--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_socket/can_socket.c	Thu Aug 31 10:28:53 2006 +0200
@@ -0,0 +1,178 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+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
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stddef.h> /* for NULL */
+
+#include "config.h"
+
+#ifdef RTCAN_SOCKET
+#include "rtdm/rtcan.h"
+#define CAN_IFNAME     "rtcan%s"
+#define CAN_SOCKET     rt_dev_socket
+#define CAN_CLOSE      rt_dev_close
+#define CAN_RECV       rt_dev_recv
+#define CAN_SEND       rt_dev_send
+#define CAN_BIND       rt_dev_bind
+#define CAN_IOCTL      rt_dev_ioctl
+#else
+#include "af_can.h"
+#define CAN_IFNAME     "can%s"
+#define CAN_SOCKET     socket
+#define CAN_CLOSE      close
+#define CAN_RECV       recv
+#define CAN_SEND       send
+#define CAN_BIND       bind
+#define CAN_IOCTL      ioctl
+#endif
+
+struct CANPort;
+#define CAN_HANDLE struct CANPort *
+
+#include <applicfg.h>
+
+#include "timer.h"
+#include "can_driver.h"
+#include "timers_driver.h"
+
+typedef struct CANPort {
+       int fd;
+       TASK_HANDLE receiveTask;
+       CO_Data* d;
+} CANPort;
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive(CAN_HANDLE fd0, Message *m)
+{
+       int res;
+       struct can_frame frame;
+
+       res = CAN_RECV(fd0->fd, &frame, sizeof(frame), 0);
+       if (res < 0)
+               return 1;
+
+       m->cob_id.w = frame.can_id & CAN_EFF_MASK;
+       m->len      = frame.can_dlc;
+       if (frame.can_id & CAN_RTR_FLAG)
+               m->rtr = 1;
+       else
+               m->rtr = 0;
+       memcpy(m->data, frame.data, 8);
+
+       return 0;
+}
+
+void canReceiveLoop(CAN_HANDLE fd0)
+{
+       CO_Data* d = fd0->d;
+       Message m;
+
+       while (1) {
+               if (canReceive(fd0, &m) != 0)
+                       break;
+
+               EnterMutex();
+               canDispatch(d, &m);
+               LeaveMutex();
+       }
+}
+
+/***************************************************************************/
+UNS8 canSend(CAN_HANDLE fd0, Message *m)
+{
+       int res;
+       struct can_frame frame;
+
+       frame.can_id = m->cob_id.w;
+       if (frame.can_id >= 0x800)
+               frame.can_id |= CAN_EFF_FLAG;
+       frame.can_dlc = m->len;
+       if (m->rtr)
+               frame.can_id |= CAN_RTR_FLAG;
+       else
+               memcpy(frame.data, m->data, 8);
+
+       res = CAN_SEND(fd0->fd, &frame, sizeof(frame), 0);
+       if (res < 0)
+               return 1;
+
+       return 0;
+}
+
+/***************************************************************************/
+CAN_HANDLE canOpen(s_BOARD *board)
+{
+       CAN_HANDLE fd0;
+       struct ifreq ifr;
+       struct sockaddr_can addr;
+       int err;
+
+       fd0 = malloc(sizeof(*fd0));
+       if (!fd0)
+               return NULL;
+
+       fd0->fd = CAN_SOCKET(PF_CAN, SOCK_RAW, 0);
+       if(fd0->fd < 0){
+               fprintf(stderr,"Socket creation failed.\n");
+               goto error_ret;
+       }
+
+       snprintf(ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
+       err = CAN_IOCTL(fd0->fd, SIOCGIFINDEX, &ifr);
+       if (err) {
+               fprintf(stderr, "Unknown device: %s\n", ifr.ifr_name);
+               goto error_close;
+       }
+
+       addr.can_family  = AF_CAN;
+       addr.can_ifindex = ifr.ifr_ifindex;
+       err = CAN_BIND(fd0->fd, (struct sockaddr *)&addr,
+                             sizeof(addr));
+       if (err) {
+               fprintf(stderr, "Binding failed.\n");
+               goto error_close;
+       }
+
+       fd0->d = board->d;
+       CreateReceiveTask(fd0, &fd0->receiveTask);
+       return fd0;
+
+ error_close:
+       CAN_CLOSE(fd0->fd);
+
+ error_ret:
+       free(fd0);
+       return NULL;
+}
+
+/***************************************************************************/
+int canClose(CAN_HANDLE fd0)
+{
+       if (fd0) {
+               WaitReceiveTaskEnd(&fd0->receiveTask);
+               CAN_CLOSE(fd0->fd);
+               free(fd0);
+       }
+       return 0;
+}