linux - 使用 SocketCAN 编写自定义 CAN 协议(protocol)

Question

我正在尝试为 SocketCAN 编写稍微修改的 CAN 协议(protocol)。 SocketCAN 文档对此有一个简短的部分:

5.3 writing own CAN protocol modules

To implement a new protocol in the protocol family PF_CAN a new
protocol has to be defined in include/linux/can.h .
The prototypes and definitions to use the SocketCAN core can be
accessed by including include/linux/can/core.h .
In addition to functions that register the CAN protocol and the
CAN device notifier chain there are functions to subscribe CAN
frames received by CAN interfaces and to send CAN frames:

can_rx_register   - subscribe CAN frames from a specific interface
can_rx_unregister - unsubscribe CAN frames from a specific interface
can_send          - transmit a CAN frame (optional with local loopback)

For details see the kerneldoc documentation in net/can/af_can.c or
the source code of net/can/raw.c or net/can/bcm.c .

( https://www.kernel.org/doc/Documentation/networking/can.txt)

问题是我找不到这里引用的一些文件。我对Linux内核不是很熟悉，所以我不知道我是不是找错地方了。我可以找到 include/linux/can.h和目录 include/linux/can/但是没有 core.h文件在那里。此外，我找不到 net/引用的目录。

其他信息:

我能够发送和接收原始 CAN 帧，所以我相信我已经正确设置了 SocketCAN

目录的内容(应该是 core.h):

 beaglebone:~# ls /usr/include/linux/can/
 bcm.h  error.h  gw.h  netlink.h  raw.h

我在 BeagleBone Black 上使用 Debian(我不确定我的系统的嵌入性是否有所不同)

如果有人可以帮助我指出我应该在哪里寻找这些文件，我将非常感激。

非常感谢!

Answer 1

CAN协议(protocol)以硬件实现；尝试制作不符合标准的数据包将无法与兼容的硬件一起使用。