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21 <a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a> » <a class="el" href="dir_dac1b16a9f4caf1e9f0ce0f4cf1709cf.html">can_peak_linux</a></div> |
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22 <h1>can_peak_linux.c</h1><a href="can__peak__linux_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> |
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23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
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24 <a name="l00003"></a>00003 <span class="comment"></span> |
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25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
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26 <a name="l00005"></a>00005 <span class="comment"></span> |
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27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span> |
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28 <a name="l00007"></a>00007 <span class="comment"></span> |
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29 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span> |
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30 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span> |
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31 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span> |
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32 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span> |
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33 <a name="l00012"></a>00012 <span class="comment"></span> |
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34 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span> |
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35 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
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36 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
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37 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span> |
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38 <a name="l00017"></a>00017 <span class="comment"></span> |
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39 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span> |
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40 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span> |
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41 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> |
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42 <a name="l00021"></a>00021 <span class="comment">*/</span> |
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43 <a name="l00022"></a>00022 |
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44 <a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span> |
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45 <a name="l00024"></a>00024 <span class="preprocessor">#include <string.h></span> |
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46 <a name="l00025"></a>00025 <span class="preprocessor">#include <errno.h></span> |
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47 <a name="l00026"></a>00026 <span class="preprocessor">#include <fcntl.h></span> |
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48 <a name="l00027"></a>00027 |
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49 <a name="l00028"></a>00028 <span class="comment">/* driver pcan pci for Peak board */</span> |
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50 <a name="l00029"></a>00029 <span class="comment">//#include "libpcan.h"</span> |
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51 <a name="l00030"></a>00030 <span class="comment">//#include "pcan.h"</span> |
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52 <a name="l00031"></a>00031 |
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53 <a name="l00032"></a>00032 <span class="preprocessor">#include "libpcan.h"</span> <span class="comment">// for CAN_HANDLE</span> |
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54 <a name="l00033"></a>00033 |
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55 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span> |
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56 <a name="l00035"></a>00035 |
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57 <a name="l00036"></a>00036 <span class="comment">// Define for rtr CAN message</span> |
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58 <a name="l00037"></a><a class="code" href="can__peak__linux_8c.html#3682c04219b007e9a4bd0894b1ad9dcb">00037</a> <span class="preprocessor">#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR </span> |
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59 <a name="l00038"></a>00038 <span class="preprocessor"></span> |
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60 <a name="l00039"></a>00039 <span class="comment">/*********functions which permit to communicate with the board****************/</span> |
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61 <a name="l00040"></a><a class="code" href="can__peak__linux_8c.html#b0b7065be05f6d53009b7bd46626e2c0">00040</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="can__lincan_8c.html#b0b7065be05f6d53009b7bd46626e2c0">canReceive_driver</a>(<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m) |
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62 <a name="l00041"></a>00041 { |
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63 <a name="l00042"></a>00042 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data; |
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64 <a name="l00043"></a>00043 TPCANMsg peakMsg; |
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65 <a name="l00044"></a>00044 <span class="keywordflow">if</span> ((errno = CAN_Read(fd0, & peakMsg))) { <span class="comment">// Blocks until no new message or error.</span> |
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66 <a name="l00045"></a>00045 <span class="keywordflow">if</span>(errno != -EIDRM && errno != -EPERM) <span class="comment">// error is not "Can Port closed while reading" </span> |
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67 <a name="l00046"></a>00046 { |
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68 <a name="l00047"></a>00047 perror(<span class="stringliteral">"canReceive_driver (Peak_Linux) : error of reading.\n"</span>); |
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69 <a name="l00048"></a>00048 } |
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70 <a name="l00049"></a>00049 <span class="keywordflow">return</span> 1; |
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71 <a name="l00050"></a>00050 } |
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72 <a name="l00051"></a>00051 m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = peakMsg.ID; |
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73 <a name="l00052"></a>00052 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) <span class="comment">/* bits of MSGTYPE_*/</span> |
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74 <a name="l00053"></a>00053 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0; |
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75 <a name="l00054"></a>00054 <span class="keywordflow">else</span> |
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76 <a name="l00055"></a>00055 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 1; |
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77 <a name="l00056"></a>00056 m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = peakMsg.LEN; <span class="comment">/* count of data bytes (0..8) */</span> |
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78 <a name="l00057"></a>00057 <span class="keywordflow">for</span>(data = 0 ; data < peakMsg.LEN ; data++) |
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79 <a name="l00058"></a>00058 m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[data] = peakMsg.DATA[data]; <span class="comment">/* data bytes, up to 8 */</span> |
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80 <a name="l00059"></a>00059 |
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81 <a name="l00060"></a>00060 <span class="keywordflow">return</span> 0; |
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82 <a name="l00061"></a>00061 } |
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83 <a name="l00062"></a>00062 |
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84 <a name="l00063"></a>00063 <span class="comment">/***************************************************************************/</span> |
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85 <a name="l00064"></a><a class="code" href="can__peak__linux_8c.html#36327c9e0ec6d284b346963a321e3c2b">00064</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="can__lincan_8c.html#36327c9e0ec6d284b346963a321e3c2b">canSend_driver</a>(<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m) |
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86 <a name="l00065"></a>00065 { |
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87 <a name="l00066"></a>00066 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data; |
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88 <a name="l00067"></a>00067 TPCANMsg peakMsg; |
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89 <a name="l00068"></a>00068 peakMsg.ID=m -> cob_id.w; <span class="comment">/* 11/29 bit code */</span> |
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90 <a name="l00069"></a>00069 <span class="keywordflow">if</span>(m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> == 0) |
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91 <a name="l00070"></a>00070 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; <span class="comment">/* bits of MSGTYPE_*/</span> |
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92 <a name="l00071"></a>00071 <span class="keywordflow">else</span> { |
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93 <a name="l00072"></a>00072 peakMsg.MSGTYPE = <a class="code" href="can__peak__linux_8c.html#3682c04219b007e9a4bd0894b1ad9dcb">CAN_INIT_TYPE_ST_RTR</a>; <span class="comment">/* bits of MSGTYPE_*/</span> |
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94 <a name="l00073"></a>00073 } |
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95 <a name="l00074"></a>00074 peakMsg.LEN = m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>; |
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96 <a name="l00075"></a>00075 <span class="comment">/* count of data bytes (0..8) */</span> |
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97 <a name="l00076"></a>00076 <span class="keywordflow">for</span>(data = 0 ; data < m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>; data ++) |
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98 <a name="l00077"></a>00077 peakMsg.DATA[data] = m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[data]; <span class="comment">/* data bytes, up to 8 */</span> |
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99 <a name="l00078"></a>00078 |
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100 <a name="l00079"></a>00079 <span class="keywordflow">if</span>((errno = CAN_Write(fd0, & peakMsg))) { |
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101 <a name="l00080"></a>00080 perror(<span class="stringliteral">"canSend_driver (Peak_Linux) : error of writing.\n"</span>); |
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102 <a name="l00081"></a>00081 <span class="keywordflow">return</span> 1; |
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103 <a name="l00082"></a>00082 } |
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104 <a name="l00083"></a>00083 <span class="keywordflow">return</span> 0; |
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105 <a name="l00084"></a>00084 |
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106 <a name="l00085"></a>00085 } |
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107 <a name="l00086"></a>00086 |
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108 <a name="l00087"></a>00087 |
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109 <a name="l00088"></a>00088 <span class="comment">/***************************************************************************/</span> |
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110 <a name="l00089"></a><a class="code" href="can__peak__linux_8c.html#1c65c88802a2cbd96ea05284860c5ba4">00089</a> <span class="keywordtype">int</span> <a class="code" href="can__peak__linux_8c.html#1c65c88802a2cbd96ea05284860c5ba4">TranslateBaudeRate</a>(<span class="keywordtype">char</span>* <a class="code" href="TestMasterSlave_2getopt_8c.html#a2d33a77952a7e6973146c1284042818">optarg</a>){ |
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111 <a name="l00090"></a>00090 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"1M"</span>)) <span class="keywordflow">return</span> CAN_BAUD_1M; |
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112 <a name="l00091"></a>00091 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"500K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_500K; |
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113 <a name="l00092"></a>00092 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"250K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_250K; |
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114 <a name="l00093"></a>00093 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"125K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_125K; |
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115 <a name="l00094"></a>00094 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"100K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_100K; |
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116 <a name="l00095"></a>00095 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"50K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_50K; |
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117 <a name="l00096"></a>00096 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"20K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_20K; |
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118 <a name="l00097"></a>00097 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"10K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_10K; |
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119 <a name="l00098"></a>00098 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"5K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_5K; |
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120 <a name="l00099"></a>00099 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0; |
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121 <a name="l00100"></a>00100 <span class="keywordflow">return</span> 0x0000; |
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122 <a name="l00101"></a>00101 } |
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123 <a name="l00102"></a>00102 |
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124 <a name="l00103"></a>00103 <span class="comment">/***************************************************************************/</span> |
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125 <a name="l00104"></a><a class="code" href="can__peak__linux_8c.html#a91c5884b47322592815c82427be3fac">00104</a> <a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> <a class="code" href="can__lincan_8c.html#a91c5884b47322592815c82427be3fac">canOpen_driver</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board) |
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126 <a name="l00105"></a>00105 { |
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127 <a name="l00106"></a>00106 HANDLE fd0 = NULL; |
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128 <a name="l00107"></a>00107 <span class="keywordtype">char</span> busname[64]; |
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129 <a name="l00108"></a>00108 <span class="keywordtype">char</span>* pEnd; |
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130 <a name="l00109"></a>00109 <span class="keywordtype">int</span> i; |
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131 <a name="l00110"></a>00110 <span class="keywordtype">int</span> baudrate; |
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132 <a name="l00111"></a>00111 |
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133 <a name="l00112"></a>00112 <span class="keywordflow">if</span>(strtol(board-><a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>, &pEnd,0) >= 0) |
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134 <a name="l00113"></a>00113 { |
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135 <a name="l00114"></a>00114 sprintf(busname,<span class="stringliteral">"/dev/pcan%s"</span>,board-><a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>); |
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136 <a name="l00115"></a>00115 fd0 = LINUX_CAN_Open(busname, O_RDWR); |
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137 <a name="l00116"></a>00116 } |
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138 <a name="l00117"></a>00117 |
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139 <a name="l00118"></a>00118 <span class="keywordflow">if</span>(fd0 && (baudrate = <a class="code" href="can__peak__linux_8c.html#1c65c88802a2cbd96ea05284860c5ba4">TranslateBaudeRate</a>(board-><a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>))) |
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140 <a name="l00119"></a>00119 { |
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141 <a name="l00120"></a>00120 CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST); |
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142 <a name="l00121"></a>00121 }<span class="keywordflow">else</span>{ |
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143 <a name="l00122"></a>00122 fprintf(stderr, <span class="stringliteral">"canOpen_driver (Peak_Linux) : error opening %s\n"</span>, busname); |
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144 <a name="l00123"></a>00123 } |
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145 <a name="l00124"></a>00124 |
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146 <a name="l00125"></a>00125 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a>)fd0; |
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147 <a name="l00126"></a>00126 } |
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148 <a name="l00127"></a>00127 |
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149 <a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span> |
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150 <a name="l00129"></a><a class="code" href="can__peak__linux_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">00129</a> <span class="keywordtype">int</span> <a class="code" href="can__lincan_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">canClose_driver</a>(<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0) |
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151 <a name="l00130"></a>00130 { |
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152 <a name="l00131"></a>00131 CAN_Close(fd0); |
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153 <a name="l00132"></a>00132 <span class="keywordflow">return</span> 0; |
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154 <a name="l00133"></a>00133 } |
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155 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by |
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156 <a href="http://www.doxygen.org/index.html"> |
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157 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
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158 </body> |
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159 </html> |
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