--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_serial/can_serial.c Fri Apr 25 12:18:23 2008 +0200
@@ -0,0 +1,216 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+Ruthlessly butchered by James Steward to produce a serial (tty) port
+driver.
+
+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
+*/
+
+/*
+ Single serial port CAN driver.
+*/
+
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <termios.h>
+#include <stdlib.h>
+
+#define NEED_PRINT_MESSAGE
+#include "can_driver.h"
+#include "def.h"
+
+typedef struct {
+ int fd;
+ struct termios old_termio, new_termio;
+} CANPort;
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message * m)
+{
+ int rv, N, n = 0;
+ fd_set rfds;
+ struct timeval tv;
+
+ N = 4; //initially try to read 4 bytes, including the length byte
+
+retry:
+ rv = read(((CANPort *) fd0)->fd, &((char *)m)[n], N - n);
+
+ if (rv == -1) {
+ fprintf(stderr, "read: %s\n", strerror(errno));
+ return 1;
+ }
+
+ n += rv;
+
+ if (n == 4) {
+ N = (4 + m->len);
+
+ if (m->len > 8) {
+ fprintf(stderr, "Warning: invalid message length %d\n",
+ m->len);
+
+ //try to resync
+ n = 0;
+ N = 4;
+ }
+
+ }
+
+ if (n < N) {
+
+ FD_ZERO(&rfds);
+ FD_SET(((CANPort *) fd0)->fd, &rfds);
+
+ tv.tv_sec = 0;
+ tv.tv_usec=100000;
+
+ rv = select(((CANPort *) fd0)->fd + 1, &rfds, NULL, NULL, &tv);
+ if (rv == -1) {
+ fprintf(stderr, "select: %s\n", strerror(errno));
+ return 1;
+ } else if (rv == 0) {
+ n = 0;
+ }
+
+ goto retry;
+ }
+
+ print_message(m);
+
+ return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message * m)
+{
+ int rv;
+
+ print_message(m);
+
+ // Send to serial port
+ rv = write(((CANPort *) fd0)->fd, m, 4 + m->len);
+
+ if (rv != 4 + m->len) {
+ return 1;
+ }
+
+ return 0;
+}
+
+/***************************************************************************/
+int TranslateBaudRate(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;
+}
+
+UNS8 canChangeBaudRate_driver(CAN_HANDLE fd0, char *baud)
+{
+ printf("Faked changing to baud rate %s[%d]\n",
+ baud, TranslateBaudRate(baud));
+ return 0;
+}
+
+/***************************************************************************/
+CAN_HANDLE canOpen_driver(s_BOARD * board)
+{
+ int rv;
+
+ CANPort *p;
+
+ p = (CANPort *)calloc(1, sizeof(CANPort));
+
+ if (p == NULL) {
+ fprintf(stderr, "calloc: %s\n", strerror(errno));
+ return (CAN_HANDLE) NULL;
+ }
+
+ p->fd = open(board->busname, O_RDWR);
+
+ if (p->fd < 0) {
+ fprintf(stderr, "open: %s, %s\n",
+ board->busname, strerror(errno));
+ free(p);
+ return (CAN_HANDLE) NULL;
+ }
+
+ if (tcgetattr(p->fd, &p->old_termio) != 0) {
+ fprintf(stderr, "tcgetattr: %s, %s\n",
+ board->busname, strerror(errno));
+ close(p->fd);
+ free(p);
+ return (CAN_HANDLE) NULL;
+ }
+
+ memcpy(&p->new_termio, &p->old_termio,
+ sizeof(p->old_termio));
+ cfmakeraw(&p->new_termio);
+ cfsetispeed(&p->new_termio, B115200);
+ cfsetospeed(&p->new_termio, B115200);
+ tcsetattr(p->fd, TCSANOW, &p->new_termio);
+
+ return (CAN_HANDLE) p;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+ if ((CANPort *) fd0 && ((CANPort *) fd0)->fd >= 0) {
+ tcsetattr(((CANPort *) fd0)->fd, TCSANOW,
+ &((CANPort *) fd0)->old_termio);
+ close(((CANPort *) fd0)->fd);
+ free((CANPort *) fd0);
+ }
+
+ return 0;
+}
+
+int canfd_driver(CAN_HANDLE fd0)
+{
+ if ((CANPort *) fd0) {
+ return ((CANPort *) fd0)->fd;
+ }
+
+ return -1;
+}
+