int CAN_listen(const CAN_Node *node, void (*callback)(void *, struct can_frame *), void *cookie, int *done)
{
int status;
struct can_frame frame;
while(!*done)
{
/*
struct timeval tv;
fd_set set;
FD_ZERO(&set);
FD_SET(node->fd, &set);
tv.tv_sec = 0;
tv.tv_usec = 10*1000;
int s = select(node->fd + 1, &set, NULL, NULL, &tv);
if(s < 0)
perror("Error select CAN raw socket");
return 1;
if(s == 0)
continue;
*/
status = CAN_receive(node, &frame);
if(status != 0)
return 2;
callback(cookie, &frame);
}
return 0;
}
/**
* @brief Put the controller in normal mode and make it receive incoming
* messages
*/
void CAN_test_normal_receive()
{
CAN_init(MCP_MODE_NORMAL);
CanMessage_t resp;
while (1)
{
_delay_ms(200);
resp = CAN_receive();
CAN_print_message(&resp);
}
}
/**
* @brief Put the CAN controller in loopback mode and test local features
*/
void CAN_test_loopback()
{
CAN_init(MCP_MODE_LOOPBACK);
CanMessage_t message;
CanMessage_t resp;
message.id = 15;
message.length = 4;
message.data[0] = 'T';
message.data[1] = 'E';
message.data[2] = 'S';
message.data[3] = 'T';
while (1)
{
CAN_send(&message);
_delay_ms(200);
resp = CAN_receive();
CAN_print_message(&resp);
}
}
