ARM_CAN总线通信实验

/************************************************\ * by threewater<threewater@up-tech.com> * * 2003.12.18 * * * \***********************************************/ #include <stdio.h> #include <unistd.h> #include <fcntl.h> #include <time.h> //#include <sys/types.h> //#include <sys/ipc.h> #include <sys/ioctl.h> #include <pthread.h> //#include "hardware.h" #include "up-can.h" #define CAN_DEV "/dev/can/0" static int can_fd = -1; #define DEBUG #ifdef DEBUG #define DPRINTF(x...) printf("Debug:"##x) #else #define DPRINTF(x...) #endif static void* canRev(void* t) { CanData data; int i; DPRINTF("can recieve thread begin.\n"); for(;;){ read(can_fd, &data, sizeof(CanData)); for(i=0;i<data.dlc;i++) putchar(data.data[i]); fflush(stdout); } return NULL; } #define MAX_CANDATALEN 8 static void CanSendString(char *pstr) { CanData data; int len=strlen(pstr); memset(&data,0,sizeof(CanData)); data.id=0x123; data.dlc=8; for(;len>MAX_CANDATALEN;len-=MAX_CANDATALEN){ memcpy(data.data, pstr, 8); //write(can_fd, pstr, MAX_CANDATALEN); write(can_fd, &data, sizeof(data)); pstr+=8; } data.dlc=len; memcpy(data.data, pstr, len); //write(can_fd, pstr, len); write(can_fd, &data, sizeof(CanData)); } int main(int argc, char** argv) { int i; pthread_t th_can; static char str[256]; static const char quitcmd[]="\\q!"; void * retval; int id=0x123; char usrname[100]={0,}; if((can_fd=open(CAN_DEV, O_RDWR))<0){ printf("Error opening %s can device\n", CAN_DEV); return 1; } ioctl(can_fd, UPCAN_IOCTRL_PRINTRIGISTER, 1); ioctl(can_fd, UPCAN_IOCTRL_SETID, id); #ifdef DEBUG ioctl(can_fd, UPCAN_IOCTRL_SETLPBK, 1); #endif /* Create the threads */ pthread_create(&th_can, NULL, canRev, 0); printf("\nPress \"%s\" to quit!\n", quitcmd); printf("\nPress Enter to send!\n"); if(argc==2){ //Send user name sprintf(usrname, "%s: ", argv[1]); } for(;;){ int len; scanf("%s", str); if(strcmp(quitcmd, str)==0){ break; } if(argc==2) //Send user name CanSendString(usrname); len=strlen(str); str[len]='\n'; str[len+1]=0; CanSendString(str); } /* Wait until producer and consumer finish. */ //pthread_join(th_com, &retval); printf("\n"); close(can_fd); return 0; }