Kvaser Linux CANLIB
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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 * Read CAN messages and print out their contents */ #include <canlib.h> #include <stdio.h> #include <signal.h> #include <errno.h> #include <unistd.h> #include <time.h> int i = 0; unsigned char willExit = 0; int last; time_t last_time = 0; void sighand (int sig) { switch (sig) { case SIGINT: willExit = 1; alarm(0); break; } } int main (int argc, char *argv[]) { canHandle h; int ret = -1; long id; unsigned char msg[8]; unsigned int dlc; unsigned int flag; unsigned long t; int channel = 0; int bitrate = BAUD_1M; int j; errno = 0; if (argc != 2 || (channel = atoi(argv[1]), errno) != 0) { printf("usage %s channel\n", argv[0]); exit(1); } else { printf("Reading messages on channel %d\n", channel); } /* Use sighand as our signal handler */ signal(SIGALRM, sighand); signal(SIGINT, sighand); alarm(1); /* Allow signals to interrupt syscalls(in canReadBlock) */ siginterrupt(SIGINT, 1); /* Open channels, parameters and go on bus */ h = canOpenChannel(channel, canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED); if (h < 0) { printf("canOpenChannel %d failed\n", channel); return -1; } canSetBusParams(h, bitrate, 4, 3, 1, 1, 0); canSetBusOutputControl(h, canDRIVER_NORMAL); canBusOn(h); i = 0; while (!willExit) { do { ret = canReadWait(h, &id, &msg, &dlc, &flag, &t, -1); switch (ret) { case 0: printf("(%d) id:%ld dlc:%d data: ", i, id, dlc); if (dlc > 8) { dlc = 8; } for (j = 0; j < dlc; j++){ printf("%2.2x ", msg[j]); } printf(" flags:0x%x time:%ld\n", flag, t); i++; if (last_time == 0) { last_time = time(0); } else if (time(0) > last_time) { last_time = time(0); if (i != last) { printf("rx : %d total: %d\n", i - last, i); } last = i; } break; case canERR_NOMSG: break; default: perror("canReadBlock error"); break; } } while (ret == canOK); willExit = 1; } canClose(h); sighand(SIGALRM); printf("Ready\n"); return 0; }