send.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 should be "0" or "1"
 * 	2:protocol "a" for 2.0A, "b" for 2.0B
 * 	3:frame "s" for standard, "e" for extend
  --------------------------------------------------------------------------*/
/* 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 != 4) {
    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]=0x0;
  can.accode[2]=0x0;
  can.accode[3]=0x0;
  can.accmask[0]=0xff;    
  can.accmask[1]=0xff;
  can.accmask[2]=0xff;
  can.accmask[3]=0xff;
  can.speed=CAN_125K;		/* baud	rate 125Kbps */
  can.interruptmask=0xff;
  can.filtertype = 0; //0 for single filter*, 1 double filter 
  if(ioctl(fd,IOCTL_SET_CAN,&can) <= 0) {
    printf("\n\n can controller port configure is error\n");
    close(fd);
    return 0;
  }

  msg.dlen = 8;
  if(*arg[3] =='s') msg.ff=PELICAN_SFF;
  else if(*arg[3] =='e') msg.ff=PELICAN_EFF;
  else if(*arg[3] =='r') { msg.rtr = 1; msg.dlen = 0;}
  else if(*arg[3] =='x') { msg.rtr = 1; msg.ff=PELICAN_SFF;msg.dlen = 0;}
  else if(*arg[3] =='y') { msg.rtr = 1; msg.ff=PELICAN_EFF;msg.dlen = 0;}
  else  {printf("arg 3 error\n"); return -1;}  
  
  msg.id = 15;
  for(i=0;i<8;i++)
    msg.data[i] = 0;

 for(j=0;j<100;j++) {
    msg.id=j;
    for(i=0;i<8;i++)
     msg.data[i] = i;
    
    if(write(fd, &msg, CAN_MSG_LEN))	
      printf("send message OK        %d\n",j);
    else
      printf("send message failed\n");
  }
  
  /*---- reset can controller	*/
  //ioctl(fd,IOCTL_RESET_CAN,0);

  close(fd);

  return 1;
}