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 * Send a CAN message */ #include <canlib.h> #include <stdio.h> #include <signal.h> #include <errno.h> #include <unistd.h> 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 != 2 || (channel = atoi(argv[1]), errno) != 0) { printf("usage %s channel\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); if (h < 0) { printf("canOpenChannel %d failed\n", channel); return -1; } canBusOff(h); check("canSetBusParams", canSetBusParams(h, bitrate, 4, 3, 1, 1, 0)); // Work-around for Leaf bug check("canSetBusOutputControl", canSetBusOutputControl(h, canDRIVER_NORMAL)); check("canBusOn", canBusOn(h)); check("canWrite", canWrite(h, 10000, "Kvaser!", 8, 0)); check("canWriteSync", canWriteSync(h, 1000)); //check("canBusOff", canBusOff(h)); check("canClose", canClose(h)); return 0; }