c_can_sendburst2.c

HMS30C7202下的CAN驱动

#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <signal.h>
#include "../include/can.h"

#define DEFAULT_DEV "/dev/cana0"

#ifndef TRUE
# define TRUE  1
#endif

#ifndef FALSE
# define FALSE 0
#endif

/* Prototypes */
void usage( char *pname );
void sortie (int sig );

int fd;

/*--- handler on SIGINT signal : the program quit with CTL-C ---*/
void sortie (int sig )
{
   close(fd);
   printf("Terminated by user.\n");
   exit(0);
}

int main( int argc, char **argv )
{
        struct canmsg_t sendmsg = { 0,5,0,0,8,{1,2,3,4,5,6,7,8 } };
        long idl, idh, id;
        int fd, ret, infinite=0, info=0;
        long i,j;
        long nbursts, nburstsize;
        long delay;
        char c;
        char *szdevice = DEFAULT_DEV;
        char buf[ 256 ];
        int bVerbose = FALSE;
        int bDebug = FALSE;
        struct sigaction act;

                /*------- register handler on SIGINT signal -------*/
        act.sa_handler=sortie;
        sigemptyset(&act.sa_mask);
        act.sa_flags=0;
        sigaction(SIGINT,&act,0);
                /*-------------------------------------------------*/

        //nbursts = 5000;       // One burst as a default
        //nburstsize = 50;   // Size for each message burst

        printf("\n This program sends a specified number of message-packets of specified size over can0.\n");
        printf("The message-ids of the sent messages will lie in the given area\n\n");

        if (argc < 7) {
                printf("Error: Call \"c_can_sendburst2 [device] [number of blocks] [blocksize] [id low] [id high] [delay us]\"\n");
                return 1;
        } else {
                szdevice = argv[1];
                nbursts = atol(argv[2]);
                nburstsize = atol(argv[3]);
                idl = atol(argv[4]);
                idh = atol(argv[5]);
                delay = atol(argv[6]);
        }
        if (argc>7) info =1;

        //exchange values if needed
        if (idl > idh) {
                id = idl;
                idl = idh;
                idh = id;
        }

        if ( ( fd = open( szdevice, O_WRONLY) ) < 0 ) {
                perror("open");
                printf("Error opening %s\n", szdevice);
                exit(1);
        }

        id = idl;
        j=0;
        if (delay == -1)
        infinite = 1;
        while ( infinite || nbursts-- ) {
                for( i=0; i<nburstsize; i++ ) {
                        if (id > idh) id = idl;
                        sendmsg.id = id++;
                        //printf("%ld\n", sendmsg.id);
                        sendmsg.data[ 0 ] = i;
                        sendmsg.data[ 1 ] = ( j & 0xff );
                        sendmsg.length = 8;
                        if ( ( ret = write( fd, &sendmsg, sizeof( struct canmsg_t ) ) ) < 0) {
                                perror("write");
                                printf("Error sending message\n");
                                break;
                        }

                        if ( bDebug ) {
                                printf("Message written. Return value for write: ret=: %u\n", ret );
                        }
                }
                if (info)
                        printf("Sent block of %d messages (#%u)\n", nburstsize, j );

                j++;
                if (delay > 0)
                usleep( delay );
        }

        printf("Sent %d blocks a %d messages\n", nbursts, nburstsize);
        printf("flushing...\n");
        sleep( 1 ); // Allow buffers to empty before closing

        printf("Printing statistics of message object\n");
        sleep( 1 );
        ioctl( fd, IOCTL_CAN_PRINT_STATISTICS );

        close(fd);
        return 0;
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////
// usage
//

void usage( char *pname )
{
   fprintf(stderr, "usage: %s options [id [ byte ..]]\n", pname );
   fprintf(stderr, "-h\t Prints this message.\n");
   fprintf(stderr, "-n\t The number of bursts to send [1].\n");
   fprintf(stderr, "-s\t The number of messages to send in each burts [10].\n");
   fprintf(stderr, "-d\t Enables debug mode [off].\n");
   fprintf(stderr, "-\t Enables verbose mode [off].\n");
}