Kvaser Linux CANLIB: Welcome to Kvaser CANLIB!
readTimerTest.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
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** (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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** 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
* Read timer test
*/
#include <stdio.h>
#include <canlib.h>
#include <unistd.h>
#include <sys/time.h>
#include <errno.h>
static void printUsageAndExit(char *prgName)
{
printf("Usage: '%s <channel>'\n", prgName);
exit(1);
}
int main(int argc, char *argv[])
{
unsigned long time, last = 0, lastsys = 0;
canHandle hnd;
struct timeval tv;
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]);
}
}
hnd = canOpenChannel(channel, 0);
if (hnd < 0) {
char errorString[50];
canGetErrorText(hnd, errorString, 50);
printf("%s\n", errorString);
return -1;
}
while (1) {
if (canReadTimer(hnd, &time) != canOK) {
printf("canReadTimer failed\n");
break;
}
printf("Time=%lu ms (%lu)\n", time, time - last);
gettimeofday(&tv, NULL);
printf("system:%ld\n", tv.tv_sec * 1000 + tv.tv_usec / 1000 - lastsys);
last = time;
lastsys = tv.tv_sec * 1000 + tv.tv_usec / 1000;
sleep(1);
}
canClose(hnd);
return 0;
}