c_can_readburst.c

HMS30C7202下的CAN驱动

/*Usage:
 *call c_can_readburst [device] [message id] [max messages] {[acceptance mask]}
 *for example to receive through /dev/can0 up to 100
 *messages with the id 55 (decimal):
 * "./c_can_readburst /dev/can0 55 100"
 */

#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/canb0"

#ifndef TRUE
# define TRUE  1
#endif

#ifndef FALSE
# define FALSE 0
#endif

/* Prototypes */
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 );
}

/**
 * main
 */
int main( int argc, char **argv )
{
        long n,ret, max;
        long mask;
        int umask = 0;
        char c;
        unsigned long i=0;
        char *szdevice/*[ 256 ]*/ = DEFAULT_DEV;
        int bVerbose = FALSE;
        int bDebug = FALSE;
        int infinite = 0;
        struct canmsg_t readmsg = { 0,5,0,0,0,{0,} };
        struct sigaction act;

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

        printf("\n This program recieves CAN-messages with the specified ID\n\n");

        if (argc < 4) {
                printf("Error: Call \"c_can_readburst [device] [message id] [max messages] {[acceptance mask]}\"\n");
                return 1;
        } else {
                szdevice = argv[1];
                readmsg.id = atol(argv[2]);
                max = atol(argv[3]);
        }

        if (argc > 4) {
                umask = 1;
                mask = atol(argv[4]);
        }

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

        printf("Setting arbitration mask to id=%d\n", readmsg.id);
        ioctl( fd, IOCTL_CAN_SET_READ_MODE, readmsg.id );

        if (umask) {
                printf("Setting acceptance mask to mask=%d\n", mask);
                ioctl( fd, IOCTL_CAN_SET_FILTER, mask );
        }

        if (max == -1) {
                infinite = 1;
                printf("Receiving messages:\n");
        } else
                printf("Receiving up to %d messages:\n", max);
        while ( infinite || i < max ) {
                readmsg.flags=0;
                ret = read( fd, &readmsg, sizeof( struct canmsg_t ) );
                if ( ret < 0 ) {
                        printf( "Error reading message\n" );
                } else {
                        printf("Received message #%lu: id=%X dlc=%u", i, readmsg.id, readmsg.length );
                        for( n=0; n < readmsg.length ; n++ )
                                fprintf( stdout, " %.2X", ( unsigned char ) readmsg.data[ n ] );
                        fprintf( stdout, " timestamp: %lds %ldus\n", readmsg.timestamp_sec, readmsg.timestamp_usec);
                        i++;
                }
        }
        printf("Max message number reached (%d)\n", max);
        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;
}