can_write.c

来自「ATEML AT91SAM9260测试程序。包括 can测试」· C语言 代码 · 共 73 行

/*
 * can_test.c
 *
 * Copyright (C) 2007 Mengrz
 */

#include <sys/types.h>
#include <sys/unistd.h>
#include <sys/stat.h>
#include <linux/fcntl.h>
#include <linux/ioctl.h>

#include "can.h"


int main(int argc, char *argv[])
{
    if (argc < 2) {
	printf("Useage: %s dev\n", argv[0]);
	exit(0);
    }
    
    struct can_frame frame;
    
    int device = open(argv[1], O_RDWR);
    if (device == -1){
	perror("open:device");
	exit(-1);
    }
    
    
    int i,can_id = 1;
    int rate;
    ioctl(device, CAN_IOCSRATE, 250000);
    ioctl(device, CAN_IOCGRATE, &rate);
    
    printf("%s Work Rate: %dbps\n", argv[1], rate);
    
    
    while(1)
    {
	
	memset(&frame, 0, sizeof(struct can_frame));
	sprintf(frame.data, "%d", can_id);
	frame.header.id = can_id;
	frame.header.dlc = strlen(frame.data);
	if ((can_id % 2) == 0) {
	    frame.header.ide = 1;
	    frame.header.eid = can_id * 2 + 1;
	}else{
	    frame.header.ide = 0;
	    frame.header.eid = 0;
	}
	can_id++;
	if (can_id > 2031) {
	    can_id = 1;
	}
	
	
	int ret = write(device, &frame, sizeof(struct can_frame));
	if (ret < 0)
	    perror("write");
	
	sleep(3);
	
    }
    
    close(device);
    
    return 0;
    
}