Kommunikation hat funktioniert

can/can_client.h

@@ -0,0 +1,52 @@
+#if !defined(__CAN_CLIENT_H__)
+#define __CAN_CLIENT_H__
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define MOTOR_COUNT 2
+
+// motor gear: 0x7C=reverse, 0x7D=neutral, 0x7E=forward
+#define MOTOR_GEAR_REVERSE 0x7C
+#define MOTOR_GEAR_NEUTRAL 0x7D
+#define MOTOR_GEAR_FORWARD 0x7E
+
+#define MOTOR_PWR_MIN_PCT 5
+#define MOTOR_PWR_MAX_PCT 100
+#define MOTOR_PWR_STEP 14
+
+struct MOTOR_CONTROL_DATA
+{
+    int iMotorGear;
+    int iMotorPower;
+    int iMotorPowerPct;
+};
+extern struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];
+
+struct CAN_INTERFACE_DATA
+{
+    int socket;
+    char iface_name[20];
+    struct ifreq ifr;
+    struct sockaddr_can addr;
+};
+
+int Can_OpenInterface(int iMotorIndex, const char * ifacename);
+void Can_CloseInterface(int iMotorIndex);
+
+void Can_SetMotorGear(int iMotorIndex, int iGear);
+void Can_SetMotorPower(int iMotorIndex, int iPower);
+
+void Can_TransmitMotorGear(int iMotorIndex);
+void Can_TransmitMotorPower(int iMotorIndex);
+
+#endif