drivers/can_socket/can_socket.c
author edouard
Sat, 13 Nov 2010 23:08:34 +0100
changeset 633 2c43383a1d57
parent 631 08b6b903f84a
child 796 1c87f7a8cb8a
permissions -rw-r--r--
Fix mingw32 cross build for can_peak_win32 and can_tcp_win32 server.
47
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     1
/*
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     2
This file is part of CanFestival, a library implementing CanOpen Stack.
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     3
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     4
Copyright (C): Edouard TISSERANT and Francis DUPIN
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     5
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     6
See COPYING file for copyrights details.
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     7
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     8
This library is free software; you can redistribute it and/or
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
     9
modify it under the terms of the GNU Lesser General Public
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    10
License as published by the Free Software Foundation; either
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    11
version 2.1 of the License, or (at your option) any later version.
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    12
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    13
This library is distributed in the hope that it will be useful,
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    14
but WITHOUT ANY WARRANTY; without even the implied warranty of
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    16
Lesser General Public License for more details.
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    17
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    18
You should have received a copy of the GNU Lesser General Public
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    19
License along with this library; if not, write to the Free Software
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    20
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    21
*/
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    22
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    23
#include <stdio.h>
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    24
#include <string.h>
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    25
#include <stdlib.h>
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    26
#include <stddef.h>		/* for NULL */
192
9dd6f17ef7e5 Wolfgang enhancements for RT-socket-CAN support
etisserant
parents: 189
diff changeset
    27
#include <errno.h>
47
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    28
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    29
#include "config.h"
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    30
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    31
#ifdef RTCAN_SOCKET
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    32
#include "rtdm/rtcan.h"
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    33
#define CAN_IFNAME     "rtcan%s"
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    34
#define CAN_SOCKET     rt_dev_socket
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    35
#define CAN_CLOSE      rt_dev_close
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    36
#define CAN_RECV       rt_dev_recv
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    37
#define CAN_SEND       rt_dev_send
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    38
#define CAN_BIND       rt_dev_bind
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    39
#define CAN_IOCTL      rt_dev_ioctl
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
    40
#define CAN_SETSOCKOPT rt_dev_setsockopt
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    41
#define CAN_ERRNO(err) (-err)
47
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    42
#else
631
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
    43
#include <unistd.h>
187
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    44
#include <sys/socket.h>
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    45
#include <sys/ioctl.h>
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    46
#include "linux/can.h"
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    47
#include "linux/can/raw.h"
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    48
#include "net/if.h"
631
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
    49
#ifndef PF_CAN
187
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    50
#define PF_CAN 29
631
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
    51
#endif
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
    52
#ifndef AF_CAN
187
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    53
#define AF_CAN PF_CAN
631
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
    54
#endif
187
d3930d3f1323 Fixed can_socket compilation bugs
etisserant
parents: 145
diff changeset
    55
//#include "af_can.h"
47
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    56
#define CAN_IFNAME     "can%s"
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    57
#define CAN_SOCKET     socket
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    58
#define CAN_CLOSE      close
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    59
#define CAN_RECV       recv
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    60
#define CAN_SEND       send
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    61
#define CAN_BIND       bind
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    62
#define CAN_IOCTL      ioctl
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    63
#define CAN_ERRNO(err) errno
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
    64
#define CAN_SETSOCKOPT setsockopt
47
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    65
#endif
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    66
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    67
#include "can_driver.h"
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    68
8a1047ab51f4 SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
diff changeset
    69
/*********functions which permit to communicate with the board****************/
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    70
UNS8
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    71
canReceive_driver (CAN_HANDLE fd0, Message * m)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    72
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    73
  int res;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    74
  struct can_frame frame;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    75
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    76
  res = CAN_RECV (*(int *) fd0, &frame, sizeof (frame), 0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    77
  if (res < 0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    78
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    79
      fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    80
      return 1;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    81
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    82
365
9b76e0881beb Changed cob_id from struct{UNS32} to UNS16
etisserant
parents: 330
diff changeset
    83
  m->cob_id = frame.can_id & CAN_EFF_MASK;
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    84
  m->len = frame.can_dlc;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    85
  if (frame.can_id & CAN_RTR_FLAG)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    86
    m->rtr = 1;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    87
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    88
    m->rtr = 0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    89
  memcpy (m->data, frame.data, 8);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    90
330
04b92f78d7bb debug=MSG -> print CAN messages
etisserant
parents: 301
diff changeset
    91
#if defined DEBUG_MSG_CONSOLE_ON
454
bc000083297a - add RTAI support
greg
parents: 384
diff changeset
    92
  MSG("in : ");
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
    93
  print_message(m);
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
    94
#endif
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    95
  return 0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    96
}
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    97
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    98
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
    99
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   100
UNS8
631
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   101
canSend_driver (CAN_HANDLE fd0, Message const * m)
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   102
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   103
  int res;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   104
  struct can_frame frame;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   105
365
9b76e0881beb Changed cob_id from struct{UNS32} to UNS16
etisserant
parents: 330
diff changeset
   106
  frame.can_id = m->cob_id;
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   107
  if (frame.can_id >= 0x800)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   108
    frame.can_id |= CAN_EFF_FLAG;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   109
  frame.can_dlc = m->len;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   110
  if (m->rtr)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   111
    frame.can_id |= CAN_RTR_FLAG;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   112
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   113
    memcpy (frame.data, m->data, 8);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   114
330
04b92f78d7bb debug=MSG -> print CAN messages
etisserant
parents: 301
diff changeset
   115
#if defined DEBUG_MSG_CONSOLE_ON
454
bc000083297a - add RTAI support
greg
parents: 384
diff changeset
   116
  MSG("out : ");
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   117
  print_message(m);
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   118
#endif
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   119
  res = CAN_SEND (*(int *) fd0, &frame, sizeof (frame), 0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   120
  if (res < 0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   121
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   122
      fprintf (stderr, "Send failed: %s\n", strerror (CAN_ERRNO (res)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   123
      return 1;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   124
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   125
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   126
  return 0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   127
}
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   128
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   129
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   130
#ifdef RTCAN_SOCKET
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   131
int
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   132
TranslateBaudRate (const char *optarg)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   133
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   134
  int baudrate;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   135
  int val, len;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   136
  char *pos = NULL;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   137
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   138
  len = strlen (optarg);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   139
  if (!len)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   140
    return 0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   141
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   142
  switch ((int) optarg[len - 1])
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   143
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   144
    case 'M':
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   145
      baudrate = 1000000;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   146
      break;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   147
    case 'K':
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   148
      baudrate = 1000;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   149
      break;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   150
    default:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   151
      baudrate = 1;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   152
      break;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   153
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   154
  if ((sscanf (optarg, "%i", &val)) == 1)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   155
    baudrate *= val;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   156
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   157
    baudrate = 0;;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   158
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   159
  return baudrate;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   160
}
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   161
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   162
384
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   163
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   164
{
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   165
	printf("canChangeBaudRate not yet supported by this driver\n");
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   166
	return 0;
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   167
}
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   168
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   169
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   170
CAN_HANDLE
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   171
canOpen_driver (s_BOARD * board)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   172
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   173
  struct ifreq ifr;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   174
  struct sockaddr_can addr;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   175
  int err;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   176
  CAN_HANDLE fd0 = malloc (sizeof (int));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   177
#ifdef RTCAN_SOCKET
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   178
  can_baudrate_t *baudrate;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   179
  can_mode_t *mode;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   180
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   181
631
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   182
  if(!fd0)
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   183
    {
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   184
      return NULL;
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   185
    }
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   186
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   187
  *(int *) fd0 = CAN_SOCKET (PF_CAN, SOCK_RAW, CAN_RAW);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   188
  if (*(int *) fd0 < 0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   189
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   190
      fprintf (stderr, "Socket creation failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   191
	       strerror (CAN_ERRNO (*(int *) fd0)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   192
      goto error_ret;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   193
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   194
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   195
  if (*board->busname >= '0' && *board->busname <= '9')
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   196
    snprintf (ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   197
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   198
    strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   199
  err = CAN_IOCTL (*(int *) fd0, SIOCGIFINDEX, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   200
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   201
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   202
      fprintf (stderr, "Getting IF index for %s failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   203
	       ifr.ifr_name, strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   204
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   205
    }
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   206
  
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   207
  {
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   208
    int loopback = 1;
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   209
    err = CAN_SETSOCKOPT(*(int *)fd0, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   210
               &loopback, sizeof(loopback));
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   211
    if (err) {
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   212
        fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror (CAN_ERRNO (err)));
603
4dc76e662412 Fixed typo in can_socket.c
edouard
parents: 596
diff changeset
   213
        goto error_close;
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   214
    }
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   215
  }
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   216
  
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   217
#ifndef RTCAN_SOCKET /*CAN_RAW_RECV_OWN_MSGS not supported in rtsocketcan*/
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   218
  {
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   219
    int recv_own_msgs = 0; /* 0 = disabled (default), 1 = enabled */
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   220
    err = CAN_SETSOCKOPT(*(int *)fd0, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   221
               &recv_own_msgs, sizeof(recv_own_msgs));
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   222
    if (err) {
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   223
        fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror (CAN_ERRNO (err)));
603
4dc76e662412 Fixed typo in can_socket.c
edouard
parents: 596
diff changeset
   224
        goto error_close;
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   225
    }
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   226
  }
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   227
#endif
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   228
  
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   229
  addr.can_family = AF_CAN;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   230
  addr.can_ifindex = ifr.ifr_ifindex;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   231
  err = CAN_BIND (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   232
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   233
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   234
      fprintf (stderr, "Binding failed: %s\n", strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   235
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   236
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   237
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   238
#ifdef RTCAN_SOCKET
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   239
  baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   240
  *baudrate = TranslateBaudRate (board->baudrate);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   241
  if (!*baudrate)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   242
    goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   243
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   244
  err = CAN_IOCTL (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   245
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   246
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   247
      fprintf (stderr,
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   248
	       "Setting baudrate %d failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   249
	       *baudrate, strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   250
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   251
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   252
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   253
  mode = (can_mode_t *) & ifr.ifr_ifru;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   254
  *mode = CAN_MODE_START;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   255
  err = CAN_IOCTL (*(int *) fd0, SIOCSCANMODE, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   256
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   257
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   258
      fprintf (stderr, "Starting CAN device failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   259
	       strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   260
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   261
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   262
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   263
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   264
  return fd0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   265
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   266
error_close:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   267
  CAN_CLOSE (*(int *) fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   268
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   269
error_ret:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   270
  free (fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   271
  return NULL;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   272
}
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   273
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   274
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   275
int
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   276
canClose_driver (CAN_HANDLE fd0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   277
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   278
  if (fd0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   279
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   280
      CAN_CLOSE (*(int *) fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   281
      free (fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   282
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   283
  return 0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   284
}