-----------------------------SENDER----------------------------
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <libgen.h>
#include <getopt.h>
#include <sched.h>
#include <limits.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>
int main ()
{
int s0,i;
struct sockaddr_can addr0 ;
struct ifreq ifr0 ;
struct can_frame myFrame ;
char fl_bind;
char bytes_wr;
system( "sudo ip link set can0 down" );
sleep( 1 ); // sec
system( "sudo ip link set can0 up type can bitrate 500000" );
printf ( "sudo ip link set can0 up type can bitrate 500000 \n" );
sleep( 1 );
s0=socket(PF_CAN, SOCK_RAW, CAN_RAW);
/*CAN0 interface set up*/
strcpy (ifr0.ifr_name, "can0" );
ioctl(s0, SIOCGIFINDEX, &ifr0);
addr0.can_family = AF_CAN;
addr0.can_ifindex = ifr0.ifr_ifindex;
fl_bind=bind(s0,(struct sockaddr*)&addr0, sizeof (addr0));
if (fl_bind== 0 ){ printf ( "bind ok\n" );}
//define the CAN frame
myFrame.can_id= 0x10 ;
myFrame.can_dlc= 8 ;
for (i= 0 ;i< 7 ;i++) myFrame.data[i]= 0x55 ;
myFrame.data[ 0 ]= 0xAA ;
// infinite loop
while ( 1 )
{
bytes_wr=write(s0,&myFrame, sizeof (myFrame));
printf ( " bytes_wr : %d \n" , bytes_wr);
sleep( 1 );
}
}

--------------------------RECEIVER---------------------------------
int main ()
{
int s0,i,nbytes_rd;
struct sockaddr_can addr0 ;
struct ifreq ifr0 ;
struct can_frame myFrameRec ;
char fl_bind;
char bytes_wr;
// system("sudo ip link set can0 down");
// sleep(1);// sec
// system("sudo ip link set can0 up type can bitrate 500000");
// printf("sudo ip link set can0 up type can bitrate 500000 \n");
// sleep(1);
s0=socket(PF_CAN, SOCK_RAW, CAN_RAW);
/*CAN0 interface set up*/
strcpy (ifr0.ifr_name, "can0" );
ioctl(s0, SIOCGIFINDEX, &ifr0);
addr0.can_family = AF_CAN;
addr0.can_ifindex = ifr0.ifr_ifindex;
fl_bind=bind(s0,(struct sockaddr*)&addr0, sizeof (addr0));
if (fl_bind== 0 ){ printf ( "bind ok\n" );}
// infinite loop
while ( 1 )
{
nbytes_rd = read(s0, &myFrameRec, sizeof (struct can_frame));
printf ( "\n nbytes_rd:%d " ,nbytes_rd );
printf ( "can_id:%02X " , myFrameRec.can_id);
printf ( "can_dlc:%02X data: " , myFrameRec.can_dlc);
for (i = 0 ; i < myFrameRec.can_dlc; i++)
 printf ( "%02X " , myFrameRec.data[i]);
}
}