add first src

src/main.c

@@ -0,0 +1,91 @@
+#include <stdio.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <string.h>
+#include <time.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define NODE_ID 0x01
+#define TIMING 500   // ms
+
+long millis() {
+    struct timespec ts;
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    return (ts.tv_sec * 1000) + (ts.tv_nsec / 1000000);
+}
+
+int main() {
+
+    int s;
+    struct sockaddr_can addr;
+    struct ifreq ifr;
+    struct can_frame frame;
+
+    int16_t rpm = 0;
+    int16_t ubat = 0;
+    int v = 0;
+    int ubatr = 0;
+
+    long previous_time = 0;
+    long current_time = 0;
+
+    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+    if (s < 0) {
+        perror("socket");
+        return 1;
+    }
+
+    strcpy(ifr.ifr_name, "can0");
+    ioctl(s, SIOCGIFINDEX, &ifr);
+
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+        perror("bind");
+        close(s);
+        return 1;
+    }
+
+
+    printf("CAN init OK\n");
+
+    while (1) {
+
+        int nbytes = read(s, &frame, sizeof(struct can_frame));
+
+        if (nbytes > 0) {
+
+            switch (frame.can_id) {
+
+                case 0x382:
+                    if (frame.can_dlc >= 2) {
+                        rpm = frame.data[0] | (frame.data[1] << 8);
+                        v = rpm * 0.017;
+                    }
+                    break;
+
+                case 0x209:
+                    if (frame.can_dlc >= 2) {
+                        ubat = frame.data[0] | (frame.data[1] << 8);
+                        ubatr = ubat / 16;
+                    }
+                    break;
+            }
+        }
+
+        current_time = millis();
+
+        if (current_time - previous_time >= TIMING) {
+            previous_time = current_time;
+
+            printf("Vitesse = %d\n", v);
+            printf("Tension = %d\n", ubatr);
+        }
+    }
+
+    close(s);
+}