cantxrx.c

基于S3C2410的CAN总线驱动

#include <stdio.h>
#include <stdlib.h>
//#include <unistd.h>
#include <fcntl.h>

#include <pthread.h>
#include <asm-arm/arch-s3c2410/S3C2410.h>
//#include <asm-arm/arch/hardware.h>
//#inclued <asm-arm/arch/bitfield.h>

#include "mcpcan.h"

#include "spi_cmd.h"
#include "def.h"
//#include "2410addr.h"
#include "directio.h"
//#include "option.h"
//#include "2410lib.h"



#define DEBUG

#ifdef DEBUG
#define dbgprintf(S) printf(S)
#else
#define dbgprintf(S)
#endif


int fd[2];

void recv(void * arg)
{
        struct mcpcan_data *datagramptr = (struct mcpcan_data *)arg;
        while(1)
	{	
		//int datalen;

		read(fd[1], datagramptr, sizeof(struct mcpcan_data));

		printf("data_receive.BufNo = %d\n",datagramptr->BufNo);
		printf("data_receive.IdType = %d\n",datagramptr->IdType);
		printf("data_receive.id = %d\n",datagramptr->id);
		printf("data_receive.DataLen = %d\n",datagramptr->DataLen);
		printf("data_receive.data = %s\n",datagramptr->data);
	}                                                                                                                                 
}



int main()
{
	pthread_t id;
	int ret;
	struct mcpcan_data data_receive;
	struct mcpcan_data data_send;

    /* 打印提示信息 */
	printf("---can总线测试程序---\n");

        data_send.BufNo = TXBUF0;
        data_send.IdType = STANDID;
        data_send.id = 23;
        data_send.DataLen = 8;
        strcpy(data_send.data, "-CVTECH-");

	data_receive.BufNo = 0;
	data_receive.IdType = 0;
	data_receive.id = 0;
	data_receive.DataLen = 0;
	memset(data_receive.data,9,0x0);

	fd [0]= open("/dev/can0",O_RDWR);
	fd [1]= open("/dev/can1",O_RDWR);
	
	if(fd[0] < 0)
	{
		printf("Open device can0  failed.\n");
		return fd[0];
	}
	printf("Open device can0 success.\n");
	if(fd[1]<0)
	{
		printf("Open device can1  failed.\n");
		return fd[1];
	}
	printf("Open device can1 success.\n");	

	ret=pthread_create(&id,NULL,(void *)recv, &data_receive);

        if(ret!=0){
		printf ("Create pthread error!\n");
		exit (1);
        }

	printf("Create pthread success.\n");

	while(1)
        {      
                sleep(9);

                write(fd[0], &data_send, sizeof(struct mcpcan_data));
                printf("send datagram.\n");
                printf("the data sended is %s.\n", data_send.data);
        }      

	/*while(1)
	{	
		int datalen;

		read(fd, &data_receive, sizeof(struct mcpcan_data));

		printf("data_receive.BufNo = %d\n",data_receive.BufNo);
		printf("data_receive.IdType = %d\n",data_receive.IdType);
		printf("data_receive.id = %d\n",data_receive.id);
		printf("data_receive.DataLen = %d\n",data_receive.DataLen);
		printf("data_receive.data = %s\n",data_receive.data);
	}*/

	return 0;
}