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    16   <ul>
 
    16   <ul>
 
    17     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
 
    17     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
 
    18     <li><a href="globals.html"><span>Globals</span></a></li>
 
    18     <li><a href="globals.html"><span>Globals</span></a></li>
 
    19   </ul></div>
 
    19   </ul></div>
 
    20 <div class="nav">
 
    20 <div class="nav">
 
    21 <a class="el" href="dir_d58fb241e647de6212c31ecccf9cbace.html">drivers</a>&nbsp;&raquo&nbsp;<a class="el" href="dir_8cdda103ce035ff7e5ef31864566c615.html">can_lincan</a></div>
 
    21 <a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a>&nbsp;&raquo&nbsp;<a class="el" href="dir_daf7036eef6d5824a8b65c083e166f12.html">can_lincan</a></div>
 
    22 <h1>can_lincan.c</h1><a href="can__lincan_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>
 
    22 <h1>can_lincan.c</h1><a href="can__lincan_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>
 
    23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack.</span>
 
    23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack.</span>
 
    24 <a name="l00003"></a>00003 <span class="comment"></span>
 
    24 <a name="l00003"></a>00003 <span class="comment"></span>
 
    25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
 
    25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
 
    26 <a name="l00005"></a>00005 <span class="comment"></span>
 
    26 <a name="l00005"></a>00005 <span class="comment"></span>
 
    50 <a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="lincan_8h.html">lincan.h</a>"</span>
 
    50 <a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="lincan_8h.html">lincan.h</a>"</span>
 
    51 <a name="l00030"></a>00030 
    51 <a name="l00030"></a>00030 
    52 <a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
 
    52 <a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
 
    53 <a name="l00032"></a>00032 
    53 <a name="l00032"></a>00032 
    54 <a name="l00033"></a>00033 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
 
    54 <a name="l00033"></a>00033 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
 
    55 <a name="l00034"></a><a class="code" href="can__lincan_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">00034</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">canReceive_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
 
    55 <a name="l00034"></a><a class="code" href="can__lincan_8c.html#b0b7065be05f6d53009b7bd46626e2c0">00034</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)
 
    56 <a name="l00035"></a>00035 {
 
    56 <a name="l00035"></a>00035 {
 
    57 <a name="l00036"></a>00036   <span class="keywordtype">int</span> res;
 
    57 <a name="l00036"></a>00036   <span class="keywordtype">int</span> res;
 
    58 <a name="l00037"></a>00037   <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg;
 
    58 <a name="l00037"></a>00037   <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg;
 
    59 <a name="l00038"></a>00038 
    59 <a name="l00038"></a>00038 
    60 <a name="l00039"></a>00039   canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a> = 0; <span class="comment">/* Ensure standard receive, not required for LinCAN&gt;=0.3.1 */</span>
 
    60 <a name="l00039"></a>00039   canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> = 0; <span class="comment">/* Ensure standard receive, not required for LinCAN&gt;=0.3.1 */</span>
 
    61 <a name="l00040"></a>00040 
    61 <a name="l00040"></a>00040 
    62 <a name="l00041"></a>00041   <span class="keywordflow">do</span>{
 
    62 <a name="l00041"></a>00041   <span class="keywordflow">do</span>{
 
    63 <a name="l00042"></a>00042     res = read(fd0,&amp;canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>));
 
    63 <a name="l00042"></a>00042     res = read(fd0,&amp;canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>));
 
    64 <a name="l00043"></a>00043     <span class="keywordflow">if</span>((res&lt;0)&amp;&amp;(errno == -EAGAIN)) res = 0;
 
    64 <a name="l00043"></a>00043     <span class="keywordflow">if</span>((res&lt;0)&amp;&amp;(errno == -EAGAIN)) res = 0;
 
    65 <a name="l00044"></a>00044   }<span class="keywordflow">while</span>(res==0);
 
    65 <a name="l00044"></a>00044   }<span class="keywordflow">while</span>(res==0);
 
    66 <a name="l00045"></a>00045 
    66 <a name="l00045"></a>00045 
    67 <a name="l00046"></a>00046   <span class="keywordflow">if</span>(res != <span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>)) <span class="comment">// No new message</span>
 
    67 <a name="l00046"></a>00046   <span class="keywordflow">if</span>(res != <span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>)) <span class="comment">// No new message</span>
 
    68 <a name="l00047"></a>00047     <span class="keywordflow">return</span> 1;
 
    68 <a name="l00047"></a>00047     <span class="keywordflow">return</span> 1;
 
    69 <a name="l00048"></a>00048 
    69 <a name="l00048"></a>00048 
    70 <a name="l00049"></a>00049   <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a>&amp;<a class="code" href="canmsg_8h.html#973182db693bc55d98fafe82ad62f68c">MSG_EXT</a>){
 
    70 <a name="l00049"></a>00049   <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a>&amp;<a class="code" href="canmsg_8h.html#128f615ef49f3a1543e537de31c01c66">MSG_EXT</a>){
 
    71 <a name="l00050"></a>00050     <span class="comment">/* There is no mark for extended messages in CanFestival */</span>;
 
    71 <a name="l00050"></a>00050     <span class="comment">/* There is no mark for extended messages in CanFestival */</span>;
 
    72 <a name="l00051"></a>00051   }
 
    72 <a name="l00051"></a>00051   }
 
    73 <a name="l00052"></a>00052 
    73 <a name="l00052"></a>00052 
    74 <a name="l00053"></a>00053   m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = canmsg.<a class="code" href="structcanmsg__t.html#9ca617a401250c914820ae4ed2768725">id</a>;
 
    74 <a name="l00053"></a>00053   m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = canmsg.<a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a>;
 
    75 <a name="l00054"></a>00054   m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = canmsg.<a class="code" href="structcanmsg__t.html#9b2006e54552e02778eea1da3ac52070">length</a>;
 
    75 <a name="l00054"></a>00054   m-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = canmsg.<a class="code" href="structcanmsg__t.html#2a262c8851a64ac544169daa82a5982e">length</a>;
 
    76 <a name="l00055"></a>00055   <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a>&amp;<a class="code" href="canmsg_8h.html#a17d9d21b15825ab928d225e6b317d26">MSG_RTR</a>){
 
    76 <a name="l00055"></a>00055   <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a>&amp;<a class="code" href="canmsg_8h.html#c6b14508549c3561cdf166125bdfde89">MSG_RTR</a>){
 
    77 <a name="l00056"></a>00056     m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1;
 
    77 <a name="l00056"></a>00056     m-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 1;
 
    78 <a name="l00057"></a>00057   }<span class="keywordflow">else</span>{
 
    78 <a name="l00057"></a>00057   }<span class="keywordflow">else</span>{
 
    79 <a name="l00058"></a>00058     m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0;
 
    79 <a name="l00058"></a>00058     m-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0;
 
    80 <a name="l00059"></a>00059     memcpy(m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>,canmsg.<a class="code" href="structcanmsg__t.html#778d41b22a1ae1f0da4631885239a10c">data</a>,8);
 
    80 <a name="l00059"></a>00059     memcpy(m-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>,canmsg.<a class="code" href="structcanmsg__t.html#2bcbe2a891519403a17eb8f38ca9734d">data</a>,8);
 
    81 <a name="l00060"></a>00060   }
 
    81 <a name="l00060"></a>00060   }
 
    82 <a name="l00061"></a>00061 
    82 <a name="l00061"></a>00061 
    83 <a name="l00062"></a>00062   <span class="keywordflow">return</span> 0;
 
    83 <a name="l00062"></a>00062   <span class="keywordflow">return</span> 0;
 
    84 <a name="l00063"></a>00063 }
 
    84 <a name="l00063"></a>00063 }
 
    85 <a name="l00064"></a>00064 
    85 <a name="l00064"></a>00064 
    86 <a name="l00065"></a>00065 <span class="comment">/***************************************************************************/</span>
 
    86 <a name="l00065"></a>00065 <span class="comment">/***************************************************************************/</span>
 
    87 <a name="l00066"></a><a class="code" href="can__lincan_8c.html#def95aee49efa13dd047d0b3b5507ad3">00066</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#def95aee49efa13dd047d0b3b5507ad3">canSend_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
 
    87 <a name="l00066"></a><a class="code" href="can__lincan_8c.html#36327c9e0ec6d284b346963a321e3c2b">00066</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)
 
    88 <a name="l00067"></a>00067 {
 
    88 <a name="l00067"></a>00067 {
 
    89 <a name="l00068"></a>00068   <span class="keywordtype">int</span> res;
 
    89 <a name="l00068"></a>00068   <span class="keywordtype">int</span> res;
 
    90 <a name="l00069"></a>00069   <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg;
 
    90 <a name="l00069"></a>00069   <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg;
 
    91 <a name="l00070"></a>00070 
    91 <a name="l00070"></a>00070 
    92 <a name="l00071"></a>00071 
    92 <a name="l00071"></a>00071 
    93 <a name="l00072"></a>00072   canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a> = 0;
 
    93 <a name="l00072"></a>00072   canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> = 0;
 
    94 <a name="l00073"></a>00073   canmsg.<a class="code" href="structcanmsg__t.html#9ca617a401250c914820ae4ed2768725">id</a> = m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>;
 
    94 <a name="l00073"></a>00073   canmsg.<a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a> = m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>;
 
    95 <a name="l00074"></a>00074   canmsg.<a class="code" href="structcanmsg__t.html#9b2006e54552e02778eea1da3ac52070">length</a> = m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>;
 
    95 <a name="l00074"></a>00074   canmsg.<a class="code" href="structcanmsg__t.html#2a262c8851a64ac544169daa82a5982e">length</a> = m-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>;
 
    96 <a name="l00075"></a>00075   <span class="keywordflow">if</span>(m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a>){
 
    96 <a name="l00075"></a>00075   <span class="keywordflow">if</span>(m-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a>){
 
    97 <a name="l00076"></a>00076     canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a> |= <a class="code" href="canmsg_8h.html#a17d9d21b15825ab928d225e6b317d26">MSG_RTR</a>;
 
    97 <a name="l00076"></a>00076     canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> |= <a class="code" href="canmsg_8h.html#c6b14508549c3561cdf166125bdfde89">MSG_RTR</a>;
 
    98 <a name="l00077"></a>00077   }<span class="keywordflow">else</span>{
 
    98 <a name="l00077"></a>00077   }<span class="keywordflow">else</span>{
 
    99 <a name="l00078"></a>00078     memcpy(canmsg.<a class="code" href="structcanmsg__t.html#778d41b22a1ae1f0da4631885239a10c">data</a>,m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>,8);
 
    99 <a name="l00078"></a>00078     memcpy(canmsg.<a class="code" href="structcanmsg__t.html#2bcbe2a891519403a17eb8f38ca9734d">data</a>,m-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>,8);
 
   100 <a name="l00079"></a>00079   }
 
   100 <a name="l00079"></a>00079   }
 
   101 <a name="l00080"></a>00080 
   101 <a name="l00080"></a>00080 
   102 <a name="l00081"></a>00081   <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#9ca617a401250c914820ae4ed2768725">id</a> &gt;= 0x800){
 
   102 <a name="l00081"></a>00081   <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a> &gt;= 0x800){
 
   103 <a name="l00082"></a>00082     canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a> |= <a class="code" href="canmsg_8h.html#973182db693bc55d98fafe82ad62f68c">MSG_EXT</a>;
 
   103 <a name="l00082"></a>00082     canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> |= <a class="code" href="canmsg_8h.html#128f615ef49f3a1543e537de31c01c66">MSG_EXT</a>;
 
   104 <a name="l00083"></a>00083   }
 
   104 <a name="l00083"></a>00083   }
 
   105 <a name="l00084"></a>00084 
   105 <a name="l00084"></a>00084 
   106 <a name="l00085"></a>00085   res = write(fd0,&amp;canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>));
 
   106 <a name="l00085"></a>00085   res = write(fd0,&amp;canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>));
 
   107 <a name="l00086"></a>00086   <span class="keywordflow">if</span>(res!=<span class="keyword">sizeof</span>(canmsg_t))
 
   107 <a name="l00086"></a>00086   <span class="keywordflow">if</span>(res!=<span class="keyword">sizeof</span>(canmsg_t))
 
   108 <a name="l00087"></a>00087     <span class="keywordflow">return</span> 1;
 
   108 <a name="l00087"></a>00087     <span class="keywordflow">return</span> 1;
 
   111 <a name="l00090"></a>00090 }
 
   111 <a name="l00090"></a>00090 }
 
   112 <a name="l00091"></a>00091 
   112 <a name="l00091"></a>00091 
   113 <a name="l00092"></a>00092 <span class="comment">/***************************************************************************/</span>
 
   113 <a name="l00092"></a>00092 <span class="comment">/***************************************************************************/</span>
 
   114 <a name="l00093"></a>00093 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span> lnx_can_dev_prefix[] = <span class="stringliteral">"/dev/can"</span>;
 
   114 <a name="l00093"></a>00093 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span> lnx_can_dev_prefix[] = <span class="stringliteral">"/dev/can"</span>;
 
   115 <a name="l00094"></a>00094 
   115 <a name="l00094"></a>00094 
   116 <a name="l00095"></a><a class="code" href="can__lincan_8c.html#945403aba7f36acbd2e7160ade361bab">00095</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> <a class="code" href="can__lincan_8c.html#945403aba7f36acbd2e7160ade361bab">canOpen_driver</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board)
 
   116 <a name="l00095"></a><a class="code" href="can__lincan_8c.html#a91c5884b47322592815c82427be3fac">00095</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)
 
   117 <a name="l00096"></a>00096 {
 
   117 <a name="l00096"></a>00096 {
 
   118 <a name="l00097"></a>00097   <span class="keywordtype">int</span> name_len = strlen(board-&gt;<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>);
 
   118 <a name="l00097"></a>00097   <span class="keywordtype">int</span> name_len = strlen(board-&gt;<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>);
 
   119 <a name="l00098"></a>00098   <span class="keywordtype">int</span> prefix_len = strlen(lnx_can_dev_prefix);
 
   119 <a name="l00098"></a>00098   <span class="keywordtype">int</span> prefix_len = strlen(lnx_can_dev_prefix);
 
   120 <a name="l00099"></a>00099   <span class="keywordtype">char</span> dev_name[prefix_len+name_len+1];
 
   120 <a name="l00099"></a>00099   <span class="keywordtype">char</span> dev_name[prefix_len+name_len+1];
 
   121 <a name="l00100"></a>00100   <span class="keywordtype">int</span> o_flags = 0;
 
   121 <a name="l00100"></a>00100   <span class="keywordtype">int</span> o_flags = 0;
 
   122 <a name="l00101"></a>00101   <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0;
 
   122 <a name="l00101"></a>00101   <a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0;
 
   123 <a name="l00102"></a>00102 
   123 <a name="l00102"></a>00102 
   124 <a name="l00103"></a>00103   fd0=malloc(<span class="keyword">sizeof</span>(*fd0));
 
   124 <a name="l00103"></a>00103   fd0=malloc(<span class="keyword">sizeof</span>(*fd0));
 
   125 <a name="l00104"></a>00104   <span class="keywordflow">if</span>(fd0==NULL)
 
   125 <a name="l00104"></a>00104   <span class="keywordflow">if</span>(fd0==NULL)
 
   126 <a name="l00105"></a>00105     <span class="keywordflow">return</span> NULL;
 
   126 <a name="l00105"></a>00105     <span class="keywordflow">return</span> NULL;
 
   127 <a name="l00106"></a>00106 
   127 <a name="l00106"></a>00106 
   128 <a name="l00107"></a>00107   <span class="comment">/*o_flags = O_NONBLOCK;*/</span>
 
   128 <a name="l00107"></a>00107   <span class="comment">/*o_flags = O_NONBLOCK;*/</span>
 
   129 <a name="l00108"></a>00108 
   129 <a name="l00108"></a>00108 
   130 <a name="l00109"></a>00109   memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
 
   130 <a name="l00109"></a>00109   memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
 
   131 <a name="l00110"></a>00110   memcpy(dev_name+prefix_len,board-&gt;<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>,name_len);
 
   131 <a name="l00110"></a>00110   memcpy(dev_name+prefix_len,board-&gt;<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>,name_len);
 
   132 <a name="l00111"></a>00111   dev_name[prefix_len+name_len] = 0;
 
   132 <a name="l00111"></a>00111   dev_name[prefix_len+name_len] = 0;
 
   133 <a name="l00112"></a>00112 
   133 <a name="l00112"></a>00112 
   134 <a name="l00113"></a>00113   fd0 = open(dev_name, O_RDWR|o_flags);
 
   134 <a name="l00113"></a>00113   fd0 = open(dev_name, O_RDWR|o_flags);
 
   135 <a name="l00114"></a>00114   <span class="keywordflow">if</span>(fd0 &lt; 0){
 
   135 <a name="l00114"></a>00114   <span class="keywordflow">if</span>(fd0 &lt; 0){
 
   136 <a name="l00115"></a>00115     fprintf(stderr,<span class="stringliteral">"!!! Board %s is unknown. See can_lincan.c\n"</span>, board-&gt;<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>);
 
   136 <a name="l00115"></a>00115     fprintf(stderr,<span class="stringliteral">"!!! Board %s is unknown. See can_lincan.c\n"</span>, board-&gt;<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>);
 
   137 <a name="l00116"></a>00116     <span class="keywordflow">goto</span> error_ret;
 
   137 <a name="l00116"></a>00116     <span class="keywordflow">goto</span> error_ret;
 
   138 <a name="l00117"></a>00117   }
 
   138 <a name="l00117"></a>00117   }
 
   139 <a name="l00118"></a>00118 
   139 <a name="l00118"></a>00118 
   140 <a name="l00119"></a>00119   <span class="keywordflow">return</span> fd0;
 
   140 <a name="l00119"></a>00119   <span class="keywordflow">return</span> fd0;
 
   141 <a name="l00120"></a>00120 
   141 <a name="l00120"></a>00120 
   143 <a name="l00122"></a>00122   free(fd0);
 
   143 <a name="l00122"></a>00122   free(fd0);
 
   144 <a name="l00123"></a>00123   <span class="keywordflow">return</span> NULL;
 
   144 <a name="l00123"></a>00123   <span class="keywordflow">return</span> NULL;
 
   145 <a name="l00124"></a>00124 }
 
   145 <a name="l00124"></a>00124 }
 
   146 <a name="l00125"></a>00125 
   146 <a name="l00125"></a>00125 
   147 <a name="l00126"></a>00126 <span class="comment">/***************************************************************************/</span>
 
   147 <a name="l00126"></a>00126 <span class="comment">/***************************************************************************/</span>
 
   148 <a name="l00127"></a><a class="code" href="can__lincan_8c.html#76e6a915d0e40a23b863198b2aaa5545">00127</a> <span class="keywordtype">int</span> <a class="code" href="can__lincan_8c.html#76e6a915d0e40a23b863198b2aaa5545">canClose_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0)
 
   148 <a name="l00127"></a><a class="code" href="can__lincan_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">00127</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)
 
   149 <a name="l00128"></a>00128 {
 
   149 <a name="l00128"></a>00128 {
 
   150 <a name="l00129"></a>00129   <span class="keywordflow">if</span>(!fd0)
 
   150 <a name="l00129"></a>00129   <span class="keywordflow">if</span>(!fd0)
 
   151 <a name="l00130"></a>00130     <span class="keywordflow">return</span> 0;
 
   151 <a name="l00130"></a>00130     <span class="keywordflow">return</span> 0;
 
   152 <a name="l00131"></a>00131   close(fd0);
 
   152 <a name="l00131"></a>00131   close(fd0);
 
   153 <a name="l00132"></a>00132   <span class="keywordflow">return</span> 0;
 
   153 <a name="l00132"></a>00132   <span class="keywordflow">return</span> 0;
 
   154 <a name="l00133"></a>00133 }
 
   154 <a name="l00133"></a>00133 }
 
   155 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:38 2007 for CanFestival by&nbsp;
 
   155 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:15 2007 for CanFestival by&nbsp;
 
   156 <a href="http://www.doxygen.org/index.html">
 
   156 <a href="http://www.doxygen.org/index.html">
 
   157 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
 
   157 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
 
   158 </body>
 
   158 </body>
 
   159 </html>
 
   159 </html>
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