C++ (Cpp) LINUX_CAN_BTR0BTR1 예제들

예제 #1

파일: bitratetest.c 프로젝트: DKarlberg/OpenDaVINCI

// here all is done
int main(int argc, char *argv[])
{
  char *ptr;
  int i;
  const char *szDeviceNode = DEFAULT_NODE;
  
  errno = 0;

  current_release = CURRENT_RELEASE;
  disclaimer("bitratetest");

  // decode command line arguments
  for (i = 1; i < argc; i++)
  {
    char c;

    ptr = argv[i];

    while (*ptr == '-')
      ptr++;
      
    c = *ptr;
    ptr++;

    if (*ptr == '=')
      ptr++;
      
    switch(tolower(c))
    {
    	case 'f':
				szDeviceNode = ptr;
				break;
			case '?':
      case 'h':
        hlpMsg();
	      my_private_exit(0);
	      break;
	      
	    default:
	      errno = EINVAL;
	      perror("bitratetest: unknown command line argument");
	      my_private_exit(errno);
	      break;
	   }
  }
  
  // open the CAN port
  // please use what is appropriate
  // HW_DONGLE_SJA 
  // HW_DONGLE_SJA_EPP
  // HW_ISA_SJA 
  // HW_PCI
  h = LINUX_CAN_Open(szDeviceNode, O_RDWR);

  if (h)
  {
    char txt[VERSIONSTRING_LEN];

    // get version info
    errno = CAN_VersionInfo(h, txt);
    if (!errno)
      printf("bitratetest: driver version = %s\n", txt);
    else
    {
      perror("bitratetest: CAN_VersionInfo()");
      my_private_exit(errno);
    }

    printf("\n");
    
    // calculate BTR0BTR1 from bitrates
    for (i = 1000000; i > 2500; i /= 2)
    {
    	if (i == 62500)
				i = 100000;
			if (i == 6250)
				i = 10000;
				
    	printf("bitratetest: %d bits/sec \t->BTR0BTR1=0x%04x\n", i + 1,  LINUX_CAN_BTR0BTR1(h, i + 1));
    	printf("             %d bits/sec \t->BTR0BTR1=0x%04x\n", i    ,  LINUX_CAN_BTR0BTR1(h, i));
    	printf("             %d bits/sec \t->BTR0BTR1=0x%04x\n", i - 1,  LINUX_CAN_BTR0BTR1(h, i - 1));
    };
    printf("\n");
  }
  else
  {
    errno = nGetLastError();
    perror("bitratetest: CAN_Open()");
  }
    
  my_private_exit(errno);
  
  return errno;
}

예제 #2

파일: bvcan.cpp 프로젝트: Sean3Don/opentribot

void BVCan::initializeCan(    ){

#ifdef USE_CAN
  
  WORD awBTR0BTR1=0x0014;
 int aCANMsgType=0;


   h = NULL;

  errno = 0;


  device = string("/dev/pcan32");
  //  open the device
  //    //  O_RDWR which request opening the file read/write
  h = LINUX_CAN_Open((char*)(device.c_str()), O_RDWR);
  if (h==0)
  {
      device = string("/dev/pcan0");
      h = LINUX_CAN_Open((char*)(device.c_str()), O_RDWR);
  }
  if(h==0){
      cerr<< "PCan_Device nicht gefunden !!!"<<endl;
      exit(37);
  }
  
  
  
  if(h){
    PCAN_DESCRIPTOR *desc= (PCAN_DESCRIPTOR *)h;
    BV_ASSERT( desc->nFileNo>0 );
    BV_DEBUGINFO4NNL("BVCan::ctor device=[" << desc->szDevicePath << "]");
    BV_DEBUGINFO4C(" fd=[" << desc->nFileNo << "]" << endl);
    setfd(desc->nFileNo);
    CAN_Status(h);
    // -----------------------------------------------------------
    // returns a text string with driver version info
    errno = CAN_VersionInfo(h, info);
    if (!errno){
      string infostr( string(info) );
      BV_DEBUGINFO4("BVCan::ctor driver version=[" << infostr << "]");
    }
    else
      perror("BVCan::ctor CAN_VersionInfo()");

    wBTR0BTR1 = 0x401c; 
    if(LINUX_CAN_BTR0BTR1(h,wBTR0BTR1)==0)
      BV_WARNING("BVCan::ctor 0x" << hex << wBTR0BTR1 << dec << " is not possible" );	 
    else
      BV_DEBUGINFO4("BVCan::ctor baudrate changes to 0x" << hex << wBTR0BTR1 << dec );	      
  } 
  else
    BV_DEBUGINFO4("BVCan::ctor cannot open the can device");	  

  BV_WARNING("BVCan::initializeCan .....................");
  if(h){
    // init to a user defined bit rate
    //nExtended = CAN_INIT_TYPE_ST;
    //wBTR0BTR1 = CAN_BAUD_500K;
    canMsgType = aCANMsgType;
    wBTR0BTR1 = awBTR0BTR1;


    errno = CAN_Init(h, wBTR0BTR1, canMsgType);
    if (errno)
      perror("BVCan::initializeCan CAN_Init failed");
    else
      BV_WARNING("BVCan::initializeCan baudrate=0x" << hex << wBTR0BTR1 << dec << " msgType=" << canMsgType );
  }
  else
    BV_WARNING("BVCan::initializeCan can HANDLE is NULL");

  
  #endif

  
  
}