c_can_sendburst.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 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 } };
        int fd, ret;
        long i,j;
        long nmessages;
        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);
        /*-------------------------------------------------*/

        printf("\n This program sends a specified number of message-packets of specified size over the given can device\n");

        if (argc < 5){
                printf("Error: Call \"c_can_sendburst [device] [number of messages] [message id] [delay us]\"\n");
                return 1;
        } else {
                szdevice = argv[1];
                nmessages = atol(argv[2]);
                sendmsg.id = atol(argv[3]);
                delay = atol(argv[4]);
        }

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

        j=0;
        while ( nmessages == -1 || j < nmessages ) {
                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 );
                }

                j++;
                usleep( delay );
        }
        printf("Sent %d messages\n", nmessages);
        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;
}