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3 <title>CanFestival: drivers/can_lincan/can_lincan.c Source File</title> |
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21 <a class="el" href="dir_d58fb241e647de6212c31ecccf9cbace.html">drivers</a> » <a class="el" href="dir_8cdda103ce035ff7e5ef31864566c615.html">can_lincan</a></div> |
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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> |
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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="preprocessor">#include "<a class="code" href="canmsg_8h.html">canmsg.h</a>"</span> |
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50 <a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="lincan_8h.html">lincan.h</a>"</span> |
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51 <a name="l00030"></a>00030 |
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52 <a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span> |
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53 <a name="l00032"></a>00032 |
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54 <a name="l00033"></a>00033 <span class="comment">/*********functions which permit to communicate with the board****************/</span> |
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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) |
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56 <a name="l00035"></a>00035 { |
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57 <a name="l00036"></a>00036 <span class="keywordtype">int</span> res; |
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58 <a name="l00037"></a>00037 <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg; |
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59 <a name="l00038"></a>00038 |
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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>=0.3.1 */</span> |
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61 <a name="l00040"></a>00040 |
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62 <a name="l00041"></a>00041 <span class="keywordflow">do</span>{ |
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63 <a name="l00042"></a>00042 res = read(fd0,&canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>)); |
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64 <a name="l00043"></a>00043 <span class="keywordflow">if</span>((res<0)&&(errno == -EAGAIN)) res = 0; |
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65 <a name="l00044"></a>00044 }<span class="keywordflow">while</span>(res==0); |
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66 <a name="l00045"></a>00045 |
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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> |
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68 <a name="l00047"></a>00047 <span class="keywordflow">return</span> 1; |
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69 <a name="l00048"></a>00048 |
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70 <a name="l00049"></a>00049 <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a>&<a class="code" href="canmsg_8h.html#973182db693bc55d98fafe82ad62f68c">MSG_EXT</a>){ |
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71 <a name="l00050"></a>00050 <span class="comment">/* There is no mark for extended messages in CanFestival */</span>; |
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72 <a name="l00051"></a>00051 } |
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73 <a name="l00052"></a>00052 |
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74 <a name="l00053"></a>00053 m-><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>; |
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75 <a name="l00054"></a>00054 m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = canmsg.<a class="code" href="structcanmsg__t.html#9b2006e54552e02778eea1da3ac52070">length</a>; |
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76 <a name="l00055"></a>00055 <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a>&<a class="code" href="canmsg_8h.html#a17d9d21b15825ab928d225e6b317d26">MSG_RTR</a>){ |
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77 <a name="l00056"></a>00056 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1; |
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78 <a name="l00057"></a>00057 }<span class="keywordflow">else</span>{ |
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79 <a name="l00058"></a>00058 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0; |
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80 <a name="l00059"></a>00059 memcpy(m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>,canmsg.<a class="code" href="structcanmsg__t.html#778d41b22a1ae1f0da4631885239a10c">data</a>,8); |
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81 <a name="l00060"></a>00060 } |
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82 <a name="l00061"></a>00061 |
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83 <a name="l00062"></a>00062 <span class="keywordflow">return</span> 0; |
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84 <a name="l00063"></a>00063 } |
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85 <a name="l00064"></a>00064 |
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86 <a name="l00065"></a>00065 <span class="comment">/***************************************************************************/</span> |
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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) |
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88 <a name="l00067"></a>00067 { |
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89 <a name="l00068"></a>00068 <span class="keywordtype">int</span> res; |
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90 <a name="l00069"></a>00069 <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg; |
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91 <a name="l00070"></a>00070 |
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92 <a name="l00071"></a>00071 |
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93 <a name="l00072"></a>00072 canmsg.<a class="code" href="structcanmsg__t.html#beea8084650640976b9c94257623b735">flags</a> = 0; |
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94 <a name="l00073"></a>00073 canmsg.<a class="code" href="structcanmsg__t.html#9ca617a401250c914820ae4ed2768725">id</a> = m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>; |
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95 <a name="l00074"></a>00074 canmsg.<a class="code" href="structcanmsg__t.html#9b2006e54552e02778eea1da3ac52070">length</a> = m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; |
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96 <a name="l00075"></a>00075 <span class="keywordflow">if</span>(m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a>){ |
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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>; |
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98 <a name="l00077"></a>00077 }<span class="keywordflow">else</span>{ |
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99 <a name="l00078"></a>00078 memcpy(canmsg.<a class="code" href="structcanmsg__t.html#778d41b22a1ae1f0da4631885239a10c">data</a>,m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>,8); |
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100 <a name="l00079"></a>00079 } |
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101 <a name="l00080"></a>00080 |
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102 <a name="l00081"></a>00081 <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#9ca617a401250c914820ae4ed2768725">id</a> >= 0x800){ |
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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>; |
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104 <a name="l00083"></a>00083 } |
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105 <a name="l00084"></a>00084 |
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106 <a name="l00085"></a>00085 res = write(fd0,&canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>)); |
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107 <a name="l00086"></a>00086 <span class="keywordflow">if</span>(res!=<span class="keyword">sizeof</span>(canmsg_t)) |
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108 <a name="l00087"></a>00087 <span class="keywordflow">return</span> 1; |
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109 <a name="l00088"></a>00088 |
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110 <a name="l00089"></a>00089 <span class="keywordflow">return</span> 0; |
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111 <a name="l00090"></a>00090 } |
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112 <a name="l00091"></a>00091 |
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113 <a name="l00092"></a>00092 <span class="comment">/***************************************************************************/</span> |
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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>; |
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115 <a name="l00094"></a>00094 |
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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) |
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117 <a name="l00096"></a>00096 { |
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118 <a name="l00097"></a>00097 <span class="keywordtype">int</span> name_len = strlen(board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>); |
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119 <a name="l00098"></a>00098 <span class="keywordtype">int</span> prefix_len = strlen(lnx_can_dev_prefix); |
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120 <a name="l00099"></a>00099 <span class="keywordtype">char</span> dev_name[prefix_len+name_len+1]; |
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121 <a name="l00100"></a>00100 <span class="keywordtype">int</span> o_flags = 0; |
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122 <a name="l00101"></a>00101 <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0; |
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123 <a name="l00102"></a>00102 |
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124 <a name="l00103"></a>00103 fd0=malloc(<span class="keyword">sizeof</span>(*fd0)); |
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125 <a name="l00104"></a>00104 <span class="keywordflow">if</span>(fd0==NULL) |
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126 <a name="l00105"></a>00105 <span class="keywordflow">return</span> NULL; |
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127 <a name="l00106"></a>00106 |
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128 <a name="l00107"></a>00107 <span class="comment">/*o_flags = O_NONBLOCK;*/</span> |
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129 <a name="l00108"></a>00108 |
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130 <a name="l00109"></a>00109 memcpy(dev_name,lnx_can_dev_prefix,prefix_len); |
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131 <a name="l00110"></a>00110 memcpy(dev_name+prefix_len,board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>,name_len); |
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132 <a name="l00111"></a>00111 dev_name[prefix_len+name_len] = 0; |
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133 <a name="l00112"></a>00112 |
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134 <a name="l00113"></a>00113 fd0 = open(dev_name, O_RDWR|o_flags); |
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135 <a name="l00114"></a>00114 <span class="keywordflow">if</span>(fd0 < 0){ |
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136 <a name="l00115"></a>00115 fprintf(stderr,<span class="stringliteral">"!!! Board %s is unknown. See can_lincan.c\n"</span>, board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>); |
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137 <a name="l00116"></a>00116 <span class="keywordflow">goto</span> error_ret; |
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138 <a name="l00117"></a>00117 } |
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139 <a name="l00118"></a>00118 |
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140 <a name="l00119"></a>00119 <span class="keywordflow">return</span> fd0; |
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141 <a name="l00120"></a>00120 |
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142 <a name="l00121"></a>00121 error_ret: |
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143 <a name="l00122"></a>00122 free(fd0); |
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144 <a name="l00123"></a>00123 <span class="keywordflow">return</span> NULL; |
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145 <a name="l00124"></a>00124 } |
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146 <a name="l00125"></a>00125 |
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147 <a name="l00126"></a>00126 <span class="comment">/***************************************************************************/</span> |
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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) |
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149 <a name="l00128"></a>00128 { |
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150 <a name="l00129"></a>00129 <span class="keywordflow">if</span>(!fd0) |
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151 <a name="l00130"></a>00130 <span class="keywordflow">return</span> 0; |
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152 <a name="l00131"></a>00131 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 Fri Jun 8 08:51:38 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> |