equal
deleted
inserted
replaced
71 { |
71 { |
72 fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res))); |
72 fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res))); |
73 return 1; |
73 return 1; |
74 } |
74 } |
75 |
75 |
76 m->cob_id.w = frame.can_id & CAN_EFF_MASK; |
76 m->cob_id = frame.can_id & CAN_EFF_MASK; |
77 m->len = frame.can_dlc; |
77 m->len = frame.can_dlc; |
78 if (frame.can_id & CAN_RTR_FLAG) |
78 if (frame.can_id & CAN_RTR_FLAG) |
79 m->rtr = 1; |
79 m->rtr = 1; |
80 else |
80 else |
81 m->rtr = 0; |
81 m->rtr = 0; |
94 canSend_driver (CAN_HANDLE fd0, Message * m) |
94 canSend_driver (CAN_HANDLE fd0, Message * m) |
95 { |
95 { |
96 int res; |
96 int res; |
97 struct can_frame frame; |
97 struct can_frame frame; |
98 |
98 |
99 frame.can_id = m->cob_id.w; |
99 frame.can_id = m->cob_id; |
100 if (frame.can_id >= 0x800) |
100 if (frame.can_id >= 0x800) |
101 frame.can_id |= CAN_EFF_FLAG; |
101 frame.can_id |= CAN_EFF_FLAG; |
102 frame.can_dlc = m->len; |
102 frame.can_dlc = m->len; |
103 if (m->rtr) |
103 if (m->rtr) |
104 frame.can_id |= CAN_RTR_FLAG; |
104 frame.can_id |= CAN_RTR_FLAG; |