/
handcontrol.c
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/
handcontrol.c
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/*
** Copyright 2012 by Kvaser AB, Mölndal, Sweden
** http://www.kvaser.com
**
** This software is dual licensed under the following two licenses:
** BSD-new and GPLv2. You may use either one. See the included
** COPYING file for details.
**
** License: BSD-new
** ===============================================================================
** Redistribution and use in source and binary forms, with or without
** modification, are permitted provided that the following conditions are met:
** * Redistributions of source code must retain the above copyright
** notice, this list of conditions and the following disclaimer.
** * Redistributions in binary form must reproduce the above copyright
** notice, this list of conditions and the following disclaimer in the
** documentation and/or other materials provided with the distribution.
** * Neither the name of the <organization> nor the
** names of its contributors may be used to endorse or promote products
** derived from this software without specific prior written permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
** ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
** WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
** DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
** DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
** (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
** LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
** ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
** SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**
**
** License: GPLv2
** ===============================================================================
** This program is free software; you can redistribute it and/or
** modify it under the terms of the GNU General Public License
** as published by the Free Software Foundation; either version 2
** of the License, or (at your option) any later version.
**
** This program is distributed in the hope that it will be useful,
** but WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
** GNU General Public License for more details.
**
** You should have received a copy of the GNU General Public License
** along with this program; if not, write to the Free Software
** Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
**
** ---------------------------------------------------------------------------
**/
/*
* Kvaser Linux Canlib
* Send a CAN message
*/
#include <canlib.h>
#include <stdio.h>
#include <signal.h>
#include <errno.h>
#include <unistd.h>
unsigned char msg[4] = {0};
void check (char* id, canStatus stat)
{
char buf[50];
buf[0] = '\0';
canGetErrorText(stat, buf, sizeof(buf));
if (stat != canOK) {
printf("%s: failed, stat=%d (%s)\n", id, (int)stat, buf);
} else {
//printf("%s: OK\n", id);
}
}
/*
* Send messages until ctrl-c is pressed
*/
int main (int argc, char *argv[])
{
canHandle h;
int channel;
int bitrate = BAUD_1M;
errno = 0;
if (argc != 3 || (channel = 0, errno) != 0) {
printf("usage %s address byte1\n", argv[0]);
exit(1);
} else {
printf("Sending a message on channel %d\n", channel);
}
/* Allow signals to interrupt syscalls(e.g in canReadBlock) */
siginterrupt(SIGINT, 1);
/* Open channel, set parameters and go on bus */
//h = canOpenChannel(channel, canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED);
h = canOpenChannel(channel, canOPEN_EXCLUSIVE);
if (h < 0) {
printf("canOpenChannel %d failed\n", channel);
return -1;
}
canBusOff(h);
check("canSetBusParams", canSetBusParams(h, bitrate, 4, 3, 2, 1, 0));
// Work-around for Leaf bug
check("canSetBusOutputControl", canSetBusOutputControl(h, canDRIVER_NORMAL));
check("canBusOn", canBusOn(h));
//OY 8/20/2014
//unsigned char channel = atoi(argv[2]));
msg[0] = 0;
msg[2] = 1;
msg[3] = 41;
if (atoi(argv[2]) == 0)
msg[1] = 1;
if (atoi(argv[2]) == 100)
msg[1] = 2;
check("canWrite", canWrite(h, atoi(argv[1]), msg, 4, 0));
//printf("%d %d %d %d %d\n",msg[0], msg[1], msg[2], msg[3], channel);
check("canWriteSync", canWriteSync(h, 1000));
//check("canBusOff", canBusOff(h));
check("canClose", canClose(h));
return 0;
}