simplewrite.c
/*
** Copyright 2017 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 THE COPYRIGHT OWNER OR CONTRIBUTORS 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
**
**
** IMPORTANT NOTICE:
** ==============================================================================
** This source code is made available for free, as an open license, by Kvaser AB,
** for use with its applications. Kvaser AB does not accept any liability
** whatsoever for any third party patent or other immaterial property rights
** violations that may result from any usage of this source code, regardless of
** the combination of source code and various applications that it can be used
** in, or with.
**
** -----------------------------------------------------------------------------
*/
/*
* Kvaser Linux Canlib
* Send a CAN message
*/
#include <canlib.h>
#include <stdio.h>
#include <signal.h>
#include <errno.h>
#include <unistd.h>
#include "vcanevt.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);
}
static char* busStatToStr(const unsigned long flag) {
char* tempStr = NULL;
#define MACRO2STR(x) case x: tempStr = #x; break
switch (flag) {
MACRO2STR( CHIPSTAT_BUSOFF );
MACRO2STR( CHIPSTAT_ERROR_PASSIVE );
MACRO2STR( CHIPSTAT_ERROR_WARNING );
MACRO2STR( CHIPSTAT_ERROR_ACTIVE );
default: tempStr = ""; break;
}
#undef MACRO2STR
return tempStr;
}
void notifyCallback(canNotifyData *data) {
switch (data->eventType) {
case canEVENT_STATUS:
printf("CAN Status Event: %s\n", busStatToStr(data->info.status.busStatus));
break;
case canEVENT_ERROR:
printf("CAN Error Event\n");
break;
case canEVENT_TX:
printf("CAN Tx Event\n");
break;
case canEVENT_RX:
printf("CAN Rx Event\n");
break;
}
return;
}
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 message on channel %d\n", channel);
canInitializeLibrary();
/* Open channel, set parameters and go on bus */
hnd = canOpenChannel(channel, canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED | canOPEN_ACCEPT_VIRTUAL);
if (hnd < 0) {
printf("canOpenChannel %d", channel);
check("", hnd);
return -1;
}
stat = canSetBusParams(hnd, canBITRATE_1M, 0, 0, 0, 0, 0);
check("canSetBusParams", stat);
if (stat != canOK) {
goto ErrorExit;
}
stat = canSetNotify(hnd, notifyCallback, canNOTIFY_RX | canNOTIFY_TX | canNOTIFY_ERROR | canNOTIFY_STATUS | canNOTIFY_ENVVAR, (char*)0);
check("canSetNotify", stat);
stat = canBusOn(hnd);
check("canBusOn", stat);
if (stat != canOK) {
goto ErrorExit;
}
stat = canWrite(hnd, 10000, "Kvaser!", 8, 0);
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);
usleep(50*1000); // Sleep just to get the last notification.
stat = canClose(hnd);
check("canClose", stat);
stat = canUnloadLibrary();
check("canUnloadLibrary", stat);
return 0;
}