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