Diamond Systems DS-MPE-CAN2L Podręcznik - Strona 17

Przeglądaj online lub pobierz pdf Podręcznik dla Karta PCI Diamond Systems DS-MPE-CAN2L. Diamond Systems DS-MPE-CAN2L 19 stron.

data[2] = 0x22 ;

data[3] = 0x4D ;

ret_val = can_tx(can0_fd, msgType, can_id, dlc, data) ;

if ( ret_val < 0 )

{

printf("Error while transmitting the CAN message.\n") ;

close(can1_fd) ;

exit(0) ;

}

The above sample code will transmit the CAN Standard message with CAN ID=0x12 of data length=4 and

message data = {0x1A, 0xAB, 0x22, 0x4D};

CAN Receive Prototype.

int can_rx(int can_fd, unsigned char *msgType, unsigned char *rx_data, unsigned int *can_id, unsigned char

*can_msg_len) ;

Pass the appropriate pointers for calling the can_rx function.

if ( can_rx(can0_fd, &msgType, data, &can_id, &dlc) )

{

If (msgType == MSG_STANDARD)

{

// received message is CAN Standard Message.

}

else if (msgType == MSG_EXTENDED)

{

// received message is CAN Extended Message.

}

// dlc : Received CAN Data Length

// can_id : Will contain the CAN Message ID

// Data of dlc length

printf("ID=%x DLC=%d Data : ", can_id, dlc) ;

for (i=0; i< dlc; i++ )

printf("%x ", data[i] ) ;

printf("\n") ;

}

The sample example programs for both transmit and receive can be found in the CANLib directory for the

reference.

DS-MPE-CAN2L User Manual Rev A.

www.diamondsystems.com

Page 17