Lesen von CAN Frames vorbereitet

can/can_client.c

@@ -41,6 +41,20 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
         return 3;
     }
 
+    // socket auf nicht-blockierend umstellen
+    int fcntl_flags = fcntl(intf_data[iMotorIndex].socket, F_GETFL, 0);
+    if (fcntl_flags < 0)
+    {
+        printf("Could not get file descriptor flags!\n");
+        return 4;
+    }
+    fcntl_flags |= O_NONBLOCK;
+    if (fcntl(intf_data[iMotorIndex].socket, F_SETFL, fcntl_flags) < 0)
+    {
+        printf("Could not set file descriptor flags (set socket none-blocking)!\n");
+        return 5;
+    }
+
     printf("Interface %s (motor %d) opened!\n", ifacename, iMotorIndex);
 
     return 0;
@@ -177,3 +191,53 @@ void Can_TransmitMotorPower(int iMotorIndex)
 
     }
 }
+
+
+/// @brief Read data from CAN interface
+/// @param iMotorIndex 
+void Can_ReadData(int iMotorIndex)
+{
+    ssize_t nbytes = 0;
+    struct can_frame frame;
+
+    // wir wollen immer alle verfügbaren Frames lesen
+    while ((nbytes = read(intf_data[iMotorIndex].socket, &frame, sizeof(frame))) > 0)
+    {
+        canid_t pgn = frame.can_id & 0x00FFFF00;
+
+        switch(pgn)
+        {
+            case 0x00F00300:    // PGN 61443 "Electronic Engine Controller 2"
+                // haben wir selber gesendet -> ignorieren
+                break;
+
+            case 0x00F00500:    // PGN 61445 "Electronic Transmission Controller 2"
+                // haben wir selber gesendet -> ignorieren
+                break;
+
+            case 0x00FF1300:    // PGN 65299 "Manufacturer PGN"
+                // hier finden wir die Zustände der Schalter
+                Can_Read_Manu_PGN(iMotorIndex, &frame);
+                break;
+
+            case 0x00FF1400:    // PGN 65300 "Manufacturer PGN 2"
+                // hier bekommen wir die Leistung des Motors angezeigt
+                Can_Read_Manu_PGN2(iMotorIndex, &frame);
+                break;
+        }
+    }
+}
+
+/// @brief Read PGN 65299
+/// @param frame 
+void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame)
+{
+
+}
+
+/// @brief Read PGN 65300
+/// @param frame 
+void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame)
+{
+
+}

can/can_client.h

@@ -6,6 +6,7 @@
 #include <string.h>
 #include <unistd.h>
 
+#include <fcntl.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
 #include <sys/socket.h>
@@ -49,4 +50,8 @@ void Can_SetMotorPower(int iMotorIndex, int iPower);
 void Can_TransmitMotorGear(int iMotorIndex);
 void Can_TransmitMotorPower(int iMotorIndex);
 
+void Can_ReadData(int iMotorIndex);
+void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame);
+void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame);
+
 #endif

main.c

@@ -55,6 +55,9 @@ static void do_cyclic_1ms(struct period_info *pinfo)
 {
         uint16_t nCalled = 0;
 
+        // read each cycle CAN data
+        Can_ReadData(0);
+
         if ((pinfo->cyclecounter % 10) == 0)
         {
                 // called every 10ms