CAN IoT Card driver

mangOH Red
44

Hi,
I got a mangOH red board with the Talon CAN IoT board. Is there a simple (working ;-]) read example? I’ve tried the @Francis.duhaut code and it won’t compile. I also tried the KillSwitch Example compile but did not works. So I made a simple read code:

#include “legato.h”
#include “interfaces.h”

#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int soc;
int read_can_port;

int open_port(const char *port)
{
struct ifreq ifr;
struct sockaddr_can addr;

/* open socket */
soc = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if(soc < 0)
{
    return (-1);
}

addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, port);

if (ioctl(soc, SIOCGIFINDEX, &ifr) < 0)
{

    return (-1);
}

addr.can_ifindex = ifr.ifr_ifindex;

fcntl(soc, F_SETFL, O_NONBLOCK);

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

    return (-1);
}
LE_INFO("CAN Is Set");
return 0;

}

void read_port()
{
LE_INFO(“Enter Read Function”);
struct can_frame frame_rd;
int recvbytes = 0;

read_can_port = 1;
while(read_can_port)
{
    printf("Read ... recv:%d\n", recvbytes);
    struct timeval timeout = {1, 0};
    
    fd_set readSet;
    FD_ZERO(&readSet);
    FD_SET(soc, &readSet);

    if (select((soc + 1), &readSet, NULL, NULL, &timeout) >= 0)
    {
        if (!read_can_port)
        {
            LE_INFO("Nothing Received");
            break;
        }
        if (FD_ISSET(soc, &readSet))
        {
            LE_INFO("Something Received");
            recvbytes = read(soc, &frame_rd, sizeof(struct can_frame));
            if(recvbytes)
            {
                LE_INFO("Can Received");
                printf("dlc = %d, data = %s\n", frame_rd.can_dlc,frame_rd.data);

            }
        }
    }

}

}

int close_port()
{
close(soc);
return 0;
}

COMPONENT_INIT
{
LE_INFO(“Open Port”);
open_port(“can0”);
LE_INFO(“Close Port”);
close_port();
LE_INFO(“ReOpen Port”);
open_port(“can0”);
LE_INFO(“Read CAN”);
read_port();
LE_INFO(“Quit App”);
}

It compile, I launch the shell script before running app but i got this error:

swi-mdm9x28-wp user.notice kernel: [ 96.220890] audit: type=1400 audit(315964898.251:4): lsm=SMACK fn=smack_inode_getattr action=denied subject=“app.testCan” object=“admin” requested=r pid=1952 comm=“testCan” path=“pipe:[9211]” dev=“pipefs” ino=9211

Any Idea on what appends? Or better a simple working example? Does someone have reached add a can-utils layer in the yocto configuration? It also lacks a lot of documentation about it.