linux socketcan怎样设置波特率

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

int main() {
    int sockfd;
    struct ifreq ifr;
    struct sockaddr_can sa;
    struct can_frame cf;
    uint32_t bitrate;

    // 创建一个原始套接字
    sockfd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (sockfd < 0) {
        perror("socket");
        exit(EXIT_FAILURE);
    }

    // 获取网络设备名称（例如 "can0"）
    strncpy(ifr.ifr_name, "can0", IFNAMSIZ);

    // 使用ioctl获取网络接口的索引
    if (ioctl(sockfd, SIOCGIFINDEX, &ifr) < 0) {
        perror("ioctl");
        close(sockfd);
        exit(EXIT_FAILURE);
    }

    // 设置波特率
    bitrate = 500000; // 500 Kbps
    if (setsockopt(sockfd, SOL_SOCKET, SO_RCVBUF, &bitrate, sizeof(bitrate)) < 0) {
        perror("setsockopt");
        close(sockfd);
        exit(EXIT_FAILURE);
    }

    // 配置CAN帧
    memset(&sa, 0, sizeof(sa));
    sa.can_family = AF_CAN;
    sa.can_ifindex = ifr.ifr_ifindex;

    memset(&cf, 0, sizeof(cf));
    cf.can_id = 0x123;
    cf.can_dlc = 8;
    memcpy(cf.data, "Hello, World!", cf.can_dlc);

    // 发送CAN帧
    if (write(sockfd, &cf, sizeof(cf)) < 0) {
        perror("write");
        close(sockfd);
        exit(EXIT_FAILURE);
    }

    // 接收CAN帧
    memset(cf.data, 0, sizeof(cf.data));
    if (read(sockfd, &cf, sizeof(cf)) < 0) {
        perror("read");
        close(sockfd);
        exit(EXIT_FAILURE);
    }

    printf("Received frame with ID: 0x%X, data: %s\n", cf.can_id, cf.data);

    // 关闭套接字
    close(sockfd);

    return 0;
}