Kontron KTAM3874-pITX - Manual (Page 81)

KTD-S0057-I Page 77 Linux® Programming Examples (DebianTM)
KTAM3874/pITX Software Guide
printf ("\nCAN bus test program\n");
/* For example only the identifier range from 0x200 to 0x2FF is valid.
If there are no restrictions regarding identifiers use init_can_bus (0, 0) */
if (init_can_bus (0x200UL, 0x2FFUL))
{
close_can_bus ();
printf ("Cannot initialize the CAN interface !\n\n");
return -1;
}
memset (&data, 0, sizeof (data));
data[0] = 0x11;
data[1] = 0x22;
data[2] = 0x33;
data[3] = 0x44;
data[4] = 0x55;
data[5] = 0x66;
data[6] = 0x77;
data[7] = 0x88;
data_len = 8;
if (send_can_frame (CAN0_INDEX, 0x201UL, data, data_len))
{
close_can_bus ();
printf ("Cannot transmit CAN bus data !\n\n");
return -1;
}
printf ("\nSome data are successfully transmitted from: CAN0\n\n");
for (i = 0; i < MAX_LOOPS; i++)
{
usleep (DELAY_TIME);
if (! detect_can_frame ())
{
memset (&data, 0, sizeof (data));
if (recv_can_frame (name, data, &data_len))
{
close_can_bus ();
printf ("CAN bus receive function fails !\n\n");
return -1;
}
else
{
printf ("Some data are successfully received from: %s\n", name);
printf ("Data: 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n\n",
data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
}
}
}
close_can_bus ();
return 0;
}