can.c

ok2440ii开发板

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

#include <pthread.h>

#define DEBUG

#ifdef DEBUG
#define dbgprintf(S) printf(S)
#else
#define dbgprintf(S)
#endif
#define TXBUF0 0
#define STANDID 0

typedef struct mcpcan_data{
	unsigned int BufNo;
	unsigned int IdType;
	unsigned int id;
	unsigned int DataLen;
	char data[9];
}mcpcan_data;



int fd;

void send(void * arg)
{
        struct mcpcan_data *datagramptr = (struct mcpcan_data *)arg;
        while(1)
        {      
                sleep(2);

                write(fd, datagramptr, sizeof(struct mcpcan_data));
                printf("send datagram.\n");
                printf("the data sended is %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 = open("/dev/can",O_RDWR);
	if(fd < 0)
	{
		printf("Open device failed.\n");
		return fd;
	}
	printf("Open device success.\n");

	ret=pthread_create(&id,NULL,(void *)send, &data_send);

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

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

	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;
}