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UC-8416-T-LX
Инструкция по эксплуатации Страница: 70

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UC-8410/8416/8418/8430 Programmer's Guide

5-18

unsigned char byte3;

unsigned char byte4;

unsigned char byte5;

unsigned char byte6;

unsigned char byte7;

unsigned char byte8;

} byte;

} can_data_u;

typedef struct user_frame_struct {

int id;

int info; // RTR & extend ID flag

#define USER_RTR BIT(0)

#define USER_EXTEND_ID BIT(1)

int data_length;

can_data_u data;

} user_frame_t;

// ioctl command code

#define MOXACAN_IOCTL_SET_BAUD_RATE 0x100

#define MOXACAN_IOCTL_GET_BAUD_RATE 0x101

#endif // _MOXACAN_IOCTL_H

Then we can include this header for CAN programming

We can open /dev/can[n] to use the CAN device. Then read(), write() or ioctl() the device files. If you complete

the using, you should close() this file to release this device.

#include <stdio.h>

#include <stdlib.h>

#include <fcntl.h>

#include <string.h>

#include “moxacan_ioctl.h”

#define PORT1_NAME “/dev/can0

#define PORT2_NAME “/dev/can1

int main(int argc, char *argv[])

{ int fd1, fd2, i, baudrate;

user_frame_t txframe, rxframe;

fd1 = open(PORT1_NAME, O_RDWR);

if ( fd1 < 0 ) {

printf(“Open %s fail !\n”, PORT1_NAME);

return -1;

}

fd2 = open(PORT2_NAME, O_RDWR);

if ( fd2 < 0 ) {

printf(“Open %s fail !\n”, PORT2_NAME);

return -1;

}

baudrate = 100000;

ioctl(fd1, MOXACAN_IOCTL_SET_BAUD_RATE, &baudrate);

ioctl(fd2, MOXACAN_IOCTL_SET_BAUD_RATE, &baudrate);

memset(&txframe, 0, sizeof(txframe));

memset(&txframe, 0, sizeof(rxframe));

txframe.id = 12;

txframe.data_length = MAX_CAN_DATA_LENGTH;

txframe.info |= USER_EXTEND_ID;

for ( i=0; i<MAX_CAN_DATA_LENGTH; i++ )

txframe.data.array[i] = 0x30+i;

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