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9. HOW TO CONFIGURE AND MANAGE THE PORTS USING SOFTWARE

CANLib library provides the set of APIs to configure and manage the CAN ports. The CANLib library can be used

to build the CAN application. It is a shared library built on top of Linux platform. To compile the CANLib shared

library, use the below command

cd CANLib

make

All the CAN APIs prototypes are defined in the can.h file. This file is located in the CANLib directory. Include the

can.h file in the application to use all these APIs.

init_can0() & init_can1(): These function will initialize the CAN#0 & CAN#1 ports respectively.

Both these functions will return the CAN file descriptor (fd). The return value of these functions should be

retained for all subsequent operations. Its prototypes are defined in the can.h file. Declare two CAN file

descriptors and retains its return values.

#include "can.h"

...

int can0_fd;

int can1_fd;

...

can0_fd = init_can0() ;

if ( can0_fd < 0 )

{

printf("Error while initializing the CAN#0\n") ;

exit(0) ;

}

...

can1_fd = init_can1() ;

if ( can1_fd < 0 )

{

printf("Error while initializing the CAN#1\n") ;

exit(0) ;

}

Baud rate configuration.

set_baudrate() : This function will configure the baud rate for the specified CAN port. By default it will not

configure any baud rate.

DS-MPE-CAN2L User Manual Rev A.

www.diamondsystems.com

Page 15