drivers/can_socket/can_socket.c
author Edouard Tisserant
Thu, 24 Jan 2019 13:53:01 +0100
changeset 808 de1fc3261f21
parent 807 46027bb24429
permissions -rw-r--r--
Adding -fPIC isn't necessary of xeno-config is set correctly. Backed out changeset b9f1fcda7d30
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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/can.h"
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#define CAN_IFNAME     "rtcan%s"
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#else
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#include <unistd.h>
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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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#ifndef PF_CAN
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#define PF_CAN 29
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#endif
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#ifndef AF_CAN
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#define AF_CAN PF_CAN
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#endif
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//#include "af_can.h"
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#define CAN_IFNAME     "can%s"
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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 = 0;
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  struct can_frame frame;
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  while (res <= 0) {
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    res = recv (*(int *) fd0, &frame, sizeof (frame), 0);
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    if (res < 0)
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    {
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        if (errno == EBADF)
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        {
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            /* this will exit recieve loop */
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            return 1;
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        }
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        else if (errno == EINTR) continue; /* retry immediatly */
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        else
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        {
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            /* print error and retry after 20ms, arbitrary */
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            fprintf (stderr, "Recv failed: %s\n", strerror (errno));
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            usleep(20000);
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            continue;
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        }
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    }
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    else if (res == 0)
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    {
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        /* this will exit recieve loop */
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        return 1;
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    }
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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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  MSG("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 const * 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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  MSG("out : ");
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  print_message(m);
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#endif
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  res = 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 (errno));
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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':
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   146
      baudrate = 1000000;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   147
      break;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   148
    case 'K':
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   149
      baudrate = 1000;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   150
      break;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   151
    default:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   152
      baudrate = 1;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   153
      break;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   154
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   155
  if ((sscanf (optarg, "%i", &val)) == 1)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   156
    baudrate *= val;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   157
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   158
    baudrate = 0;;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   159
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   160
  return baudrate;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   161
}
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   162
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   163
384
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   164
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   165
{
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   166
	printf("canChangeBaudRate not yet supported by this driver\n");
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   167
	return 0;
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   168
}
83793fc7ce48 added canChangeBaudRate to the driver interface
groke6
parents: 365
diff changeset
   169
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   170
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   171
CAN_HANDLE
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   172
canOpen_driver (s_BOARD * board)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   173
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   174
  struct ifreq ifr;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   175
  struct sockaddr_can addr;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   176
  int err;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   177
  CAN_HANDLE fd0 = malloc (sizeof (int));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   178
#ifdef RTCAN_SOCKET
796
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   179
  nanosecs_rel_t tx_timeout;
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   180
  can_baudrate_t *baudrate;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   181
  can_mode_t *mode;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   182
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   183
631
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   184
  if(!fd0)
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
      return NULL;
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   187
    }
08b6b903f84a Piotr Trojanek (ptroja) cleanup patche. Thanks.
edouard
parents: 603
diff changeset
   188
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   189
  *(int *) fd0 = socket (PF_CAN, SOCK_RAW, CAN_RAW);
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   190
  if (*(int *) fd0 < 0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   191
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   192
      fprintf (stderr, "Socket creation failed: %s\n",
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   193
	       strerror (errno));
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   194
      goto error_ret;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   195
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   197
  if (*board->busname >= '0' && *board->busname <= '9')
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   198
    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
   199
  else
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   200
    strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   201
  err = ioctl (*(int *) fd0, SIOCGIFINDEX, &ifr);
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   202
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   203
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   204
      fprintf (stderr, "Getting IF index for %s failed: %s\n",
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   205
	       ifr.ifr_name, strerror (errno));
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   206
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   207
    }
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
   208
  
43c3b2bf3e32 Added debug message printing. Added socket option : CAN_RAW_LOOPBACK=1 and CAN_RAW_RECV_OWN_MSGS=0.
etisserant
parents: 196
diff changeset
   209
  {
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
    int loopback = 1;
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   211
    err = 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
   212
               &loopback, sizeof(loopback));
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   213
    if (err) {
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   214
        fprintf(stderr, "setsockopt: %s\n", strerror (errno));
603
4dc76e662412 Fixed typo in can_socket.c
edouard
parents: 596
diff changeset
   215
        goto error_close;
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   216
    }
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
   217
  }
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
  
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   219
#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
   220
  {
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
    int recv_own_msgs = 0; /* 0 = disabled (default), 1 = enabled */
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   222
    err = 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
   223
               &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
   224
    if (err) {
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   225
        fprintf(stderr, "setsockopt: %s\n", strerror (errno));
603
4dc76e662412 Fixed typo in can_socket.c
edouard
parents: 596
diff changeset
   226
        goto error_close;
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   227
    }
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
  }
596
cb69a65bb88d Fiwed use of socketopt accross RT and non-RT implementation of SocketCan
edouard
parents: 454
diff changeset
   229
#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
   230
  
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   231
  addr.can_family = AF_CAN;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   232
  addr.can_ifindex = ifr.ifr_ifindex;
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   233
  err = bind (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   234
  if (err)
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   235
    {
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   236
      fprintf (stderr, "Binding failed: %s\n", strerror (errno));
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   237
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   238
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   239
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   240
#ifdef RTCAN_SOCKET
796
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   241
  tx_timeout = 10000000;    /* XXX Timeout is temporarily set to 10 ms */
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   242
  err = ioctl (*(int *) fd0, RTCAN_RTIOC_SND_TIMEOUT, &tx_timeout);
796
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   243
  if (err)
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   244
    {
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   245
      fprintf (stderr,
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   246
          "Setting TX timeout %d failed: %s\n",
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   247
          *baudrate, strerror (errno));
796
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   248
      goto error_close;
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   249
    }
1c87f7a8cb8a Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
bmakuc <blaz.makuc@smarteh.si>
parents: 631
diff changeset
   250
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   251
  baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   252
  *baudrate = TranslateBaudRate (board->baudrate);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   253
  if (!*baudrate)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   254
    goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   255
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   256
  err = ioctl (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   257
  if (err)
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
parents: 192
diff changeset
   259
      fprintf (stderr,
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   260
	       "Setting baudrate %d failed: %s\n",
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   261
	       *baudrate, strerror (errno));
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   262
      goto error_close;
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
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   265
  mode = (can_mode_t *) & ifr.ifr_ifru;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   266
  *mode = CAN_MODE_START;
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   267
  err = ioctl (*(int *) fd0, SIOCSCANMODE, &ifr);
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   268
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   269
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   270
      fprintf (stderr, "Starting CAN device failed: %s\n",
804
4657af9ede34 Removed legacy dead code from ex-rtdm rt-socketcan API, added shutdown() call to force recv() to unblock on CanClose()
Edouard Tisserant
parents: 802
diff changeset
   271
	       strerror (errno));
196
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   272
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
etisserant
parents: 192
diff changeset
   273
    }
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#endif
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  return fd0;
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error_close:
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  close (*(int *) fd0);
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error_ret:
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  free (fd0);
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  return NULL;
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}
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/***************************************************************************/
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int
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canClose_driver (CAN_HANDLE fd0)
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{
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  if (fd0)
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    {
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      shutdown (*(int *) fd0, SHUT_RDWR);
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      close (*(int *) fd0);
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      free (fd0);
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    }
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  return 0;
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}