can@e0008000 {compatible = "xlnx,zynq-can-1.0";status = "okay";clocks = <0x1 0x13 0x1 0x24>;clock-names = "can_clk", "pclk";reg = <0xe0008000 0x1000>;interrupts = <0x0 0x1c 0x4>;interrupt-parent = <0x3>;tx-fifo-depth = <0x40>;rx-fifo-depth = <0x40>;};

# ifconfig -a
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00NOARP  MTU:16  Metric:1RX packets:0 errors:0 dropped:0 overruns:0 frame:0TX packets:0 errors:0 dropped:0 overruns:0 carrier:0collisions:0 txqueuelen:10RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)Interrupt:22eth0      Link encap:Ethernet  HWaddr 00:0A:35:00:01:22inet addr:192.168.0.120  Bcast:192.168.0.255  Mask:255.255.255.0UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1RX packets:397 errors:0 dropped:0 overruns:0 frame:0TX packets:242 errors:0 dropped:0 overruns:0 carrier:0collisions:0 txqueuelen:1000RX bytes:476490 (465.3 KiB)  TX bytes:18536 (18.1 KiB)Interrupt:148 Base address:0xb000lo        Link encap:Local LoopbackLOOPBACK  MTU:65536  Metric:1RX packets:0 errors:0 dropped:0 overruns:0 frame:0TX packets:0 errors:0 dropped:0 overruns:0 carrier:0collisions:0 txqueuelen:0RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

Z-turn# ./ip link set can0 type can bitrate 100000
xilinx_can e0008000.can can0: bitrate error 0.0%
Z-turn#./ip link set can0 up
Z-turn#./ip -d -s link show can0
2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10link/can  promiscuity 0can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0bitrate 99999 sample-point 0.750tq 2500 prop-seg 1 phase-seg1 1 phase-seg2 1 sjw 1xilinx_can: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..256 brp-inc 1clock 99999999re-started bus-errors arbit-lost error-warn error-pass bus-off0          0          0          0          0          0         numtxqueues 1 numrxqueues 1RX: bytes  packets  errors  dropped overrun mcast0          0        0       0       0       0TX: bytes  packets  errors  dropped carrier collsns0          0        0       0       0       0

/****************************************************************************** Copyright (c) 2014-2017 MYIR Tech Ltd.*        File: can-test.c*        Date: 2014/11/3*      Author: Kevin Su* Description: A demo program to show how to transmit/receive data with*              socket can interface on CAN bus.*                Please note that, this demo needs two boards to run as*                transmitter and receiver.*                Before run "can-test", we need to config the bitrate with*              "ip" command:*              # ip link set can0 up type can bitrate 100000*/#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>#define DEBUG    1#define ERR_MSG(fmt, args...)    fprintf(stderr, fmt, ##args)
#ifdef DEBUG#define DBG_MSG(fmt, args...)    fprintf(stdout, fmt, ##args)
#else#define DBG_MSG(fmt, args...)
#endif#ifndef PF_CAN#define PF_CAN 29
#endif#ifndef AF_CAN#define AF_CAN PF_CAN
#endifint main(int argc, char *argv[])
{int fd, ret, flag, len;char senddata[32] = "test";struct sockaddr_can addr;struct ifreq ifr;struct can_frame frame;socklen_t socket_len = sizeof(struct sockaddr_can);/* Create a socket with PF_CAN family, SOCK_RAW and CAN_RAW protocol */fd = socket(PF_CAN, SOCK_RAW, CAN_RAW); if (fd < 0) {ERR_MSG("Open socket failed!\n");return fd;}/* Use can0 */strcpy((char *)(ifr.ifr_name), "can0");/* Get information */ret = ioctl(fd, SIOCGIFINDEX, &ifr);if (ret != 0) {ERR_MSG("SIOCGIFINDEX failed! ret:%d\n", ret);close(fd);return ret;}DBG_MSG("can0 can_ifindex = %x\n",ifr.ifr_ifindex);/* Disable loopback */flag = 0;ret = setsockopt(fd, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &flag, sizeof(flag));if (ret != 0) {ERR_MSG("Set loopback disable failed! ret:%d\n", ret);close(fd);return ret;}DBG_MSG("Set can0 loopback disable\n");/* Disable receiving own message */flag = 0;ret = setsockopt(fd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &flag, sizeof(flag));if (ret != 0) {ERR_MSG("Disable receiving own message failed! ret:%d\n", ret);close(fd);return ret;}DBG_MSG("Disable receiving own message\n");/* Use AF_CAN protocol family */addr.can_family = AF_CAN;addr.can_ifindex = ifr.ifr_ifindex;/* Binding socket */ret = bind(fd, (struct sockaddr*)&addr, sizeof(addr));if (ret != 0) {ERR_MSG("Bind socket failed! ret:%d\n", ret);close(fd);return ret;}DBG_MSG("Bind can0 socket\n");frame.can_id = 0x123;len = strlen(senddata);while (1) {strncpy((char *)frame.data, senddata, len);frame.can_dlc = len;ret = sendto(fd, &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));if (ret > 0) {DBG_MSG("Send success: [%s], ret=%d\n", senddata, ret);ret = recvfrom(fd, &frame, sizeof(struct can_frame), 0, (struct sockaddr *)&addr, &socket_len);if (ret > 0) {DBG_MSG("Recv message: [%s], ret=%d\n", frame.data, ret);}}usleep(500000);}return 0;
}

struct timeval timeout = {1,0}; //1.0s//设置发送超时
setsockopt(socket，SOL_SOCKET,SO_SNDTIMEO，(char *)&timeout,sizeof(struct timeval));
//设置接收超时
setsockopt(socket，SOL_SOCKET,SO_RCVTIMEO，(char *)&timeout,sizeof(struct timeval));

ifconfig can0 down
ifconfig can0 up