/* * can.c *  *  * CAN BUS test  */#include <sys/types.h>#include <sys/unistd.h>#include <sys/stat.h>#include <linux/fcntl.h>#include <linux/ioctl.h>#include <pthread.h>#include "can.h"static void can_show_header(struct can_frame_header *header){    printf("\nHeader: id=%d srr=%d ide=%d eid=%d rtr=%d rb1=%d rb0=%d dlc=%d\n",	   header->id,	   header->srr,	   header->ide,	   header->eid,	   header->rtr,	   header->rb1,	   header->rb0,	   header->dlc);}static int device = -1;static int device1 = -1;static void * can_read(void * th) {    struct can_frame frame_recv;    static sid = 0;    int i;    while(1) {	memset(&frame_recv, 0, sizeof(struct can_frame));	if (device1 > 0)	    read(device1, &frame_recv, sizeof(struct can_frame));	else	    read(device, &frame_recv, sizeof(struct can_frame));		if (frame_recv.header.id != sid) {	    can_show_header(&frame_recv.header);	    printf("RECV: \"");	}	for (i=0; i<frame_recv.header.dlc; i++)	    printf("%c", frame_recv.data[i]);	if (frame_recv.header.id != sid)	    printf("\"\n");		sid = frame_recv.header.id;    }    return NULL;}int main(int argc, char *argv[]){    if (argc < 2) {	printf("Useage: %s dev [[dev1 [-f]] [-f]]\n", argv[0]);	printf("   dev dev1 --- can device\n");	printf("   -f       --- filter mode\n");	exit(0);    }        static char buf[256];    static char *pbuf=buf;    struct can_frame frame;        struct can_filter filter = {	.fid = {	    {3,0,0,1},	    {4,1,9,1},	    {5,0,0,1},	    {6,1,13,1},	    {7,0,0,1},	    {8,1,17,1},	},	.sidmask = 0x0f,	.eidmask = 0x00,	.mode = 0,    };        struct can_filter not_filter = {	.sidmask = 0,	.eidmask = 0,	.mode = 0,    };        device = open(argv[1], O_RDWR);    if (device < 0){	perror("open:device");	exit(-1);    }    if (argc > 2) {	if (strcmp(argv[2], "-f") != 0) {	    device1 = open(argv[2], O_RDWR);	    if (device1 < 0) {		perror("open:device1");		exit(-1);	    }	}    }	        int i,can_id = 1;    int rate;    int len;        ioctl(device, CAN_IOCSFILTER, &not_filter);    ioctl(device, CAN_IOCSRATE, 250000);    ioctl(device, CAN_IOCGRATE, &rate);    printf("%s Work Rate: %dbps\n", argv[1], rate);        if (device1 > 0) {	ioctl(device1, CAN_IOCSFILTER, &not_filter);	ioctl(device1, CAN_IOCSRATE, 250000);	if (argc > 3) {	    if (strcmp(argv[3], "-f") == 0) {		ioctl(device1, CAN_IOCSFILTER, &filter);	    }	}	printf("%s Work Rate: %dbps\n", argv[2], rate);    } else {		if (argc > 2) {	    if (strcmp(argv[2], "-f") == 0) {		ioctl(device, CAN_IOCSFILTER, &filter);	    }	}	ioctl(device, CAN_IOCTLOOPBACKMODE);	printf("%s work on loopback mode.\n", argv[1]);    }        pthread_attr_t attr;    pthread_t thread_recv;    pthread_attr_init(&attr);    pthread_attr_setscope(&attr, PTHREAD_SCOPE_SYSTEM);    if (pthread_create(&thread_recv, NULL, can_read, 0)) {	perror("thread_create");	exit(-1);    }        if (((argc == 3) && (strcmp(argv[2], "-f") == 0)) || ((argc > 3) && (strcmp(argv[3], "-f") == 0))) {	printf("\nTest in Filter mode. \n");	printf("Only receive the frame that it's id & 0xf == [3...8]\n"); 	printf("The frame data=id(id=1...2031), and eid=id*2+1\n");    }    else {	printf("\nPress \"\\q\" to quit! \n");	printf("Input the message and press Enter to send!\n");	printf("The frame id=1...2031, and eid=id*2+1\n");    }        while(1)    {	if (getchar() == 'q') break;				memset(&frame, 0, sizeof(struct can_frame));		frame.header.id = can_id;		if ((can_id % 2) == 0) {	    frame.header.ide = 1;	    frame.header.eid = can_id * 2 + 1;	}else{	    frame.header.ide = 0;	    frame.header.eid = 0;	}			if (((argc > 2) && (strcmp(argv[2], "-f") == 0)) || ((argc > 3) && (strcmp(argv[3], "-f") == 0))) {	    sprintf(frame.data, "%d", can_id);	    frame.header.dlc = strlen(frame.data);	    write(device, &frame, sizeof(struct can_frame));	    sleep(1);	}	else {          printf("\nCanTest> ");	    scanf("%s", buf);	    if (strcmp(buf, "\\q") == 0)		break;	    	    len = strlen(buf);	    pbuf = buf;	    for (len; len>CAN_FRAME_MAX_DATA_LEN; len-=CAN_FRAME_MAX_DATA_LEN) {		memcpy(frame.data, pbuf, CAN_FRAME_MAX_DATA_LEN);		frame.header.dlc = CAN_FRAME_MAX_DATA_LEN;		write(device, &frame, sizeof(struct can_frame));		pbuf += CAN_FRAME_MAX_DATA_LEN;	    }	    if (len > 0) {		frame.header.dlc = len;		memcpy(frame.data, pbuf, len);		write(device, &frame, sizeof(struct can_frame));	    }	}	can_id++;	if (can_id > 2031) {	    can_id = 1;	}    }        close(device);    if (device1 > 0)	close(device1);    return 0;}