drivers/can_socket/can_socket.c
author etisserant
Mon, 18 Feb 2008 17:14:22 +0100
changeset 400 7d845f5d730c
parent 384 83793fc7ce48
child 454 bc000083297a
permissions -rw-r--r--
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stddef.h>		/* for NULL */
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#include <errno.h>
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#include "config.h"
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#ifdef RTCAN_SOCKET
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#include "rtdm/rtcan.h"
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#define CAN_IFNAME     "rtcan%s"
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#define CAN_SOCKET     rt_dev_socket
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#define CAN_CLOSE      rt_dev_close
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#define CAN_RECV       rt_dev_recv
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#define CAN_SEND       rt_dev_send
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#define CAN_BIND       rt_dev_bind
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#define CAN_IOCTL      rt_dev_ioctl
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#define CAN_ERRNO(err) (-err)
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#else
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include "linux/can.h"
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#include "linux/can/raw.h"
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#include "net/if.h"
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#define PF_CAN 29
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#define AF_CAN PF_CAN
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//#include "af_can.h"
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#define CAN_IFNAME     "can%s"
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#define CAN_SOCKET     socket
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#define CAN_CLOSE      close
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#define CAN_RECV       recv
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#define CAN_SEND       send
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#define CAN_BIND       bind
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#define CAN_IOCTL      ioctl
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#define CAN_ERRNO(err) errno
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#endif
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#include "can_driver.h"
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/*********functions which permit to communicate with the board****************/
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UNS8
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canReceive_driver (CAN_HANDLE fd0, Message * m)
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{
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  int res;
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  struct can_frame frame;
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  res = CAN_RECV (*(int *) fd0, &frame, sizeof (frame), 0);
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  if (res < 0)
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    {
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      fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res)));
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      return 1;
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    }
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  m->cob_id = frame.can_id & CAN_EFF_MASK;
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  m->len = frame.can_dlc;
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  if (frame.can_id & CAN_RTR_FLAG)
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    m->rtr = 1;
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  else
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    m->rtr = 0;
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  memcpy (m->data, frame.data, 8);
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#if defined DEBUG_MSG_CONSOLE_ON
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  printf("in : ");
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  print_message(m);
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#endif
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  return 0;
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}
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/***************************************************************************/
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UNS8
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canSend_driver (CAN_HANDLE fd0, Message * m)
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{
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  int res;
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  struct can_frame frame;
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  frame.can_id = m->cob_id;
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  if (frame.can_id >= 0x800)
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    frame.can_id |= CAN_EFF_FLAG;
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  frame.can_dlc = m->len;
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  if (m->rtr)
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    frame.can_id |= CAN_RTR_FLAG;
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  else
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    memcpy (frame.data, m->data, 8);
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#if defined DEBUG_MSG_CONSOLE_ON
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  printf("out : ");
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  print_message(m);
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#endif
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  res = CAN_SEND (*(int *) fd0, &frame, sizeof (frame), 0);
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  if (res < 0)
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    {
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      fprintf (stderr, "Send failed: %s\n", strerror (CAN_ERRNO (res)));
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      return 1;
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    }
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  return 0;
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}
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/***************************************************************************/
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#ifdef RTCAN_SOCKET
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int
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TranslateBaudRate (const char *optarg)
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{
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  int baudrate;
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  int val, len;
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  char *pos = NULL;
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  len = strlen (optarg);
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  if (!len)
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    return 0;
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  switch ((int) optarg[len - 1])
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    {
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    case 'M':
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      baudrate = 1000000;
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      break;
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    case 'K':
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      baudrate = 1000;
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      break;
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    default:
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      baudrate = 1;
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      break;
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    }
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  if ((sscanf (optarg, "%i", &val)) == 1)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   148
    baudrate *= val;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   149
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   150
    baudrate = 0;;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   151
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   152
  return baudrate;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   153
}
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   154
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   155
384
83793fc7ce48 added canChangeBaudRate to the driver interface
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   156
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
83793fc7ce48 added canChangeBaudRate to the driver interface
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diff changeset
   157
{
83793fc7ce48 added canChangeBaudRate to the driver interface
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   158
	printf("canChangeBaudRate not yet supported by this driver\n");
83793fc7ce48 added canChangeBaudRate to the driver interface
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diff changeset
   159
	return 0;
83793fc7ce48 added canChangeBaudRate to the driver interface
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diff changeset
   160
}
83793fc7ce48 added canChangeBaudRate to the driver interface
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diff changeset
   161
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   162
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   163
CAN_HANDLE
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   164
canOpen_driver (s_BOARD * board)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   165
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   166
  struct ifreq ifr;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   167
  struct sockaddr_can addr;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   168
  int err;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   169
  CAN_HANDLE fd0 = malloc (sizeof (int));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   170
#ifdef RTCAN_SOCKET
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   171
  can_baudrate_t *baudrate;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   172
  can_mode_t *mode;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   173
#endif
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diff changeset
   174
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   175
  *(int *) fd0 = CAN_SOCKET (PF_CAN, SOCK_RAW, CAN_RAW);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   176
  if (*(int *) fd0 < 0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   177
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   178
      fprintf (stderr, "Socket creation failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   179
	       strerror (CAN_ERRNO (*(int *) fd0)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   180
      goto error_ret;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   181
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   182
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   183
  if (*board->busname >= '0' && *board->busname <= '9')
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   184
    snprintf (ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   185
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   186
    strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   187
  err = CAN_IOCTL (*(int *) fd0, SIOCGIFINDEX, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   188
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   189
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   190
      fprintf (stderr, "Getting IF index for %s failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   191
	       ifr.ifr_name, strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   192
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   193
    }
290
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   194
  
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   195
  {
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   196
    int loopback = 1;
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   197
    setsockopt(*(int *)fd0, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   198
               &loopback, sizeof(loopback));
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   199
  }
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
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diff changeset
   200
  
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   201
  {
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   202
    int recv_own_msgs = 0; /* 0 = disabled (default), 1 = enabled */
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   203
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   204
    setsockopt(*(int *)fd0, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   205
               &recv_own_msgs, sizeof(recv_own_msgs));
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   206
  }
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
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diff changeset
   207
  
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   208
  addr.can_family = AF_CAN;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   209
  addr.can_ifindex = ifr.ifr_ifindex;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   210
  err = CAN_BIND (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   211
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   212
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   213
      fprintf (stderr, "Binding failed: %s\n", strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   214
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   215
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   216
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   217
#ifdef RTCAN_SOCKET
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   218
  baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   219
  *baudrate = TranslateBaudRate (board->baudrate);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   220
  if (!*baudrate)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   221
    goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   222
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   223
  err = CAN_IOCTL (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   224
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   225
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   226
      fprintf (stderr,
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   227
	       "Setting baudrate %d failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   228
	       *baudrate, strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   229
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   230
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   231
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   232
  mode = (can_mode_t *) & ifr.ifr_ifru;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   233
  *mode = CAN_MODE_START;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   234
  err = CAN_IOCTL (*(int *) fd0, SIOCSCANMODE, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   235
  if (err)
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
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diff changeset
   237
      fprintf (stderr, "Starting CAN device failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   238
	       strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   239
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   240
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   241
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   242
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   243
  return fd0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   244
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   245
error_close:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   246
  CAN_CLOSE (*(int *) fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   247
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   248
error_ret:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   249
  free (fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   250
  return NULL;
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
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diff changeset
   252
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   253
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   254
int
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   255
canClose_driver (CAN_HANDLE fd0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   256
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   257
  if (fd0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   258
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
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diff changeset
   259
      CAN_CLOSE (*(int *) fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   260
      free (fd0);
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
  return 0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   263
}