can_test.c

ATEML AT91SAM9260测试程序。包括 can测试

/*
 * can_test.c
 * 
 * 2007/04/28 Mengrz
 * CAN BUS test for EBD9260 board.
 */

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

#include "can.h"

static void can_show_header(struct can_frame_header *header)
{
    printf("\nHeader: id=%d srr=%d ide=%d eid=%d rtr=%d rb1=%d rb0=%d dlc=%d\n",
	   header->id,
	   header->srr,
	   header->ide,
	   header->eid,
	   header->rtr,
	   header->rb1,
	   header->rb0,
	   header->dlc);
}

static int device = -1;
static int device1 = -1;

static void * can_read(void * th) 
{
    struct can_frame frame_recv;
    static sid = 0;
    int i;
    while(1) {
	memset(&frame_recv, 0, sizeof(struct can_frame));
	if (device1 > 0)
	    read(device1, &frame_recv, sizeof(struct can_frame));
	else
	    read(device, &frame_recv, sizeof(struct can_frame));
	
	if (frame_recv.header.id != sid) {
	    can_show_header(&frame_recv.header);
	    printf("RECV: \"");
	}
	for (i=0; i<frame_recv.header.dlc; i++)
	    printf("%c", frame_recv.data[i]);
	if (frame_recv.header.id != sid)
	    printf("\"\n");
	
	sid = frame_recv.header.id;
    }
    return NULL;
}

int main(int argc, char *argv[])
{
    if (argc < 2) {
	printf("Useage: %s dev [[dev1 [-f]] [-f]]\n", argv[0]);
	printf("   dev dev1 --- can device\n");
	printf("   -f       --- filter mode\n");
	exit(0);
    }
    
    static char buf[256];
    static char *pbuf=buf;
    struct can_frame frame;
    
    struct can_filter filter = {
	.fid = {
	    {3,0,0,1},
	    {4,1,9,1},
	    {5,0,0,1},
	    {6,1,13,1},
	    {7,0,0,1},
	    {8,1,17,1},
	},
	.sidmask = 0x0f,
	.eidmask = 0x00,
	.mode = 0,
    };
    
    struct can_filter not_filter = {
	.sidmask = 0,
	.eidmask = 0,
	.mode = 0,
    };
    
    device = open(argv[1], O_RDWR);
    if (device < 0){
	perror("open:device");
	exit(-1);
    }
    if (argc > 2) {
	if (strcmp(argv[2], "-f") != 0) {
	    device1 = open(argv[2], O_RDWR);
	    if (device1 < 0) {
		perror("open:device1");
		exit(-1);
	    }
	}
    }	
    
    int i,can_id = 1;
    int rate;
    int len;
    
    ioctl(device, CAN_IOCSFILTER, &not_filter);
    ioctl(device, CAN_IOCSRATE, 250000);
    ioctl(device, CAN_IOCGRATE, &rate);
    printf("%s Work Rate: %dbps\n", argv[1], rate);
    
    if (device1 > 0) {
	ioctl(device1, CAN_IOCSFILTER, &not_filter);
	ioctl(device1, CAN_IOCSRATE, 250000);
	if (argc > 3) {
	    if (strcmp(argv[3], "-f") == 0) {
		ioctl(device1, CAN_IOCSFILTER, &filter);
	    }
	}
	printf("%s Work Rate: %dbps\n", argv[2], rate);
    } else {	
	if (argc > 2) {
	    if (strcmp(argv[2], "-f") == 0) {
		ioctl(device, CAN_IOCSFILTER, &filter);
	    }
	}
	ioctl(device, CAN_IOCTLOOPBACKMODE);
	printf("%s work on loopback mode.\n", argv[1]);
    }
    
    pthread_attr_t attr;
    pthread_t thread_recv;
    pthread_attr_init(&attr);
    pthread_attr_setscope(&attr, PTHREAD_SCOPE_SYSTEM);
    if (pthread_create(&thread_recv, NULL, can_read, 0)) {
	perror("thread_create");
	exit(-1);
    }
    
    if (((argc == 3) && (strcmp(argv[2], "-f") == 0)) || ((argc > 3) && (strcmp(argv[3], "-f") == 0))) {
	printf("\nTest in Filter mode. \n");
	printf("Only receive the frame that it's id & 0xf == [3...8]\n"); 
	printf("The frame data=id(id=1...2031), and eid=id*2+1\n");
    }
    else {
	printf("\nPress \"\\q\" to quit! \n");
	printf("Input the message and press Enter to send!\n");
	printf("The frame id=1...2031, and eid=id*2+1\n");
    }
    
    while(1)
    {
//	if (getchar() == 'q') break;
			
	memset(&frame, 0, sizeof(struct can_frame));
	
	frame.header.id = can_id;
	
	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;
	}
	
	
	if (((argc > 2) && (strcmp(argv[2], "-f") == 0)) || ((argc > 3) && (strcmp(argv[3], "-f") == 0))) {
	    sprintf(frame.data, "%d", can_id);
	    frame.header.dlc = strlen(frame.data);
	    write(device, &frame, sizeof(struct can_frame));
	    sleep(1);
	}
	else {
//          printf("\nCanTest> ");
	    scanf("%s", buf);
	    if (strcmp(buf, "\\q") == 0)
		break;
	    
	    len = strlen(buf);
	    pbuf = buf;
	    for (len; len>CAN_FRAME_MAX_DATA_LEN; len-=CAN_FRAME_MAX_DATA_LEN) {
		memcpy(frame.data, pbuf, CAN_FRAME_MAX_DATA_LEN);
		frame.header.dlc = CAN_FRAME_MAX_DATA_LEN;
		write(device, &frame, sizeof(struct can_frame));
		pbuf += CAN_FRAME_MAX_DATA_LEN;
	    }
	    if (len > 0) {
		frame.header.dlc = len;
		memcpy(frame.data, pbuf, len);
		write(device, &frame, sizeof(struct can_frame));
	    }
	}
	can_id++;
	if (can_id > 2031) {
	    can_id = 1;
	}
    }
    
    close(device);
    if (device1 > 0)
	close(device1);
    return 0;
}