int can_send_message(can_message_t* message) {
static CPC_CAN_MSG_T cmsg = {0x00L, 0, {0, 0, 0, 0, 0, 0, 0, 0}};
int i, retval = 0;
cmsg.id=message->id; //put the can id of the device in cmsg
cmsg.length=8; //put the lenght of the message in cmsg
for(i = 0; i < cmsg.length; i++) {
cmsg.msg[i] = message->content[i]; //put the message in cmsg
}
SELECT_WR; //enable write en read
if (FD_ISSET(cpcfd, &writefds)) { //if chanel open and writable (???)
//send the message of lenght 8 to the device of id can_id
while ((retval = CPC_SendMsg(handle, 0, &cmsg)) == CPC_ERR_CAN_NO_TRANSMIT_BUF) {
usleep(10);
}
if (retval == 0) {
//wait for the reply
PDEBUG("Sent CAN message, now waiting for reply...\n");
can_read_message();
PDEBUG("Received CAN reply\n");
} else {
PDEBUG_ERR("%s\n", CPC_DecodeErrorMsg(retval));
return -1;
}
}
return 0;
}
int main (int argc, const char * argv[])
{
double angle;
int num_tick;
can_init("/dev/ttyUSB4");
//can_send_message(&msg_poti_set_counterclockwise);
can_send_message(&msg_poti_save);
rtx_message("0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X", message.id, message.content[0], message.content[1], message.content[2], message.content[3], message.content[4], message.content[5], message.content[6], message.content[7]);
while (0)
{
can_send_message(&msg_poti_pos_request);
can_read_message();
num_tick = int(message.content[4])+int(message.content[5])*256+int(message.content[6])*256*256 + int(message.content[7])*256*256*256;
angle = remainder((num_tick%AV_POTI_RESOLUTION)*360.0/AV_POTI_RESOLUTION,360.0);
rtx_message("angle: %f",angle);
}
// The destructors will take care of cleaning up the memory
return (0);
}
void canix_process_messages(void)
{
uint8_t i;
for (i = 0; i < MAX_IDLE_CALLBACKS; i++)
{
if (can_message_available())
{
uint32_t extid;
canix_frame frame;
// Frame einlesen
frame.size = can_read_message(&extid, (char *) &(frame.data[0]));
frame.dst = (extid >> 10) & ADDR_MASK;
frame.src = extid & ADDR_MASK;
frame.proto = (extid >> 20) & PROTO_MASK;
canix_deliver_frame(&frame);
}
else if (idle_callback[i])
idle_callback[i]();
}