--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_can4linux/can_can4linux.c	Tue Jan 22 10:27:13 2008 +0100
@@ -0,0 +1,182 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Jorge BERZOSA
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/*
+* can4linux driver
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <fcntl.h>
+
+#include "can4linux.h" 
+#include "can_driver.h"
+
+struct timeval init_time,current_time;
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+{
+  int res,i;
+  canmsg_t canmsg;
+  long int time_period;
+
+	canmsg.flags = 0; 
+	do{
+   		res = read(fd0,&canmsg,1);
+   		if((res<0)&&(errno == -EAGAIN)) res = 0;
+	}while(res==0);
+
+	if(res !=1) // No new message
+   	return 1;
+
+	if(canmsg.flags&MSG_EXT){
+   		/* There is no mark for extended messages in CanFestival */;
+	}
+  		
+	m->cob_id.w = canmsg.id;
+	m->len = canmsg.length;
+	if(canmsg.flags&MSG_RTR){
+ 		m->rtr = 1;
+	}else{
+ 		m->rtr = 0;
+ 		memcpy(m->data,canmsg.data,8);
+	}
+	
+	
+ 	/*gettimeofday(&current_time,NULL);
+ 	time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec;
+ 	printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id.w);
+ 	printf("Receive ID: %lx ->",m->cob_id.w);
+ 	for(i=0; i<canmsg.length;i++)printf("%x, ", m->data[i]);
+ 	printf("\n");*/
+ 
+  return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+{
+  int res;
+  canmsg_t canmsg;
+
+  canmsg.flags = 0;
+  canmsg.id = m->cob_id.w;
+  canmsg.length = m->len;
+  if(m->rtr){
+    canmsg.flags |= MSG_RTR;
+  }else{
+    memcpy(canmsg.data,m->data,8);
+  }
+  
+ /*printf("Send ID: %lx ->",canmsg.id); 
+ for(i=0; i<canmsg.length;i++)printf("%x, ", canmsg.data[i]);
+ printf("\n");*/
+
+  if(canmsg.id >= 0x800){
+    canmsg.flags |= MSG_EXT;
+  }
+
+  res = write(fd0,&canmsg,1);
+  if(res!=1)
+    return 1;
+
+  return 0;
+}
+
+/***************************************************************************/
+int	set_bitrate( CAN_HANDLE fd, int baud)
+{
+    Config_par_t  cfg;	
+    volatile Command_par_t cmd;
+
+    cmd.cmd = CMD_STOP;
+    ioctl(fd, COMMAND, &cmd);
+
+    cfg.target = CONF_TIMING; 
+    cfg.val1   = baud;
+    ioctl(fd, CONFIG, &cfg);
+
+    cmd.cmd = CMD_START;
+    ioctl(fd, COMMAND, &cmd);
+    return 0;
+}
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+	if(!strcmp( optarg, "1M")) return (int)1000;
+	if(!strcmp( optarg, "500K")) return (int)500;
+	if(!strcmp( optarg, "250K")) return (int)250;
+	if(!strcmp( optarg, "125K")) return (int)125;
+	if(!strcmp( optarg, "100K")) return (int)100;
+	if(!strcmp( optarg, "50K")) return (int)50;
+	if(!strcmp( optarg, "20K")) return (int)20;
+	if(!strcmp( optarg, "10K")) return (int)10;
+	if(!strcmp( optarg, "5K")) return (int)5;
+	if(!strcmp( optarg, "none")) return 0;
+	return 0x0000;
+}
+
+/***************************************************************************/
+static const char lnx_can_dev_prefix[] = "/dev/can";
+
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+  int name_len = strlen(board->busname);
+  int prefix_len = strlen(lnx_can_dev_prefix);
+  char dev_name[prefix_len+name_len+1];
+  int o_flags = 0;
+  int baud = TranslateBaudeRate(board->baudrate);
+  int fd0;
+
+  
+  /*o_flags = O_NONBLOCK;*/
+
+  memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
+  memcpy(dev_name+prefix_len,board->busname,name_len);
+  dev_name[prefix_len+name_len] = 0;
+
+  fd0 = open(dev_name, O_RDWR|o_flags);
+  if(fd0 <= 0){
+    fprintf(stderr,"!!! %s is unknown. See can4linux.c\n", dev_name);
+    goto error_ret;
+  }
+  
+  set_bitrate((CAN_HANDLE)fd0, baud);
+
+  printf("CAN device dev/can%s opened. Baudrate=>%s\n",board->busname, board->baudrate);
+
+  return (CAN_HANDLE)fd0;
+
+ error_ret:
+  return NULL;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+  if((int)fd0<=0)
+    return -1;
+  close(fd0);
+  return 0;
+}