Diamond Systems DS-MPE-CAN2L Manuale - Pagina 16

Sfoglia online o scarica il pdf Manuale per PCI Card Diamond Systems DS-MPE-CAN2L. Diamond Systems DS-MPE-CAN2L 19.

// Set 500k Baud rate for CAN#0

ret_val = set_baudrate(can0_fd, CAN_SPEED_500K ) ;

if ( ret_val < 0 )

{

printf("Error while setting the baud rate \n") ;

exit(0) ;

}

// Set 500k Baud rate for CAN#1

ret_val = set_baudrate(can1_fd, CAN_SPEED_500K ) ;

if ( ret_val < 0 )

{

printf("Error while setting the baud rate \n") ;

exit(0) ;

}

Use below macros for setting the different baud rates. These macros can also be found in can.h file.

CAN_SPEED_1M

CAN_SPEED_800K

CAN_SPEED_500K

CAN_SPEED_250K

CAN_SPEED_125K

CAN_SPEED_100K

CAN_SPEED_50K

CAN_SPEED_20K

CAN Transmit & Receive:

can_tx() & can_rx() : These function will be used to Transmit and Receive the CAN messages respectively.

CAN Transmit Prototype.

int can_tx( int can_fd, unsigned char msgType, unsigned int can_id, int len,unsigned char *data) ;

Assign the appropriate values, before calling the can_tx function.

can0_fd : CAN descriptor, return value from init_can0() function

msgType = MSG_STANDARD ; // or MSG_EXTENDED .

can_id = 0x12 ; // CAN ID, if the msgType is MSG_STANDARD then it should be 11-Bit CAN Message ID

// if the msgType is MSG_EXTENDED then it should be 29-Bit CAN Message ID

len = 4 ; // CAN Transmit Data Length

data : CAN message data.

data[0] = 0x1A ;

data[1] = 0xAB ;

DS-MPE-CAN2L User Manual Rev A.

www.diamondsystems.com

Page 16