$ ifconfig can0 up 

 $ ifconfig can1 up 

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

#include <unistd.h>

#include <sys/types.h>

#include <sys/socket.h>

#include <sys/ioctl.h>

#include <net/if.h>

#include <linux/can.h>

#include <linux/can/raw.h>

int main( int argc, char *argv[])

{

int fd_can;

struct sockaddr_can addr;

struct can_frame frame;

int nbytes;

struct ifreq ifr;

int ifindex;

    if ( 2 > argc){

    printf( "인수가 모자릅니다. 시리얼 포트를 입력하여 주시오\n");

    printf( "실행방법: ]$ ./app_can_sender can0\n");

    exit( 0);

}

if ( 0 > ( fd_can = socket(PF_CAN, SOCK_RAW, CAN_RAW)) ) {

perror("socket");

return 1;

}

strcpy(ifr.ifr_name, argv[1]);

ioctl( fd_can, SIOCGIFINDEX, &ifr);

ifindex = ifr.ifr_ifindex;

addr.can_family  = AF_CAN;

addr.can_ifindex = 0; /* bind to all interfaces */

if ( 0 > bind( fd_can, (struct sockaddr *)&addr, sizeof(addr)) ) {

perror("bind");

return 1;

}

/* fill CAN frame */

frame.can_id  = 0x32;

frame.can_dlc = 8;

frame.data[0] = 0x46; // 'F'

frame.data[1] = 0x41; // 'A'

frame.data[2] = 0x4C; // 'L'

frame.data[3] = 0x69; // 'i'

frame.data[4] = 0x6E; // 'n'

frame.data[5] = 0x75; // 'u'

frame.data[6] = 0x78; // 'x'

frame.data[7] = 0x21; // '!'

addr.can_family  = AF_CAN;

addr.can_ifindex = ifindex; /* send via this interface */

nbytes = sendto( fd_can, &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));

close( fd_can);

return 0;

} 

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

#include <unistd.h>

#include <sys/types.h>

#include <sys/socket.h>

#include <sys/ioctl.h>

#include <net/if.h>

#include <linux/can.h>

#include <linux/can/raw.h>

int main( int argc, char *argv[])

{

int sock;

struct sockaddr_can addr;

struct can_filter rfilter[4];

struct can_frame frame;

int ndx;

struct ifreq ifr;

int ifindex;

    if ( 2 > argc){

    printf( "인수가 모자릅니다. 시리얼 포트를 입력하여 주시오\n");

    printf( "실행방법: ]$ ./app_can_receiver can0\n");

    exit( 0);

}

// can 포트를 open

if ( 0 > (sock = socket(PF_CAN, SOCK_RAW, CAN_RAW))) {

perror("socket");

return 1;

}

rfilter[0].can_id   = 0x32;

rfilter[0].can_mask = CAN_SFF_MASK;

rfilter[1].can_id   = 0x200;

rfilter[1].can_mask = 0x700;

rfilter[2].can_id   = 0x80123456;

rfilter[2].can_mask = 0x1FFFF000;

rfilter[3].can_id   = 0x80333333;

rfilter[3].can_mask = CAN_EFF_MASK;

setsockopt(sock, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));

strcpy( ifr.ifr_name, argv[1]); // 사용할 CAN 번호

ioctl(sock, SIOCGIFINDEX, &ifr);

ifindex = ifr.ifr_ifindex;

addr.can_family = AF_CAN;

addr.can_ifindex = ifindex;

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

perror("bind");

return 1;

}

while ( 1 )

{

int rd_size;

rd_size = read( sock, &frame, sizeof(struct can_frame));

if ( 0 > rd_size) {

fprintf(stderr, "read error");

} else if ( rd_size < sizeof( struct can_frame)) {

fprintf(stderr, "read: incomplete CAN frame\n");

return 1;

} else {

if (frame.can_id & CAN_EFF_FLAG)

printf("%8X  ", frame.can_id & CAN_EFF_MASK);

else

printf("%3X  ", frame.can_id & CAN_SFF_MASK);

printf("[%d] ", frame.can_dlc);

for ( ndx = 0; ndx < frame.can_dlc; ndx++) {

printf("%02X ", frame.data[ndx]);

}

if (frame.can_id & CAN_RTR_FLAG)

printf("remote request");

printf("\n");

fflush(stdout);

}

}

close( sock);

return 0;

} 

 $ ./app_can_sender can0 &  

 $ ./app_can_receiver can1