int usrAppStartProc(void) { struct CAN_RPACKET rcvePacket; while { CanRcvMsg(0,rcvePacket); CanRcvMsg(1,rcvePacket); CanRcvMsg(2,rcvePacket); CanRcvMsg(3,rcvePacket); } }
hlcanopen::CanMsg Pci7841Card::read() { CAN_PACKET canPacket; memset(&canPacket, 0, sizeof(canPacket)); if (CanRcvMsg(handle, &canPacket) == 0) { if(getCanId(canPacket.CAN_ID) == 0) { } else { LOG(DEBUG) << "receiving data: " << " -- COB-ID: " << canPacket.CAN_ID << " can-id: " << getCanId(canPacket.CAN_ID) << " -- data: " << packetDataToStr(canPacket); } } else { LOG(DEBUG) << "no data received "; memset(&canPacket, 0, sizeof(canPacket)); } hlcanopen::CanMsg canMsg; canMsg.cobId = hlcanopen::COBId(getCanId(canPacket.CAN_ID), getCOBType(canPacket.CAN_ID)); for(BYTE i =0; i < 8; i++) { canMsg[i] = canPacket.data[i]; } return canMsg; }