#include "adv_can.h"	/* Library function declaration	*/#include <sys/types.h>#include <sys/stat.h>#include <unistd.h>#include <fcntl.h>#include <stdio.h>#include <sys/ioctl.h>#include <string.h>/*-------------------------------------------------------------------------- * parameter : * 	1:port should be "0" or "1" * 	2:protocol "a" for 2.0A, "b" for 2.0B * 	3:frame "s" for standard, "e" for extend  --------------------------------------------------------------------------*//* define can controller interrupt connect to PC irq number */int main(int argv, char **arg){  int fd=0;  /* declare the can card segment address */  CAN_STRUCT can;  can_msg_t msg;  char name[20];  int	i,j;  memset(name, 0 , 20);  if(argv != 4) {    printf("argument error!\n");    return 0;  }  sprintf(name, "/dev/can%c", *arg[1]);  if((fd = open(name, O_RDWR))<=0)  {	printf("cannot open %s\n", name);        return -1;   }   /*---- reset can controller	*/  ioctl(fd, IOCTL_RESET_CAN, NULL);  if(*arg[2] =='a') can.protocol=CAN_PROTOCOL_20A;  else if(*arg[2] =='b') can.protocol=CAN_PROTOCOL_20B;  else {printf("arg 2 error\n"); return -1;}    can.accode[0]=0x0;        can.accode[1]=0x0;  can.accode[2]=0x0;  can.accode[3]=0x0;  can.accmask[0]=0xff;      can.accmask[1]=0xff;  can.accmask[2]=0xff;  can.accmask[3]=0xff;  can.speed=CAN_125K;		/* baud	rate 125Kbps */  can.interruptmask=0xff;  can.filtertype = 0; //0 for single filter*, 1 double filter   if(ioctl(fd,IOCTL_SET_CAN,&can) <= 0) {    printf("\n\n can controller port configure is error\n");    close(fd);    return 0;  }  msg.dlen = 8;  if(*arg[3] =='s') msg.ff=PELICAN_SFF;  else if(*arg[3] =='e') msg.ff=PELICAN_EFF;  else if(*arg[3] =='r') { msg.rtr = 1; msg.dlen = 0;}  else if(*arg[3] =='x') { msg.rtr = 1; msg.ff=PELICAN_SFF;msg.dlen = 0;}  else if(*arg[3] =='y') { msg.rtr = 1; msg.ff=PELICAN_EFF;msg.dlen = 0;}  else  {printf("arg 3 error\n"); return -1;}      msg.id = 15;  for(i=0;i<8;i++)    msg.data[i] = 0; for(j=0;j<100;j++) {    msg.id=j;    for(i=0;i<8;i++)     msg.data[i] = i;        if(write(fd, &msg, CAN_MSG_LEN))	      printf("send message OK        %d\n",j);    else      printf("send message failed\n");  }    /*---- reset can controller	*/  //ioctl(fd,IOCTL_RESET_CAN,0);  close(fd);  return 1;}