#!/usr/bin/tclsh
# Tcl CANopen Heart Beat producer
#

# configure parameters

set node	10	;# node id of the producer
set ptime	150	;# producer time in ms
set state	preop	;# not used yet

#############################################################

load ./canLtwo.so
puts "....... swig wrapper loaded"

# open the can interface /dev/can0
# but before, set the baud rate if it should be other than default
exec /bin/echo "125 125" > /proc/sys/dev/Can/Baud
puts "....... bit rate changed"

set device 0			;# use /dev/can0
set can_fd [can_open $device]
puts "....... /dev/can$device opened, can_fd:$can_fd"
if { $can_fd == -1 } {
    puts "error opening CAN device /dev/can$device"
    exit
}


while { true } {
    can_send $can_fd 1 "[expr 0x700 + $node]:0x7f"
    after $ptime
}

can_close $can_fd
puts "....... /dev/can$device closed"
exit