#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <net/if.h>

#include <linux/can.h>
#include <linux/can/raw.h>
#include <string.h>

/* At time of writing, these constants are not defined in the headers */
#ifndef PF_CAN
#define PF_CAN 29
#endif

#ifndef AF_CAN
#define AF_CAN PF_CAN
#endif
void main()
{
/* ... */

/* Somewhere in your app */

/* Create the socket */
int skt = socket( PF_CAN, SOCK_RAW, CAN_RAW );
if(skt<=0)printf("skt<=0");
/* Locate the interface you wish to use */
struct ifreq ifr;
strcpy(ifr.ifr_name, "can0");
ioctl(skt, SIOCGIFINDEX, &ifr); /* ifr.ifr_ifindex gets filled
* with that device's index */
printf("device index=%i",ifr.ifr_ifindex);
/* Select that CAN interface, and bind the socket to it. */
struct sockaddr_can addr;
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
bind( skt, (struct sockaddr*)&addr, sizeof(addr) );

/* Send a message to the CAN bus */
struct can_frame frame;
frame.can_id = 0x123;
strcpy( frame.data, "foo" );
frame.can_dlc = strlen( frame.data );
int bytes_sent = write( skt, &frame, sizeof(frame) );

/* Read a message back from the CAN bus */
int bytes_read = read( skt, &frame, sizeof(frame) );
}

/*
* SPI devices
*/
static struct spi_board_info yl9200_spi_devices[] = {
#if defined(CONFIG_TOUCHSCREEN_ADS7846) || defined(CONFIG_TOUCHSCREEN_ADS7846_MODULE)
{ /* Touchscreen */
.modalias = "ads7846",
.chip_select = 0,
.max_speed_hz = 5000 * 26,
.platform_data = &ads_info,
.irq = AT91_PIN_PB11,
},
#endif
{ /* CAN */
.modalias = "mcp2510",
.chip_select = 1,
.max_speed_hz = 25000 * 26,
.irq = AT91_PIN_PC0,
}
};