c_can_test.c

HMS30C7202下的CAN驱动

#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>

#include "../include/can.h"
#define MAXL 40

int main(int argc, char **argv)
{
        int j, i=0, ret=0, count=0;
        long id;
        int fds=-1;
        int fdr=-1;

        char ch, transmission[MAXL+1];
        char *can0file/*[]*/="/dev/cana0";
        char *can1file/*[]*/="/dev/canb0";
        char emptystring[MAXL+1]="", buf[MAXL+1];
        char remote[MAXL+1];
        struct canmsg_t smessage;
        struct canmsg_t rmessage;
        struct canstatistics_t sstat;
        struct canstatistics_t rstat;

        printf("\nThis program sends a message from CAN0 to CAN1.\n\n");

        if (argc < 4) {
                printf("Error: Call \"c_can_test [senddevice] [receivedevice] [message id]\"\n");
                return 1;
        } else {
                can0file = argv[1];
                can1file = argv[2];
                id = atol(argv[3]);
        }

        printf("Try to open ");
        printf(can0file);
        for (j=0; j<500; j++);
        if ((fds=open(can0file,O_RDWR)) < 0) {
                printf(" : error\n");
                return -1;
        }
        printf(" : ok  fds=%d\n", fds);

        printf("Try to open ");
        printf(can1file);
        for (j=0; j<500; j++);
        if ((fdr=open(can1file,O_RDWR)) < 0) {
                printf(" : error\n");
                return -1;
        }
        printf(" : ok  fdr=%d\n", fdr);

        smessage.flags = 0;
        smessage.id = id;
        smessage.length = 2;
        smessage.data[0] = 10;
        smessage.data[1] = 20;

        rmessage.flags = 0;
        rmessage.id = id;
        rmessage.length = 0;
        rmessage.data[0] = 0;
        rmessage.data[1] = 0;

        printf("Setting arbitration mask of %s to id=%d\n", can1file, rmessage.id);
        ioctl( fdr, IOCTL_CAN_SET_READ_MODE, rmessage.id );

        printf("\nPress enter to send message through %s\n", can0file);
        while (getchar() != '\n');
        printf("Id   : %lx\n",smessage.id);
        printf("length       : %d\n",smessage.length);
        printf("flags        : 0x%02x\n", smessage.flags);
        //printf("time       : %ld\n", smessage.timestamp);
        for (i=0; i<smessage.length; i++)
                printf("data%d     : %02x\n",i,
                        smessage.data[i]);
        ret=write(fds, &smessage, sizeof(struct canmsg_t));
        if (ret<0)
                printf("Error sending message from %s\n",can0file);
        else
                printf("Message successfully sent from %s\n",can0file);

        printf("\nPress enter read received message of %s\n", can1file);
        while ( getchar() != '\n') ;
        ret=read(fdr, &rmessage, sizeof(struct canmsg_t));
        if (ret<0)
                printf("Error receiving message on %s\n",  can1file);
        else {
                printf("Id      : %lx\n",rmessage.id);
                printf("length  : %d\n",rmessage.length);
                printf("flags   : 0x%02x\n", rmessage.flags);
                printf("time    : %lds %ldus\n", rmessage.timestamp_sec, rmessage.timestamp_usec);
                for (i=0; i<rmessage.length; i++)
                printf("data%d        : %02x\n",i,
                        rmessage.data[i]);
        }

        printf("\nPress enter print CANstatistics structures of both message objects\n");
        while ( getchar() != '\n') ;
        printf("Read message object:\n");
        while ( getchar() != '\n') ;
        ioctl( fdr, IOCTL_CAN_PRINT_STATISTICS );
        printf("\nSend message object:\n");
        while ( getchar() != '\n') ;
        ioctl( fds, IOCTL_CAN_PRINT_STATISTICS );

        //printf("wait for interrupt\n");
        //while(1);

        sleep( 2 );

        if ( close( fds ) ) {
                printf("Error closing %s\n",can0file);
                return -1;
        }
        if ( close( fdr ) ) {
                printf("Error closing %s\n",can1file);
                return -1;
        }

        return 0;
}