/***********************************************\*	      by zhln<chlzh@mail.china.com>	        **		            2005.07.07	        	    **						                        *\***********************************************/#include <stdio.h>#include <unistd.h>#include <sys/types.h>#include <sys/ipc.h>#include <sys/ioctl.h>#include <pthread.h>#include <fcntl.h>#include <time.h>/* -----------------------AD----------------------- */#define ADC_WRITE(ch, prescale)	((ch)<<16|(prescale))#define ADC_WRITE_GETCH(data)	(((data)>>16)&0x7)#define ADC_WRITE_GETPRE(data)	((data)&0xff)#define ADC_DEV		"/dev/adc/0raw"static int adc_fd = -1;static int init_ADdevice(void){	if((adc_fd=open(ADC_DEV, O_RDWR))<0){		printf("Error opening %s adc device\n", ADC_DEV);		return -1;	}	return 0;}static int GetADresult(int channel){	int PRESCALE=0XFF;	int data=ADC_WRITE(channel, PRESCALE);	write(adc_fd, &data, sizeof(data));	read(adc_fd, &data, sizeof(data));	return data;}/* ------------------------CAN----------------------- */#define UPCAN_IOCTRL_SETBAND			0x1	//set can bus band rate#define UPCAN_IOCTRL_SETID				0x2	//set can frame id data#define UPCAN_IOCTRL_SETLPBK			0x3	//set can device in loop back mode or normal mode#define UPCAN_IOCTRL_SETFILTER			0x4	//set a filter for can device#define UPCAN_IOCTRL_PRINTRIGISTER	0x5	// print register information of spi and portE#define UPCAN_EXCAN					(1<<31)	//extern can flagtypedef enum{	BandRate_125kbps=1,	BandRate_250kbps=2,	BandRate_500kbps=3,	BandRate_1Mbps=4}CanBandRate;typedef struct {	unsigned int id;		unsigned char data[8];	unsigned char dlc;			int IsExt; 	int rxRTR;	}CanData, *PCanData;typedef struct{	unsigned int Mask;	unsigned int Filter;	int IsExt;}CanFilter,*PCanFilter;#define CAN_DEV "/dev/can/0"static int can_fd=-1;//#define DEBUG#ifdef DEBUG#define DPRINTF(x...) printf("Debug:"##x)#else#define DPRINTF(x...)#endifstatic void* canRev(void* t){  CanData data;  int i;  DPRINTF("can receive thread begin.\n");  for(;;){	read(can_fd,&data,sizeof(CanData));	for(i=0;i<data.dlc;i++)	  putchar(data.data[i]);	fflush(stdout);  }  return NULL;}#define MAX_CANDATALEN 8static void CanSendString(char *pstr){  CanData data;  int len=strlen(pstr);  memset(&data,0,sizeof(CanData));  data.id=0x123;  data.dlc=8;  for(;len>MAX_CANDATALEN;len-=MAX_CANDATALEN){    memcpy(data.data,pstr,8);    write(can_fd,&data,sizeof(CanData));  }  data.dlc=len;  memcpy(data.data,pstr,len);  write(can_fd,&data,sizeof(CanData));}int main(void){	static int i;	int flag;	char datasend[8];	pthread_t th_can;    int d,d0,d1,d2;	//    int j=0;	int id=0x123;    if(init_ADdevice()<0){	  printf("Error initing ADdevice\n");	  return -1;	}	if((can_fd=open(CAN_DEV,O_RDWR))<0){	  printf("\nOops,could not open %s can device !\n",CAN_DEV);	  return 1;	}	ioctl(can_fd,UPCAN_IOCTRL_SETID,id);	#ifdef DEBUG  ioctl(can_fd,UPCAN_IOCTRL_SETLPBK,1);#endif	pthread_create(&th_can,NULL,canRev,0);	while(1){	  printf("    +---------------------------------------------------------+\n");	  printf("    |   Please input 1,2,3,4,5,or 6 to respectively operate   |\n");	  printf("    |  led1,led2,led3,buzzer,numeral transitor or step motor  |\n");	  printf("    +---------------------------------------------------------+\n");	  scanf("%d",&flag);	  switch(flag){      case 1:		datasend[0]=0x81;		datasend[2]=0;		while(1){		  printf("Input '0' or '1' to set led1,'2' to exit this cycle \n");		  scanf("%d",&i);		  if(i==0)			datasend[1]=0;		  else if(i==1)			datasend[1]=1;		  else			break;		  printf("\n0x%x,%d\n",datasend[0],datasend[1]);		  write(can_fd,datasend,8);		}		  break;	  case 2:		datasend[0]=0x82;		while(1){		  printf("Input '0' or '1' to set led2,'2' to exit this cycle \n");		  scanf("%d",&i);		  if(i==0)			  datasend[1]=0;		  else if(i==1)			  datasend[1]=1;		  else if(i==2)			  break;		  write(can_fd,datasend,8);		  		}	    break;	  case 3:		datasend[0]=0x83;		while(1){		  printf("Input '0' or '1' to set led3,'2' to exit this cycle \n");		  scanf("%d",&i);		  if(i==0)			datasend[1]=0;		  else if(i==1)			datasend[1]=1;		  else if(i==2)			break;		  write(can_fd,datasend,8);		}		break;	  case 4:		datasend[0]=0x84;		while(1){		  printf("Input 1 to start buzzer 0 to stop buzzer,or 2 to exit this cycle\n");		  scanf("%d",&i);		  if(i==0)			datasend[1]=0;		  else if(i==1)			datasend[1]=1;		  else if(i==2)			break;		  CanSendString(datasend);		}		break;	  case 5:		datasend[0]=0x85;		while(1){	  	  printf("Input a number to light numeral transistor\n");		  printf("Input '0xaa' to put out numeral transistor\n");		  // scanf("%x",&i);		  for(i=0;i<100;i++){			datasend[1]=((i/10)<<4)+i%10;		    CanSendString(datasend);			sleep(1);		  }		}		break;	  case 6:		datasend[0]=0x86;        while( 1 ){		  		  d0=GetADresult(1);		  usleep(500000);		  d1=GetADresult(1);		  usleep(500000);		  d2=GetADresult(1);		  if((abs(d1-d2))>5){			d1=d2;		  }		  else			continue;		  d=(d1-d0);		  if(abs(d)<5){			printf("The sample value -- %d is too small\n",d);			continue;		  }		  printf("The sample value is: %6d\n",d);		  datasend[1]=d*3/32;		  write(can_fd,datasend,8);		  		}		  		break;	  default:		break;	  }	}	pthread_join(th_can,NULL);	printf("\n");	if(close(can_fd)<0){	  printf("Oops,could not close the %s can device",CAN_DEV);	  exit(1);	}	return 0;}