internal CANBusBBB(string CanName, bool CANFD)
{
this.CANFD = CANFD;
this.Socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (this.Socket < 0)
{
throw new Exception("Error while opening socket. Error code: " + Marshal.GetLastWin32Error());
}
unsafe
{
IfRequest Req = new IfRequest();
for (int i = 0; i < CanName.Length; i++)
{
Req.Name[i] = Convert.ToByte(CanName[i]);
}
Req.Name[CanName.Length] = 0;
if (ioctl(Socket, SIOCGIFINDEX, ref Req) < 0)
{
throw new Exception("Error during IO Control. Error code: " + Marshal.GetLastWin32Error());
}
SockAddrCan Addr = new SockAddrCan();
Addr.CanFamily = AF_CAN;
Addr.CanIfIndex = Req.IfIndex;
if (bind(Socket, ref Addr, Marshal.SizeOf(Addr)) < 0)
{
throw new Exception("Error while binding socket. Error code: " + Marshal.GetLastWin32Error());
}
;
if (CANFD)
{
int FD = CANFD ? 1 : 0;
if (setsockopt(Socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, ref FD, Marshal.SizeOf(FD)) != 0)
{
throw new Exception("Failed to enable Extended CAN. Error code: " + Marshal.GetLastWin32Error());
}
}
}
}
private static extern int bind(int FileDescriptor, ref SockAddrCan Addr, int AddrLen);
