Kvaser Linux CANLIB: canfdwrite.c

canfdwrite.c

/*
**             Copyright 2012-2016 by Kvaser AB, Molndal, 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 FD message
 */

#include <canlib.h>
#include <stdio.h>
#include <signal.h>
#include <errno.h>
#include <unistd.h>


static void check(char* id, canStatus stat)
{
  if (stat != canOK) {
    char buf[50];
    buf[0] = '\0';
    canGetErrorText(stat, buf, sizeof(buf));
    printf("%s: failed, stat=%d (%s)\n", id, (int)stat, buf);
  }
}

static void printUsageAndExit(char *prgName)
{
  printf("Usage: '%s <channel>'\n", prgName);
  exit(1);
}

int main(int argc, char *argv[])
{
  canHandle hnd;
  canStatus stat;
  int channel;

  if (argc != 2) {
    printUsageAndExit(argv[0]);
  }

  {
    char *endPtr = NULL;
    errno = 0;
    channel = strtol(argv[1], &endPtr, 10);
    if ( (errno != 0) || ((channel == 0) && (endPtr == argv[1])) ) {
      printUsageAndExit(argv[0]);
    }
  }

  printf("Sending a CAN FD message on channel %d\n", channel);

  /* Allow signals to interrupt syscalls */
  siginterrupt(SIGINT, 1);

  /* Open channel, set parameters and go on bus */

  /* Open channels, parameters and go on bus */
  hnd = canOpenChannel(channel, canOPEN_CAN_FD | canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED);
  if (hnd < 0) {
    printf("canOpenChannel %d", channel);
    check("", hnd);
    return -1;
  }

  stat = canSetBusParams(hnd, canFD_BITRATE_1M_80P, 0, 0, 0, 0, 0);
  check("canSetBusParams", stat);
  if (stat != canOK) {
    goto ErrorExit;
  }
  stat = canSetBusParamsFd(hnd, canFD_BITRATE_2M_80P, 0, 0, 0);
  check("canSetBusParamsFd", stat);
  if (stat != canOK) {
    goto ErrorExit;
  }
  stat = canBusOn(hnd);
  check("canBusOn", stat);
  if (stat != canOK) {
    goto ErrorExit;
  }

  stat = canWrite(hnd, 10000,
                  "Kvaser !"
                  "01234567"
                  "89ABCDEF"
                  "abcdefgh"
                  "ijklmnop"
                  "qrstuvwx"
                  "yz@#$-+*"
                  "01234567",
                  64, canMSG_EXT | canFDMSG_FDF | canFDMSG_BRS);
  check("canWrite", stat);
  if (stat != canOK) {
    goto ErrorExit;
  }
  stat = canWriteSync(hnd, 1000);
  check("canWriteSync", stat);
  if (stat != canOK) {
    goto ErrorExit;
  }

ErrorExit:

  stat = canBusOff(hnd);
  check("canBusOff", stat);
  stat = canClose(hnd);
  check("canClose", stat);

  return 0;
}