--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/test_copcican_linux/test_copcican_linux.c	Fri Nov 12 22:24:06 2010 +0100
@@ -0,0 +1,130 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Cosateq GmbH & Co.KG
+               http://www.cosateq.com/
+               http://www.scale-rt.com/
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/*
+	example for application with CO-PCICAN card.
+*/
+
+#include <stdio.h>
+#include "canfestival.h"
+
+/* only for usleep() */
+#include <linux/delay.h>
+
+#define CHTX 2 /* channel number of the CO-PCICAN */
+#define CHRX 0 /* channel number of the CO-PCICAN */
+
+void mySyncHandler( CO_Data* d )
+{
+  printf( "  got a SYNC message...\n" );
+}
+
+int main()
+{
+  LIB_HANDLE driver;
+
+  /* handles for additional CO-PCICAN functions */
+  int (*get_fd_of_port)( CAN_PORT port );
+  int (*co_pcican_enter_run_mode)( const int fd );
+  int (*co_pcican_enter_config_mode)( const int fd );
+  int (*co_pcican_select_channel)( const unsigned char channel, const unsigned int direction );
+  int (*co_pcican_configure_selected_channel)( const int fd, s_BOARD *board, const unsigned int direction );
+
+  s_BOARD  bd;
+  CO_Data  myData;
+  CAN_PORT port;
+  Message myMessage;
+  const char busname[]  = "/dev/co_pcican-0";
+  const char baudrate[] = "1M";
+  int fd;
+
+  memset( &myData, 0x00, sizeof(CO_Data) );
+  myData.CurrentCommunicationState.csSYNC = 1;
+  myData.post_sync = mySyncHandler;
+  bd.busname  = (char*)busname;
+  bd.baudrate = (char*)baudrate;
+
+  printf( "This example sends three SYNCs from port#%u to port#%u with a CO-PCICAN card\n", CHTX, CHRX );
+
+  driver = LoadCanDriver( "/usr/local/lib/libcanfestival_can_copcican_linux.so" );
+
+  if( driver == NULL )
+  {
+    /* something strange happenend */
+    return 0;
+  }
+
+  /* dynamic load of additional library functions */
+  get_fd_of_port = dlsym( driver, "get_fd_of_port" );
+  co_pcican_enter_run_mode = dlsym( driver, "co_pcican_enter_run_mode" );
+  co_pcican_enter_config_mode = dlsym( driver, "co_pcican_enter_config_mode" );
+  co_pcican_select_channel = dlsym( driver, "co_pcican_select_channel" );
+  co_pcican_configure_selected_channel = dlsym( driver, "co_pcican_configure_selected_channel" );
+
+  /* direction: 0=RX, 1=TX */
+  co_pcican_select_channel( CHRX, 0 );
+  co_pcican_select_channel( CHTX, 1 );
+
+  port = canOpen( &bd, &myData );
+
+  if( port == NULL )
+  {
+    UnLoadCanDriver( driver );
+
+    /* something strange happenend */
+    return 0;
+  }
+
+  /* get file descriptor to control the opened device */
+  fd = get_fd_of_port( port );
+
+  co_pcican_enter_config_mode( fd );
+  co_pcican_configure_selected_channel( fd, &bd, 0 );
+  co_pcican_configure_selected_channel( fd, &bd, 1 );
+  co_pcican_enter_run_mode( fd );
+
+  memset( &myMessage, 0x00, sizeof(Message) );
+  myMessage.cob_id = 0x80; /* SYNC message */
+  myMessage.len = 1;
+  myMessage.data[0] = 0xA5;
+
+  /* SEND HERE */
+  canSend( port, &myMessage );
+
+  myMessage.data[0] = 0x5A;
+  canSend( port, &myMessage );
+
+  myMessage.data[0] = 0xA5;
+  canSend( port, &myMessage );
+
+  /* mySyncHandler() is called by the receive thread and shows a received SYNC message on console */
+  usleep( 1*1000*1000 ); /* 1s */
+
+  canClose( &myData );
+
+  UnLoadCanDriver( driver );
+
+  return 0;
+}
+