1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack.

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#include <stdio.h>

    24

#include <string.h>

    25

#include <errno.h>

    26

#include <fcntl.h>

    27

    28

#include "canmsg.h"

    29

#include "lincan.h"

    30

    31

#include "can_driver.h"

    32

    33

/*********functions which permit to communicate with the board****************/

    34

UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)

    35

{

    36

  int res;

    37

  struct canmsg_t canmsg;

    38

    39

  canmsg.flags = 0; /* Ensure standard receive, not required for LinCAN>=0.3.1 */

    40

    41

  do{

    42

    res = read(fd0,&canmsg,sizeof(canmsg_t));

    43

    if((res<0)&&(errno == -EAGAIN)) res = 0;

    44

  }while(res==0);

    45

    46

  if(res != sizeof(canmsg_t)) // No new message

    47

    return 1;

    48

    49

  if(canmsg.flags&MSG_EXT){

    50

    /* There is no mark for extended messages in CanFestival */;

    51

  }

    52

    53

  m->cob_id.w = canmsg.id;

    54

  m->len = canmsg.length;

    55

  if(canmsg.flags&MSG_RTR){

    56

    m->rtr = 1;

    57

  }else{

    58

    m->rtr = 0;

    59

    memcpy(m->data,canmsg.data,8);

    60

  }

    61

    62

  return 0;

    63

}

    64

    65

/***************************************************************************/

    66

UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)

    67

{

    68

  int res;

    69

  struct canmsg_t canmsg;

    70

    71

    72

  canmsg.flags = 0;

    73

  canmsg.id = m->cob_id.w;

    74

  canmsg.length = m->len;

    75

  if(m->rtr){

    76

    canmsg.flags |= MSG_RTR;

    77

  }else{

    78

    memcpy(canmsg.data,m->data,8);

    79

  }

    80

    81

  if(canmsg.id >= 0x800){

    82

    canmsg.flags |= MSG_EXT;

    83

  }

    84

    85

  res = write(fd0,&canmsg,sizeof(canmsg_t));

    86

  if(res!=sizeof(canmsg_t))

    87

    return 1;

    88

    89

  return 0;

    90

}

    91

    92

/***************************************************************************/

    93

static const char lnx_can_dev_prefix[] = "/dev/can";

    94

    95

CAN_HANDLE canOpen_driver(s_BOARD *board)

    96

{

    97

  int name_len = strlen(board->busname);

    98

  int prefix_len = strlen(lnx_can_dev_prefix);

    99

  char dev_name[prefix_len+name_len+1];

   100

  int o_flags = 0;

   101

  CAN_HANDLE fd0;

   102

   103

  fd0=malloc(sizeof(*fd0));

   104

  if(fd0==NULL)

   105

    return NULL;

   106

   107

  /*o_flags = O_NONBLOCK;*/

   108

   109

  memcpy(dev_name,lnx_can_dev_prefix,prefix_len);

   110

  memcpy(dev_name+prefix_len,board->busname,name_len);

   111

  dev_name[prefix_len+name_len] = 0;

   112

   113

  fd0 = open(dev_name, O_RDWR|o_flags);

   114

  if(fd0 < 0){

   115

    fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname);

   116

    goto error_ret;

   117

  }

   118

   119

  return fd0;

   120

   121

 error_ret:

   122

  free(fd0);

   123

  return NULL;

   124

}

   125

   126

/***************************************************************************/

   127

int canClose_driver(CAN_HANDLE fd0)

   128

{

   129

  if(!fd0)

   130

    return 0;

   131

  close(fd0);

   132

  return 0;

   133

}