/* * canthred - demonstration of using can4linux with threads * * Copyright (c) 2008 port GmbH Halle/Saale *------------------------------------------------------------------ * $Header: /z2/cvsroot/products/0530/software/can4linux-examples/canthread.c,v 1.1 2008/06/23 06:14:30 hae Exp $ * *-------------------------------------------------------------------------- * * * modification history * -------------------- * $Log: canthread.c,v $ * Revision 1.1  2008/06/23 06:14:30  hae * initial checkin * * *-------------------------------------------------------------------------- *//*** \file canthread.c* \author Name, port GmbH* $Revision: 1.1 $* $Date: 2008/06/23 06:14:30 $***//* header of standard C - libraries */#include <stdio.h>#include <string.h>#include <stdlib.h>#include <stddef.h>#include <string.h>#include <math.h>#include <signal.h>#include <sys/time.h>#include <time.h>#include <sys/ioctl.h>#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <unistd.h>#include <errno.h>/* header of common types */#include <pthread.h>#include <can4linux.h>/* shared common header *//* header of project specific types *//* project headers *//* local header *//* constant definitions---------------------------------------------------------------------------*/#define VERSION "1.0"#if defined(EMBED)# if defined(COLDFIRE)/* IGW900 */#  define STDDEV "/home/bin/can0"# else#  define STDDEV "/dev/can0"# endif#else# define STDDEV "/dev/can1"#endif#ifndef TRUE# define TRUE  1# define FALSE 0#endif#ifndef CO_CONST# define CO_CONST const#endif#define MAX_DEVNAME 32#define MAX_THREADS 2#define RX_THREAD 0#define TX_THREAD 1/* local defined data types---------------------------------------------------------------------------*/typedef struct {    int tno;    int can_fd;    int loop_cnt;} thread_data_t;/* list of external used functions, if not in headers---------------------------------------------------------------------------*//* list of global defined functions---------------------------------------------------------------------------*//* list of local defined functions---------------------------------------------------------------------------*/static void *can_rx_thread( void *ptr );static void *can_tx_thread( void *ptr );static int set_bitrate( int fd, int baud );static int can_start( int fd );static int can_stop( int fd );static int can_reset( int fd );static void usage (char *s);/* external variables---------------------------------------------------------------------------*//* global variables---------------------------------------------------------------------------*//* local defined variables---------------------------------------------------------------------------*/#ifdef CONFIG_RCS_IDENTstatic CO_CONST char _rcsid[] = "$Id: canthread.c,v 1.1 2008/06/23 06:14:30 hae Exp $";#endifstatic int o_debug;static int o_bitrate = 125;static char o_device[MAX_DEVNAME];static pthread_t threads[MAX_THREADS];static thread_data_t td[MAX_THREADS];/***************************************************************************//**** \brief one line short description ** Description with* \code* examples* \endcode** \returns* some text* \retval THIS means this* \retval THAT means anothe thing** \internal*/int main (	int argc,		/**< */	char **argv			/**< */	){int c;int can_fd;    while ((c = getopt(argc, argv, "b:dD:hV")) != EOF) {	switch (c) {	    case 'b':		o_bitrate = atoi(optarg);		break;	    case 'D':		if (		    /* path ist starting with '.' or '/', use it as it is */			optarg[0] == '.'			|| 			optarg[0] == '/'			) {		    snprintf(o_device, MAX_DEVNAME, "%s", optarg);	        } else {		    snprintf(o_device, MAX_DEVNAME, "/dev/%s", optarg);		}		break;	    case 'd':		o_debug = TRUE;		break;	    case 'V':		printf("%s V " VERSION ", " __DATE__ "\n", *argv);		exit(0);		break;	    case 'h': /* fall through */	    default:	    	usage(*argv);	    	exit(0);	}    }    if (o_debug == 1) {	fprintf(stderr, "%s V " VERSION ", " __DATE__ "\n", *argv);	fprintf(stderr, "Opening %s with %d KBit/s\n", o_device, o_bitrate);    }    can_fd = open(o_device, O_RDWR | O_NONBLOCK);    if (can_fd == -1) {	fprintf(stderr, "Open error %d;", errno);	perror(o_device);	exit(1);    }    set_bitrate(can_fd, o_bitrate);    td[RX_THREAD].tno = 1;    td[RX_THREAD].can_fd = can_fd;    td[RX_THREAD].loop_cnt = 10000;    pthread_create(&threads[RX_THREAD], NULL,		can_rx_thread, (void *) &td[RX_THREAD]);    /* need to protect resource can_fd with a mutex */    td[TX_THREAD].tno = 2;    td[TX_THREAD].can_fd = can_fd;    td[TX_THREAD].loop_cnt = 100;    pthread_create(&threads[TX_THREAD], NULL,		can_tx_thread, (void *) &td[TX_THREAD]);    pthread_join(threads[RX_THREAD], NULL);    pthread_join(threads[TX_THREAD], NULL);    return 0;}/***************************************************************************//**** CAN thread that reads from the CAN controller*** \retval 0**/static void *can_rx_thread (	void *ptr    ){int i;int ret;int tno;int can_fd;int loop_cnt;char type;pthread_t tid;canmsg_t rx;    tid = pthread_self();    tno = ((thread_data_t *) ptr)->tno;    fprintf(stderr, "Thread(%d) started: Id = %x\n",  tno, (int)tid);    can_fd      = ((thread_data_t *) ptr)->can_fd;    loop_cnt    = ((thread_data_t *) ptr)->loop_cnt;    if (o_debug) {	fprintf(stderr, "Thread(%d) can_fd: %d, loop_cnt: %d\n",				tno, can_fd, loop_cnt);    }    do {	ret = read(can_fd, &rx, 1);	if (ret <= 0 ) {	    /* perror("read error"); */	    usleep(200);	} else {	    /* if (-1ul == rx.id)  */	    if (CANDRIVERERROR == rx.id) {		perror("driver error");		usleep(200);	    } else {	        type = (rx.flags & MSG_EXT) ? 'x' : 's';	        if ((rx.flags & MSG_RTR) != 0) {		    printf("%4ld/0x%03lx : %cR : (length = %d)\n",		    	rx.id, rx.id, type, rx.length );		} else {		    printf("%4ld/0x%03lx : %cD : ",		    	rx.id, rx.id, type );		    for (i=0; i<rx.length; i++) {			printf("%02x ", rx.data[i]);		    }		    printf("\n");		}	    }	}        loop_cnt--;    } while (loop_cnt > 0);    fprintf(stderr, "Thread(%d) exit\n", tno);    pthread_exit(NULL);}/***************************************************************************//**** CAN thread that wirte to the CAN controller** \retval 0**/static void *can_tx_thread (	void *ptr    ){int i;int ret;int tno;int can_fd;int loop_cnt;pthread_t tid;canmsg_t tx;    tid = pthread_self();    tno = ((thread_data_t *) ptr)->tno;    fprintf(stderr, "Thread(%d) startet: Id = %x\n",  tno, (int)tid);    can_fd      = ((thread_data_t *) ptr)->can_fd;    loop_cnt    = ((thread_data_t *) ptr)->loop_cnt;    if (o_debug) {	fprintf(stderr, "Thread(%d) can_fd: %d, loop_cnt: %d\n",				tno, can_fd, loop_cnt);    }    tx.id = 100;    tx.length = 8;    for (i=0; i< tx.length; i++) {	tx.data[i] = i;    }    do {        ret = write(can_fd, &tx, 1);        if (ret < 0) {	    perror("write error");        } else {            /* fprintf(stderr, "ret %d\n", ret); */            /* fprintf(stderr, "loop_cnt %d\n", loop_cnt); */        }	usleep(200);        loop_cnt--;    } while (loop_cnt > 0);    fprintf(stderr, "Thread(%d) exit\n", tno);    pthread_exit(NULL);}/***************************************************************************//**** Set CAN bitrate.** Stops the program when setting the bitrate fails.** \retval 0**/static void usage (char *s) {static char *usage_text  = "\Options:\n\-b baudrate (Standard uses value of /proc/sys/Can/baud)\n\-d   - debug On\n\       schaltet zusaetzlich Debugging im Treiber an/aus\n\-D dev use /dev/dev/{can0,can1,can2,can3} (real nodes, std: can1)\n\-h show this help \n\-V   print program version\n\\n\";     fprintf(stderr, "usage: %s [options] [id [ byte ..]]\n", s);     fprintf(stderr, usage_text);}/***************************************************************************//**** Set CAN bitrate.** Stops the program when setting the bitrate fails.** \retval 0**/static int set_bitrate(	int fd,			/**< device descriptor */	int baud		/**< bit rate */    ){int ret;volatile Config_par_t  cfg;    ret = can_stop(fd);        cfg.target = CONF_TIMING;     cfg.val1   = baud;    ret = ioctl(fd, CAN_IOCTL_CONFIG, &cfg);    ret = can_start(fd);    if (ret < 0) {	perror("set_bitrate");	exit(-1);    } else {	ret = 0;    }    return ret;}/***************************************************************************//**** Reset the CAN-Controller** \retval 0 success* \retval !=0 failure**/static int can_reset(	int fd			/**< device descriptor */    ){int ret;volatile Command_par_t cmd;    cmd.cmd = CMD_RESET;    ret = ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    return ret;}/***************************************************************************//**** Start the CAN-Controller** \retval 0 success* \retval !=0 failure**/static int can_start(	int fd			/**< device descriptor */    ){int ret;volatile Command_par_t cmd;    cmd.cmd = CMD_CLEARBUFFERS;    ret = ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    cmd.cmd = CMD_START;    ret = ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    return ret;}/***************************************************************************//**** Stop the CAN-Controller** \retval 0 success* \retval !=0 failure**/static int can_stop (	int fd			/**< device descriptor */    ){int ret;volatile Command_par_t cmd;    cmd.cmd = CMD_STOP;    ret = ioctl(fd, CAN_IOCTL_COMMAND, &cmd);    return ret;}/*______________________________________________________________________EOF_*/