drivers/can_socket/can_socket.c
author etisserant
Thu, 30 Aug 2007 17:03:34 +0200
changeset 262 f1c892f3f93c
parent 196 65aa7a664f6f
child 290 43c3b2bf3e32
permissions -rw-r--r--
Added exclusion mechanism to TestMasterSlave finish code
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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.w = 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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  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.w;
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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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  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)
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    baudrate *= val;
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  else
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    baudrate = 0;;
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  return baudrate;
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}
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#endif
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/***************************************************************************/
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CAN_HANDLE
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canOpen_driver (s_BOARD * board)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  struct ifreq ifr;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  struct sockaddr_can addr;
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  int err;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  CAN_HANDLE fd0 = malloc (sizeof (int));
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#ifdef RTCAN_SOCKET
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  can_baudrate_t *baudrate;
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  can_mode_t *mode;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   160
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  *(int *) fd0 = CAN_SOCKET (PF_CAN, SOCK_RAW, CAN_RAW);
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  if (*(int *) fd0 < 0)
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    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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      fprintf (stderr, "Socket creation failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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	       strerror (CAN_ERRNO (*(int *) fd0)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   166
      goto error_ret;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   168
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  if (*board->busname >= '0' && *board->busname <= '9')
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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    snprintf (ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  else
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    strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
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  err = CAN_IOCTL (*(int *) fd0, SIOCGIFINDEX, &ifr);
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   174
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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    {
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      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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	       ifr.ifr_name, strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   178
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   179
    }
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   180
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  addr.can_family = AF_CAN;
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  addr.can_ifindex = ifr.ifr_ifindex;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  err = CAN_BIND (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   184
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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      fprintf (stderr, "Binding failed: %s\n", strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   187
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   188
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   189
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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#ifdef RTCAN_SOCKET
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  baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
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  *baudrate = TranslateBaudRate (board->baudrate);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   193
  if (!*baudrate)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   194
    goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   195
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  err = CAN_IOCTL (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   197
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   198
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   199
      fprintf (stderr,
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   200
	       "Setting baudrate %d failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   201
	       *baudrate, strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   202
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   203
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   204
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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  mode = (can_mode_t *) & ifr.ifr_ifru;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   206
  *mode = CAN_MODE_START;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   207
  err = CAN_IOCTL (*(int *) fd0, SIOCSCANMODE, &ifr);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   208
  if (err)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   209
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   210
      fprintf (stderr, "Starting CAN device failed: %s\n",
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   211
	       strerror (CAN_ERRNO (err)));
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   212
      goto error_close;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   213
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   214
#endif
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   215
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   216
  return fd0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   217
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   218
error_close:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   219
  CAN_CLOSE (*(int *) fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   220
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   221
error_ret:
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   222
  free (fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   223
  return NULL;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   224
}
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   225
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   226
/***************************************************************************/
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   227
int
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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   228
canClose_driver (CAN_HANDLE fd0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   229
{
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   230
  if (fd0)
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   231
    {
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   232
      CAN_CLOSE (*(int *) fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   233
      free (fd0);
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   234
    }
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   235
  return 0;
65aa7a664f6f Applied wolfgang changes, and re-indented socket_can.c file
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diff changeset
   236
}