter rfilter[3];
    rfilter[0].can_id = 1;
    rfilter[0].can_mask = CAN_SFF_MASK; //  (SFF: standard frame format)
    
    rfilter[1].can_id = 2;
    rfilter[1].can_mask = CAN_SFF_MASK; 
 
    rfilter[2].can_id = 3;
    rfilter[2].can_mask = CAN_SFF_MASK; 
 
    setsockopt(can_fd, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
    
    return can_fd;

}

//if return is -1 , failed
//if successfully , return write data size
int write_data()
{
    struct can_frame frame;  
 
    frame.data[0] = 0xFF;  
    frame.data[1] = 0xFF;
    frame.data[2] = 0xDD;
    frame.data[3] = 0xEE;
    frame.data[4] = 0xBB;
    frame.data[5] = 0xCC;
    frame.data[6] = 0xAA;
    frame.data[7] = 0xFC;
    
    
    frame.can_dlc = 8;  
    frame.can_id = 1;   
    write(can_fd, &frame, sizeof(frame));  

    std::cout << "[CAN Send Data] ";
    for(int i = 0 ; i < 8 ; i++)
    {
        std::cout << std::hex << (uint16_t)frame.data[i] << " ";
    }
    std::cout << std::endl;
}

int read_data()
{
    struct can_frame status;
    read(can_fd, &status, sizeof(status));
    int s_data = status.can_dlc;
    std::cout <<"[CAN ID  ] "<<(uint16_t)status.can_id << std::endl;
    std::cout <<"[CAN DLC ] "<<(uint16_t)s_data << std::endl;
    std::cout <<"[CAN DATA] ";
    for(int i = 0 ; i < s_data ; i++)
    {
        std::cout << std::hex << (uint16_t)status.data[i] << " ";
    }
    std::cout << std::endl;
}
 

int time_count = 0;

int main()
{
    if(time_count == 0)
    {
        int res = can_init();
        if(res<0)
        {
            std::cout << "CAN Init Error" << std::endl;
            return -1;
        }
        else
        {
            std::cout << "CAN Init OK!" << std::endl;
            time_count++;
        }
    }

    while(true) 
    {
        write_data();
        sleep(0.5);
    }

    std::cout << "Exiting gracefully..." << std::endl;
    close(can_fd);

    return 0;
}

Can Receive 程式

#include <iostream>
#include <linux/can.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <linux/can/raw.h>
#include <unistd.h>
#include <cstdlib>
#include <string.h>
#include <signal.h>
#include <thread>
#include <condition_variable>
#include <mutex>

#define ip_cmd_set_can0_params "ip link set can0 type can bitrate 1000000 dbitrate 2000000 fd on"
#define ip_cmd_can0_up         "ip link set can0 up"
#define ip_cmd_can0_down       "ip link set can0 down"

int can_fd;

int system_call_up()
{
    int result = system(ip_cmd_set_can0_params);
    if (result == -1) {
        std::cerr << "Failed to set CAN0 parameters." << std::endl;
        return -1;
    }
    sleep(1);
    result = system(ip_cmd_can0_up);
    if (result == -1) {
        std::cerr << "Failed to bring up CAN0." << std::endl;
        return -1;
    }
    return 1;
}

int system_call_down()
{
    int result;
    result = system(ip_cmd_can0_down);
    if (result == -1) {
        std::cerr << "Failed to bring down CAN0." << std::endl;
        return -1;
    }
    else
        return 1;
}

int can_init()
{
    if(system_call_up() == -1)
    {
        std::cout << "BringUp CAN0 Failed" << std::endl;
        return -1;
    }
    sleep(1);
    can_fd = socket(AF_CAN, SOCK_RAW, CAN_RAW);
    if(can_fd < 0)
    {
        perror("socket can creat error!\n");
        return -1;
    }   

    struct ifreq ifr;  // if.h
    strcpy(ifr.ifr_name, "can0");  // search can 0
    ioctl(can_fd, SIOCGIFINDEX, &ifr);

    struct sockaddr_can addr;
    addr.can_family = AF_CAN;  // can procotol family
    addr.can_ifindex = ifr.ifr_ifindex;  // can device index

    //bind can and socket
    int bind_res = bind(can_fd, (struct sockaddr *)&addr, sizeof(addr));
    if(bind_res < 0)
    {
        perror("bind error!");
        return -1;
    }

    // set filter , and only receive ID is 1 2 3 Frame Data
    struct can_filter rfilter[3];
    rfilter[0].can_id = 1;
    rfilter[0].can_mask = CAN_SFF_MASK; //  (SFF: standard frame format)
    
    rfilter[1].can_id = 2;
    rfilter[1].can_mask = CAN_SFF_MASK; 
 
    rfilter[2].can_id = 3;
    rfilter[2].can_mask = CAN_SFF_MASK; 
 
    setsockopt(can_fd, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
    
    return can_fd;

}

//if return is -1 , failed
//if successfully , return write data size
int write_data()
{
    struct can_frame frame;  
 
    frame.data[0] = 0xFF;  
    frame.data[1] = 0xFF;
    frame.data[2] = 0xDD;
    frame.data[3] = 0xEE;
    frame.data[4] = 0xBB;
    frame.data[5] = 0xCC;
    frame.data[6] = 0xAA;
    frame.data[7] = 0xFC;
    
    
    frame.can_dlc = 8;  
    frame.can_id = 1;   
    write(can_fd, &frame, sizeof(frame));  

    std::cout << "[CAN Send Data] ";
    for(int i = 0 ; i < 8 ; i++)
    {
        std::cout << std::hex << (uint16_t)frame.data[i] << " ";
    }
    std::cout << std::endl;
}

int read_data()
{
    struct can_frame status;
    read(can_fd, &status, sizeof(status));
    int s_data = status.can_dlc;
    std::cout <<"[CAN ID  ] "<<(uint16_t)status.can_id << std::endl;
    std::cout <<"[CAN DLC ] "<<(uint16_t)s_data << std::endl;
    std::cout <<"[CAN DATA] ";
    for(int i = 0 ; i < s_data ; i++)
    {
        std::cout << std::hex << (uint16_t)status.data[i] << " ";
    }
    std::cout << std::endl;
}
 

int time_count = 0;

int main()
{
    if(time_count == 0)
    {
        int res = can_init();
        if(res<0)
        {
            std::cout << "CAN Init Error" << std::endl;
            return -1;
        }
        else
        {
            std::cout << "CAN Init OK!" << std::endl;
            time_count++;
        }
    }

    while(true) 
    {
        read_data(); 
        sleep(0.5);
    }

    std::cout << "Exiting gracefully..." << std::endl;
    close(can_fd);

    return 0;
}

canloopback

#include <iostream>
#include <linux/can.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <linux/can/raw.h>
#include <unistd.h>
#include <cstdlib>
#include <string.h>

#include <atomic>
#include <signal.h>
#include <thread>
#include <condition_variable>
#include <mutex>

#define ip_cmd_set_can0_params "ip link set can0 type can bitrate 1000000 dbitrate 2000000 fd on loopback on"
#define ip_cmd_can0_up         "ip link set can0 up"
#define ip_cmd_can0_down       "ip link set can0 down"

int can_fd;

int system_call_up()
{
    int result = system(ip_cmd_set_can0_params);
    if (result == -1) {
        std::cerr << "Failed to set CAN0 parameters." << std::endl;
        return -1;
    }
    sleep(1);
    result = system(ip_cmd_can0_up);
    if (result == -1) {
        std::cerr << "Failed to bring up CAN0." << std::endl;
        return -1;
    }
    return 1;
}

int system_call_down()
{
    int result;
    result = system(ip_cmd_can0_down);
    if (result == -1) {
        std::cerr << "Failed to bring down CAN0." << std::endl;
        return -1;
    }
    else
        return 1;
}

int can_init()
{
    if(system_call_up() == -1)
    {
        std::cout << "BringUp CAN0 Failed" << std::endl;
        return -1;
    }
    sleep(1);
    can_fd = socket(AF_CAN, SOCK_RAW, CAN_RAW);
    if(can_fd < 0)
    {
        perror("socket can creat error!\n");
        return -1;
    }   

    struct ifreq ifr;  // if.h
    strcpy(ifr.ifr_name, "can0");  // search can 0
    ioctl(can_fd, SIOCGIFINDEX, &ifr);

    struct sockaddr_can addr;
    addr.can_family = AF_CAN;  // can procotol family
    addr.can_ifindex = ifr.ifr_ifindex;  // can device index

    //bind can and socket
    int bind_res = bind(can_fd, (struct sockaddr *)&addr, sizeof(addr));
    if(bind_res < 0)
    {
        perror("bind error!");
        return -1;
    }

    // set filter , and only receive ID is 1 2 3 Frame Data
    struct can_filter rfilter[3];
    rfilter[0].can_id = 1;
    rfilter[0].can_mask = CAN_SFF_MASK; //  (SFF: standard frame format)
    
    rfilter[1].can_id = 2;
    rfilter[1].can_mask = CAN_SFF_MASK; 
 
    rfilter[2].can_id = 3;
    rfilter[2].can_mask = CAN_SFF_MASK; 
 
    setsockopt(can_fd, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
    
    return can_fd;

}

//if return is -1 , failed
//if successfully , return write data size
int write_data()
{
    struct can_frame frame;  
 
    frame.data[0] = 0xFF;  
    frame.data[1] = 0xFF;
    frame.data[2] = 0xDD;
    frame.data[3] = 0xEE;
    frame.data[4] = 0xBB;
    frame.data[5] = 0xCC;
    frame.data[6] = 0xAA;
    frame.data[7] = 0xFC;
    
    
    frame.can_dlc = 8;  
    frame.can_id = 1;   
    write(can_fd, &frame, sizeof(frame));  

    std::cout << "[CAN Send Data] ";
    for(int i = 0 ; i < 8 ; i++)
    {
        std::cout << std::hex << (uint16_t)frame.data[i] << " ";
    }
    std::cout << std::endl;
}

int read_data()
{
    struct can_frame status;
    read(can_fd, &status, sizeof(status));
    int s_data = status.can_dlc;
    std::cout <<"[CAN ID  ] "<<(uint16_t)status.can_id << std::endl;
    std::cout <<"[CAN DLC ] "<<(uint16_t)s_data << std::endl;
    std::cout <<"[CAN DATA] ";
    for(int i = 0 ; i < s_data ; i++)
    {
        std::cout << std::hex << (uint16_t)status.data[i] << " ";
    }
    std::cout << std::endl;
}
 
int time_count = 0;

int main()
{
    if(time_count == 0)
    {
        int res = can_init();
        if(res<0)
        {
            std::cout << "CAN Init Error" << std::endl;
            return -1;
        }
        else
        {
            std::cout << "CAN Init OK!" << std::endl;
            time_count++;
        }
    }

    while(true) 
    {
        write_data();
        sleep(0.5);
        read_data(); 
    }

    std::cout << "Exiting gracefully..." << std::endl;
    close(can_fd);

    return 0;
}

Makefile

當我們寫好程式後，接下來要做的就是將我們的程式透過交叉編譯器編譯成執行檔，並且是可以在 stm32mp1 上運行的版本。實際上的做法就是透過 Make File 與 前面所說的交叉編譯器來做。

PROG1 = cansend
SRCS1 = can_send.cpp

PROG2 = canreceive
SRCS2 = can_receive.cpp

PROG3 = canloopback
SRCS3 = can_loopback.cpp

CLEANFILES = $(PROG1) $(PROG2) $(PROG3)

CROSS_COMPILE ?= aarch64-linux-gnu-
CC := $(CROSS_COMPILE)gcc
CXX := $(CROSS_COMPILE)g++
LD := $(CROSS_COMPILE)ld

CFLAGS = -Wall -O -g
CXXFLAGS = -Wall -O -g

all: $(PROG1) $(PROG2) $(PROG3)

$(PROG1): $(SRCS1)
	$(CXX) -o $@ $^ $(CXXFLAGS) 

$(PROG2): $(SRCS2)
	$(CXX) -o $@ $^ $(CXXFLAGS)

$(PROG3): $(SRCS3)
	$(CXX) -o $@ $^ $(CXXFLAGS)

clean:
	rm -f $(PROG1) $(PROG2) $(PROG3) $(patsubst %.c, %.o, $(SRCS1)) $(patsubst %.c, %.o, $(SRCS2)) $(patsubst %.c, %.o, $(SRCS3))
# rm -f $(CLEANFILES) $(patsubst %.c,%.o, $(SRCS))

.bb

我們有了執行檔後，接下來就可以透過 yocto 將檔案安裝在對應的目錄底下。但通常會做這步驟是最後已經開發了差不多的時候，前期其實避免麻煩與編譯時間，可以直接複製到SD卡當中去執行就好了。

SUMMARY = "bitbake-layers recipe"
DESCRIPTION = "Recipe created by bitbake-layers"
LICENSE = "CLOSED"

SRC_URI = "file://can_test/canreceive \
		file://can_test/cansend \
		file://can_test/canloopback \
"

S = "${WORKDIR}"
RDEPENDS:${PN} += "libgcc libstdc++ glibc"

do_install() {
    install -d ${D}${sysconfdir}/test
    install -m 0755 ${WORKDIR}/can_test/canreceive ${D}${sysconfdir}/test
    install -m 0755 ${WORKDIR}/can_test/cansend ${D}${sysconfdir}/test
    install -m 0755 ${WORKDIR}/can_test/canloopback ${D}${sysconfdir}/test
}

重新編譯後，檔案會存放在 /etc/test/ 底下 。 可以直接使用 ./canloopback 做單板測試。


上一篇
Day 25 。初入嵌入式開發- CAN 驅動開發(一)
下一篇
Day 27 。初入嵌入式開發- RS232 驅動開發
系列文
門外漢的嵌入式地獄 共 30 篇
  1. 26
    Day 26 。初入嵌入式開發- CAN 驅動開發(二)
  2. 27
    Day 27 。初入嵌入式開發- RS232 驅動開發
  3. 28
    Day 28 。初入嵌入式開發- RS485 驅動開發
  4. 29
    Day 29 。初入嵌入式開發- I2C S35390A RTC驅動開發
  5. 30
    Day 30 。初入嵌入式開發- SPI SN74HCT595驅動開發
完整目錄
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