author | greg |
Fri, 17 Jul 2009 11:48:41 +0200 | |
changeset 566 | 365d555fc0c6 |
parent 448 | 732c33c2d8a7 |
child 631 | 08b6b903f84a |
permissions | -rw-r--r-- |
448
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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|
1 |
/* |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
2 |
This file is part of CanFestival, a library implementing CanOpen Stack. |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
3 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
4 |
Copyright (C): Edouard TISSERANT and Francis DUPIN |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
5 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
6 |
Ruthlessly butchered by James Steward to produce a serial (tty) port |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
7 |
driver. |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
8 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
9 |
See COPYING file for copyrights details. |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
10 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
11 |
This library is free software; you can redistribute it and/or |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
12 |
modify it under the terms of the GNU Lesser General Public |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
13 |
License as published by the Free Software Foundation; either |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
14 |
version 2.1 of the License, or (at your option) any later version. |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
15 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
16 |
This library is distributed in the hope that it will be useful, |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
17 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
18 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
19 |
Lesser General Public License for more details. |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
20 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
21 |
You should have received a copy of the GNU Lesser General Public |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
22 |
License along with this library; if not, write to the Free Software |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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23 |
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
24 |
*/ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
25 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
26 |
/* |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
27 |
Single serial port CAN driver. |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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28 |
*/ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
29 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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30 |
#include <stdio.h> |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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31 |
#include <unistd.h> |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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32 |
#include <fcntl.h> |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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|
33 |
#include <errno.h> |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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|
34 |
#include <string.h> |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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35 |
#include <termios.h> |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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|
36 |
#include <stdlib.h> |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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|
37 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
38 |
#define NEED_PRINT_MESSAGE |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
39 |
#include "can_driver.h" |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
40 |
#include "def.h" |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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41 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
42 |
typedef struct { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
43 |
int fd; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
44 |
struct termios old_termio, new_termio; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
45 |
} CANPort; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
46 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
47 |
/*********functions which permit to communicate with the board****************/ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
48 |
UNS8 canReceive_driver(CAN_HANDLE fd0, Message * m) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
49 |
{ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
50 |
int rv, N, n = 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
51 |
fd_set rfds; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
52 |
struct timeval tv; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
53 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
54 |
N = 4; //initially try to read 4 bytes, including the length byte |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
55 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
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|
56 |
retry: |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
57 |
rv = read(((CANPort *) fd0)->fd, &((char *)m)[n], N - n); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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58 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
59 |
if (rv == -1) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
60 |
fprintf(stderr, "read: %s\n", strerror(errno)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
61 |
return 1; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
62 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
63 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
64 |
n += rv; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
65 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
66 |
if (n == 4) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
67 |
N = (4 + m->len); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
68 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
69 |
if (m->len > 8) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
changeset
|
70 |
fprintf(stderr, "Warning: invalid message length %d\n", |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
71 |
m->len); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
72 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
73 |
//try to resync |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
74 |
n = 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
75 |
N = 4; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
76 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
77 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
78 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
79 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
80 |
if (n < N) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
81 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
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parents:
diff
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|
82 |
FD_ZERO(&rfds); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
83 |
FD_SET(((CANPort *) fd0)->fd, &rfds); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
84 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
85 |
tv.tv_sec = 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
86 |
tv.tv_usec=100000; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
87 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
88 |
rv = select(((CANPort *) fd0)->fd + 1, &rfds, NULL, NULL, &tv); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
89 |
if (rv == -1) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
90 |
fprintf(stderr, "select: %s\n", strerror(errno)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
91 |
return 1; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
92 |
} else if (rv == 0) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
93 |
n = 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
94 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
95 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
96 |
goto retry; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
97 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
98 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
99 |
print_message(m); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
100 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
101 |
return 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
102 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
103 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
104 |
/***************************************************************************/ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
105 |
UNS8 canSend_driver(CAN_HANDLE fd0, Message * m) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
106 |
{ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
107 |
int rv; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
108 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
109 |
print_message(m); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
110 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
111 |
// Send to serial port |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
112 |
rv = write(((CANPort *) fd0)->fd, m, 4 + m->len); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
113 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
114 |
if (rv != 4 + m->len) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
115 |
return 1; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
116 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
117 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
118 |
return 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
119 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
120 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
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|
121 |
/***************************************************************************/ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
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|
122 |
int TranslateBaudRate(char *optarg) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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|
123 |
{ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
124 |
if (!strcmp(optarg, "1M")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
125 |
return (int) 1000; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
126 |
if (!strcmp(optarg, "500K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
127 |
return (int) 500; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
128 |
if (!strcmp(optarg, "250K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
129 |
return (int) 250; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
130 |
if (!strcmp(optarg, "125K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
131 |
return (int) 125; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
132 |
if (!strcmp(optarg, "100K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
133 |
return (int) 100; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
134 |
if (!strcmp(optarg, "50K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
135 |
return (int) 50; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
136 |
if (!strcmp(optarg, "20K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
137 |
return (int) 20; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
138 |
if (!strcmp(optarg, "10K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
139 |
return (int) 10; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
140 |
if (!strcmp(optarg, "5K")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
141 |
return (int) 5; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
142 |
if (!strcmp(optarg, "none")) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
143 |
return 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
144 |
return 0x0000; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
145 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
146 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
147 |
UNS8 canChangeBaudRate_driver(CAN_HANDLE fd0, char *baud) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
148 |
{ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
149 |
printf("Faked changing to baud rate %s[%d]\n", |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
150 |
baud, TranslateBaudRate(baud)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
151 |
return 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
152 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
153 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
154 |
/***************************************************************************/ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
155 |
CAN_HANDLE canOpen_driver(s_BOARD * board) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
156 |
{ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
157 |
int rv; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
158 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
159 |
CANPort *p; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
160 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
161 |
p = (CANPort *)calloc(1, sizeof(CANPort)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
162 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
163 |
if (p == NULL) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
164 |
fprintf(stderr, "calloc: %s\n", strerror(errno)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
165 |
return (CAN_HANDLE) NULL; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
166 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
167 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
168 |
p->fd = open(board->busname, O_RDWR); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
169 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
170 |
if (p->fd < 0) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
171 |
fprintf(stderr, "open: %s, %s\n", |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
172 |
board->busname, strerror(errno)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
173 |
free(p); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
174 |
return (CAN_HANDLE) NULL; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
175 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
176 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
177 |
if (tcgetattr(p->fd, &p->old_termio) != 0) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
178 |
fprintf(stderr, "tcgetattr: %s, %s\n", |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
179 |
board->busname, strerror(errno)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
180 |
close(p->fd); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
181 |
free(p); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
182 |
return (CAN_HANDLE) NULL; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
183 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
184 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
185 |
memcpy(&p->new_termio, &p->old_termio, |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
186 |
sizeof(p->old_termio)); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
187 |
cfmakeraw(&p->new_termio); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
188 |
cfsetispeed(&p->new_termio, B115200); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
189 |
cfsetospeed(&p->new_termio, B115200); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
190 |
tcsetattr(p->fd, TCSANOW, &p->new_termio); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
191 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
192 |
return (CAN_HANDLE) p; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
193 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
194 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
195 |
/***************************************************************************/ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
196 |
int canClose_driver(CAN_HANDLE fd0) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
197 |
{ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
198 |
if ((CANPort *) fd0 && ((CANPort *) fd0)->fd >= 0) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
199 |
tcsetattr(((CANPort *) fd0)->fd, TCSANOW, |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
200 |
&((CANPort *) fd0)->old_termio); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
201 |
close(((CANPort *) fd0)->fd); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
202 |
free((CANPort *) fd0); |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
203 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
204 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
205 |
return 0; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
206 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
207 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
208 |
int canfd_driver(CAN_HANDLE fd0) |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
209 |
{ |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
210 |
if ((CANPort *) fd0) { |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
211 |
return ((CANPort *) fd0)->fd; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
212 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
213 |
|
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
214 |
return -1; |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
215 |
} |
732c33c2d8a7
CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff
changeset
|
216 |