can_read.c

来自「ATEML AT91SAM9260测试程序。包括 can测试」· C语言 代码 · 共 87 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"

void can_show_header(struct can_frame_header *header)
{
    printf("Header: 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);
}

int main(int argc, char *argv[])
{
    if (argc < 2) {
	printf("Useage: %s dev\n", argv[0]);
	exit(0);
    }
    
    struct can_frame frame_recv;
    
    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 = 1,
    };
    
    int device = open(argv[1], O_RDWR);
    if (device == -1){
	perror("open:device");
	exit(-1);
    }
    
    int i;
    int rate, ret;
    ioctl(device, CAN_IOCSRATE, 250000);
    ioctl(device, CAN_IOCGRATE, &rate);
    ioctl(device, CAN_IOCSFILTER, &filter);
    
    printf("%s Work Rate: %dbps\n", argv[1], rate);
    
    while(1)
    {
	
	memset(&frame_recv, 0, sizeof(struct can_frame));
	
	ret = read(device, &frame_recv, sizeof(struct can_frame));
	if (ret < 0)
	    perror("read");
	
	can_show_header(&frame_recv.header);
	printf("%s RECV: ", argv[1]);
	for (i=0; i<frame_recv.header.dlc; i++)
	    printf("%c", frame_recv.data[i]);
	printf("\n\n");
	
    }
    
    close(device);
    
    return 0;
    
}