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    16   <ul>
 
    16   <ul>
 
    17     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
 
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    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_99c3ac25e5cd4387d44a6b6f620347a9.html">can_peak_linux</a></div>
 
    21 <a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a>&nbsp;&raquo&nbsp;<a class="el" href="dir_dac1b16a9f4caf1e9f0ce0f4cf1709cf.html">can_peak_linux</a></div>
 
    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>
 
    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>
 
    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>
 
    53 <a name="l00032"></a>00032 <span class="preprocessor">#include "libpcan.h"</span> <span class="comment">// for CAN_HANDLE</span>
 
    53 <a name="l00032"></a>00032 <span class="preprocessor">#include "libpcan.h"</span> <span class="comment">// for CAN_HANDLE</span>
 
    54 <a name="l00033"></a>00033 
    54 <a name="l00033"></a>00033 
    55 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
 
    55 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
 
    56 <a name="l00035"></a>00035 
    56 <a name="l00035"></a>00035 
    57 <a name="l00036"></a>00036 <span class="comment">// Define for rtr CAN message</span>
 
    57 <a name="l00036"></a>00036 <span class="comment">// Define for rtr CAN message</span>
 
    58 <a name="l00037"></a><a class="code" href="can__peak__linux_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">00037</a> <span class="preprocessor">#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR </span>
 
    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>
 
    59 <a name="l00038"></a>00038 <span class="preprocessor"></span>
 
    59 <a name="l00038"></a>00038 <span class="preprocessor"></span>
 
    60 <a name="l00039"></a>00039 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
 
    60 <a name="l00039"></a>00039 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
 
    61 <a name="l00040"></a><a class="code" href="can__peak__linux_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">00040</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)
 
    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)
 
    62 <a name="l00041"></a>00041 {
 
    62 <a name="l00041"></a>00041 {
 
    63 <a name="l00042"></a>00042   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data; 
    63 <a name="l00042"></a>00042   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data; 
    64 <a name="l00043"></a>00043   TPCANMsg peakMsg;
 
    64 <a name="l00043"></a>00043   TPCANMsg peakMsg;
 
    65 <a name="l00044"></a>00044   <span class="keywordflow">if</span> ((errno = CAN_Read(fd0, &amp; peakMsg))) {             <span class="comment">// Blocks until no new message or error.</span>
 
    65 <a name="l00044"></a>00044   <span class="keywordflow">if</span> ((errno = CAN_Read(fd0, &amp; peakMsg))) {             <span class="comment">// Blocks until no new message or error.</span>
 
    66 <a name="l00045"></a>00045     <span class="keywordflow">if</span>(errno != -EIDRM &amp;&amp; errno != -EPERM) <span class="comment">// error is not "Can Port closed while reading" </span>
 
    66 <a name="l00045"></a>00045     <span class="keywordflow">if</span>(errno != -EIDRM &amp;&amp; errno != -EPERM) <span class="comment">// error is not "Can Port closed while reading" </span>
 
    67 <a name="l00046"></a>00046     {
 
    67 <a name="l00046"></a>00046     {
 
    68 <a name="l00047"></a>00047         perror(<span class="stringliteral">"canReceive_driver (Peak_Linux) : error of reading.\n"</span>);
 
    68 <a name="l00047"></a>00047         perror(<span class="stringliteral">"canReceive_driver (Peak_Linux) : error of reading.\n"</span>);
 
    69 <a name="l00048"></a>00048     }
 
    69 <a name="l00048"></a>00048     }
 
    70 <a name="l00049"></a>00049     <span class="keywordflow">return</span> 1;
 
    70 <a name="l00049"></a>00049     <span class="keywordflow">return</span> 1;
 
    71 <a name="l00050"></a>00050   }
 
    71 <a name="l00050"></a>00050   }
 
    72 <a name="l00051"></a>00051   m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = peakMsg.ID;   
    72 <a name="l00051"></a>00051   m-&gt;<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = peakMsg.ID;   
    73 <a name="l00052"></a>00052   <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)              <span class="comment">/* bits of MSGTYPE_*/</span>
 
    73 <a name="l00052"></a>00052   <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)              <span class="comment">/* bits of MSGTYPE_*/</span>
 
    74 <a name="l00053"></a>00053     m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0;
 
    74 <a name="l00053"></a>00053     m-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0;
 
    75 <a name="l00054"></a>00054   <span class="keywordflow">else</span> 
    75 <a name="l00054"></a>00054   <span class="keywordflow">else</span> 
    76 <a name="l00055"></a>00055     m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1;
 
    76 <a name="l00055"></a>00055     m-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 1;
 
    77 <a name="l00056"></a>00056   m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = peakMsg.LEN;                                 <span class="comment">/* count of data bytes (0..8) */</span>
 
    77 <a name="l00056"></a>00056   m-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = peakMsg.LEN;                                 <span class="comment">/* count of data bytes (0..8) */</span>
 
    78 <a name="l00057"></a>00057   <span class="keywordflow">for</span>(data = 0  ; data &lt; peakMsg.LEN ; data++)                                  
    78 <a name="l00057"></a>00057   <span class="keywordflow">for</span>(data = 0  ; data &lt; peakMsg.LEN ; data++)                                  
    79 <a name="l00058"></a>00058     m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data] = peakMsg.DATA[data];                 <span class="comment">/* data bytes, up to 8 */</span>
 
    79 <a name="l00058"></a>00058     m-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[data] = peakMsg.DATA[data];                 <span class="comment">/* data bytes, up to 8 */</span>
 
    80 <a name="l00059"></a>00059   
    80 <a name="l00059"></a>00059   
    81 <a name="l00060"></a>00060   <span class="keywordflow">return</span> 0;
 
    81 <a name="l00060"></a>00060   <span class="keywordflow">return</span> 0;
 
    82 <a name="l00061"></a>00061 }
 
    82 <a name="l00061"></a>00061 }
 
    83 <a name="l00062"></a>00062 
    83 <a name="l00062"></a>00062 
    84 <a name="l00063"></a>00063 <span class="comment">/***************************************************************************/</span>
 
    84 <a name="l00063"></a>00063 <span class="comment">/***************************************************************************/</span>
 
    85 <a name="l00064"></a><a class="code" href="can__peak__linux_8c.html#def95aee49efa13dd047d0b3b5507ad3">00064</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)
 
    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)
 
    86 <a name="l00065"></a>00065 {
 
    86 <a name="l00065"></a>00065 {
 
    87 <a name="l00066"></a>00066   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data;
 
    87 <a name="l00066"></a>00066   <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data;
 
    88 <a name="l00067"></a>00067   TPCANMsg peakMsg;
 
    88 <a name="l00067"></a>00067   TPCANMsg peakMsg;
 
    89 <a name="l00068"></a>00068   peakMsg.ID=m -&gt; cob_id.w;                                     <span class="comment">/* 11/29 bit code */</span>
 
    89 <a name="l00068"></a>00068   peakMsg.ID=m -&gt; cob_id.w;                                     <span class="comment">/* 11/29 bit code */</span>
 
    90 <a name="l00069"></a>00069   <span class="keywordflow">if</span>(m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> == 0)       
    90 <a name="l00069"></a>00069   <span class="keywordflow">if</span>(m-&gt;<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> == 0)       
    91 <a name="l00070"></a>00070     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       <span class="comment">/* bits of MSGTYPE_*/</span>
 
    91 <a name="l00070"></a>00070     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       <span class="comment">/* bits of MSGTYPE_*/</span>
 
    92 <a name="l00071"></a>00071   <span class="keywordflow">else</span> {
 
    92 <a name="l00071"></a>00071   <span class="keywordflow">else</span> {
 
    93 <a name="l00072"></a>00072     peakMsg.MSGTYPE = <a class="code" href="can__peak__linux_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">CAN_INIT_TYPE_ST_RTR</a>;       <span class="comment">/* bits of MSGTYPE_*/</span>
 
    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>
 
    94 <a name="l00073"></a>00073   }
 
    94 <a name="l00073"></a>00073   }
 
    95 <a name="l00074"></a>00074   peakMsg.LEN = m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>;   
    95 <a name="l00074"></a>00074   peakMsg.LEN = m-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>;   
    96 <a name="l00075"></a>00075                                 <span class="comment">/* count of data bytes (0..8) */</span>
 
    96 <a name="l00075"></a>00075                                 <span class="comment">/* count of data bytes (0..8) */</span>
 
    97 <a name="l00076"></a>00076   <span class="keywordflow">for</span>(data = 0 ; data &lt;  m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; data ++)
 
    97 <a name="l00076"></a>00076   <span class="keywordflow">for</span>(data = 0 ; data &lt;  m-&gt;<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>; data ++)
 
    98 <a name="l00077"></a>00077         peakMsg.DATA[data] = m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data];             <span class="comment">/* data bytes, up to 8 */</span>
 
    98 <a name="l00077"></a>00077         peakMsg.DATA[data] = m-&gt;<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[data];             <span class="comment">/* data bytes, up to 8 */</span>
 
    99 <a name="l00078"></a>00078   
    99 <a name="l00078"></a>00078   
   100 <a name="l00079"></a>00079   <span class="keywordflow">if</span>((errno = CAN_Write(fd0, &amp; peakMsg))) {
 
   100 <a name="l00079"></a>00079   <span class="keywordflow">if</span>((errno = CAN_Write(fd0, &amp; peakMsg))) {
 
   101 <a name="l00080"></a>00080     perror(<span class="stringliteral">"canSend_driver (Peak_Linux) : error of writing.\n"</span>);
 
   101 <a name="l00080"></a>00080     perror(<span class="stringliteral">"canSend_driver (Peak_Linux) : error of writing.\n"</span>);
 
   102 <a name="l00081"></a>00081     <span class="keywordflow">return</span> 1;
 
   102 <a name="l00081"></a>00081     <span class="keywordflow">return</span> 1;
 
   103 <a name="l00082"></a>00082   }
 
   103 <a name="l00082"></a>00082   }
 
   105 <a name="l00084"></a>00084 
   105 <a name="l00084"></a>00084 
   106 <a name="l00085"></a>00085 }
 
   106 <a name="l00085"></a>00085 }
 
   107 <a name="l00086"></a>00086 
   107 <a name="l00086"></a>00086 
   108 <a name="l00087"></a>00087 
   108 <a name="l00087"></a>00087 
   109 <a name="l00088"></a>00088 <span class="comment">/***************************************************************************/</span>
 
   109 <a name="l00088"></a>00088 <span class="comment">/***************************************************************************/</span>
 
   110 <a name="l00089"></a><a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">00089</a> <span class="keywordtype">int</span> <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(<span class="keywordtype">char</span>* <a class="code" href="TestMasterSlave_2getopt_8c.html#db50a0eab9fed92fc3bfc7dfa4f2c410">optarg</a>){
 
   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>){
 
   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;
 
   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;
 
   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;
 
   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;
 
   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;
 
   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;
 
   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;
 
   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;
 
   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;
 
   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;
 
   120 <a name="l00099"></a>00099         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0;
 
   120 <a name="l00099"></a>00099         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0;
 
   121 <a name="l00100"></a>00100         <span class="keywordflow">return</span> 0x0000;
 
   121 <a name="l00100"></a>00100         <span class="keywordflow">return</span> 0x0000;
 
   122 <a name="l00101"></a>00101 }
 
   122 <a name="l00101"></a>00101 }
 
   123 <a name="l00102"></a>00102 
   123 <a name="l00102"></a>00102 
   124 <a name="l00103"></a>00103 <span class="comment">/***************************************************************************/</span>
 
   124 <a name="l00103"></a>00103 <span class="comment">/***************************************************************************/</span>
 
   125 <a name="l00104"></a><a class="code" href="can__peak__linux_8c.html#945403aba7f36acbd2e7160ade361bab">00104</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)
 
   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)
 
   126 <a name="l00105"></a>00105 {
 
   126 <a name="l00105"></a>00105 {
 
   127 <a name="l00106"></a>00106   HANDLE fd0 = NULL;
 
   127 <a name="l00106"></a>00106   HANDLE fd0 = NULL;
 
   128 <a name="l00107"></a>00107   <span class="keywordtype">char</span> busname[64];
 
   128 <a name="l00107"></a>00107   <span class="keywordtype">char</span> busname[64];
 
   129 <a name="l00108"></a>00108   <span class="keywordtype">char</span>* pEnd;
 
   129 <a name="l00108"></a>00108   <span class="keywordtype">char</span>* pEnd;
 
   130 <a name="l00109"></a>00109   <span class="keywordtype">int</span> i;  
   130 <a name="l00109"></a>00109   <span class="keywordtype">int</span> i;  
   131 <a name="l00110"></a>00110   <span class="keywordtype">int</span> baudrate;
 
   131 <a name="l00110"></a>00110   <span class="keywordtype">int</span> baudrate;
 
   132 <a name="l00111"></a>00111   
   132 <a name="l00111"></a>00111   
   133 <a name="l00112"></a>00112   <span class="keywordflow">if</span>(strtol(board-&gt;<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, &amp;pEnd,0) &gt;= 0)
 
   133 <a name="l00112"></a>00112   <span class="keywordflow">if</span>(strtol(board-&gt;<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>, &amp;pEnd,0) &gt;= 0)
 
   134 <a name="l00113"></a>00113   {
 
   134 <a name="l00113"></a>00113   {
 
   135 <a name="l00114"></a>00114     sprintf(busname,<span class="stringliteral">"/dev/pcan%s"</span>,board-&gt;<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>);
 
   135 <a name="l00114"></a>00114     sprintf(busname,<span class="stringliteral">"/dev/pcan%s"</span>,board-&gt;<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>);
 
   136 <a name="l00115"></a>00115     fd0 = LINUX_CAN_Open(busname, O_RDWR);
 
   136 <a name="l00115"></a>00115     fd0 = LINUX_CAN_Open(busname, O_RDWR);
 
   137 <a name="l00116"></a>00116   }
 
   137 <a name="l00116"></a>00116   }
 
   138 <a name="l00117"></a>00117 
   138 <a name="l00117"></a>00117 
   139 <a name="l00118"></a>00118   <span class="keywordflow">if</span>(fd0 &amp;&amp; (baudrate = <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(board-&gt;<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>)))
 
   139 <a name="l00118"></a>00118   <span class="keywordflow">if</span>(fd0 &amp;&amp; (baudrate = <a class="code" href="can__peak__linux_8c.html#1c65c88802a2cbd96ea05284860c5ba4">TranslateBaudeRate</a>(board-&gt;<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>)))
 
   140 <a name="l00119"></a>00119   {
 
   140 <a name="l00119"></a>00119   {
 
   141 <a name="l00120"></a>00120         CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
 
   141 <a name="l00120"></a>00120         CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
 
   142 <a name="l00121"></a>00121   }<span class="keywordflow">else</span>{
 
   142 <a name="l00121"></a>00121   }<span class="keywordflow">else</span>{
 
   143 <a name="l00122"></a>00122         fprintf(stderr, <span class="stringliteral">"canOpen_driver (Peak_Linux) : error opening %s\n"</span>, busname);
 
   143 <a name="l00122"></a>00122         fprintf(stderr, <span class="stringliteral">"canOpen_driver (Peak_Linux) : error opening %s\n"</span>, busname);
 
   144 <a name="l00123"></a>00123   }
 
   144 <a name="l00123"></a>00123   }
 
   145 <a name="l00124"></a>00124 
   145 <a name="l00124"></a>00124 
   146 <a name="l00125"></a>00125    <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a>)fd0;
 
   146 <a name="l00125"></a>00125    <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a>)fd0;
 
   147 <a name="l00126"></a>00126 }
 
   147 <a name="l00126"></a>00126 }
 
   148 <a name="l00127"></a>00127 
   148 <a name="l00127"></a>00127 
   149 <a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span>
 
   149 <a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span>
 
   150 <a name="l00129"></a><a class="code" href="can__peak__linux_8c.html#76e6a915d0e40a23b863198b2aaa5545">00129</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)
 
   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)
 
   151 <a name="l00130"></a>00130 {
 
   151 <a name="l00130"></a>00130 {
 
   152 <a name="l00131"></a>00131   CAN_Close(fd0);
 
   152 <a name="l00131"></a>00131   CAN_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 19:10:16 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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