receive.c

linux下PCI_CAN 的驱动程序

#include "adv_can.h"	/* Library function declaration	*/
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <string.h>

/*--------------------------------------------------------------------------
 * parameter:
 * 	1:port "0" for port 0, "1" for port 1
 * 	2:protocol "a" for 2.0A, "b" for 2.0B
  --------------------------------------------------------------------------*/
/* define can controller interrupt connect to PC irq number */


int main(int argv, char **arg)
{
  int fd=0;
  /* declare the can card segment address */
  CAN_STRUCT can;
  can_msg_t msg;
  char name[20];
  int	i,j;
  memset(name, 0 , 20);
  if(argv != 3) {
    printf("argument error!\n");
    return 0;
  }
  sprintf(name, "/dev/can%c", *arg[1]);
  if((fd = open(name, O_RDWR))<=0)
  {
	printf("cannot open %s\n", name);
        return -1;
  }
  /*---- reset can controller	*/
  ioctl(fd, IOCTL_RESET_CAN, NULL);
  
  if(*arg[2] =='a') can.protocol=CAN_PROTOCOL_20A;
  else if(*arg[2] =='b') can.protocol=CAN_PROTOCOL_20B;
  else {printf("arg 2 error\n"); return -1;}

  can.accode[0]=0x0;
  can.accode[1]=48;      
  can.accode[2]=0x0;
  can.accode[3]=80;
  can.accmask[0]=0xff;    
  can.accmask[1]=0xff;    
  can.accmask[2]=0xff;   
  can.accmask[3]=0xff;    
  can.speed= CAN_125K;
  can.interruptmask=0xff;
  can.filtertype = 1; //0 for single filter, 1 for double filter 
  if(ioctl(fd,IOCTL_SET_CAN,&can) <= 0) {
    printf("\n\n can controller port configure is error\n");
    close(fd);
    return 0;
  }

  j=0;
 printf("port open successful, begin to receive data:\n"); 
 while(1) {
    if(read(fd, &msg, CAN_MSG_LEN)) {
     if(can.protocol == CAN_PROTOCOL_20A)
     printf("Recieve:ID=%d rtr=%1d Length=%1d ",
	     msg.id, msg.rtr, msg.dlen);
     else
     printf("Recieve:ID=%d ff=%1d rtr=%1d Length=%1d ",
	     msg.id, msg.ff, msg.rtr, msg.dlen);
      for(i=0 ; i< 8 ; i++)
	printf(" %2X",msg.data[i]);
        printf("  %d\n", j);	

      j++;
    }
    if(j==100)
	break;
    /*else {
      j++;
      if(j%1000 == 0)
	printf("%d\n", j);
    }*/
  }
  
  printf("total %d\n", j);
  printf("receive data successful!\n");
  close(fd);

  return 1;
}