Some bugs reported by Francis Dupin corrected.
/*
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 <errno.h>
#include <stddef.h> /* for NULL */
#include <sys/ioctl.h>
#include <fcntl.h>
#include <signal.h>
#include <sys/time.h>
#include <unistd.h>
#include "canmsg.h"
#include "lincan.h"
struct CANPort;
#define CAN_HANDLE struct CANPort *
#include <applicfg.h>
#include "timer.h"
#include "can_driver.h"
#include "timers_driver.h"
typedef struct CANPort {
char used;
HANDLE 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 canmsg_t canmsg;
canmsg.flags = 0; /* Ensure standard receive, not required for LinCAN>=0.3.1 */
do{
res = read(fd0->fd,&canmsg,sizeof(canmsg_t));
if((res<0)&&(errno == -EAGAIN)) res = 0;
}while(res==0);
if(res != sizeof(canmsg_t)) // 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);
}
return 0;
}
void canReceiveLoop(CAN_HANDLE fd0)
{
CO_Data* d = fd0->d;
Message m;
while (fd0->used) {
if(!canReceive(fd0, &m))
{
EnterMutex();
canDispatch(d, &m);
LeaveMutex();
}else{
printf("canReceive returned error\n");
break;
}
}
}
/***************************************************************************/
UNS8 canSend(CAN_HANDLE fd0, Message *m)
{
int res;
struct 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);
}
if(canmsg.id >= 0x800){
canmsg.flags |= MSG_EXT;
}
res = write(fd0->fd,&canmsg,sizeof(canmsg_t));
if(res!=sizeof(canmsg_t))
return 1;
return 0;
}
/***************************************************************************/
static const char lnx_can_dev_prefix[] = "/dev/can";
CAN_HANDLE canOpen(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;
CAN_HANDLE fd0;
fd0=malloc(sizeof(*fd0));
if(fd0==NULL)
return NULL;
/*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->fd = open(dev_name, O_RDWR|o_flags);
if(fd0->fd < 0){
fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname);
goto error_ret;
}
fd0->d = board->d;
fd0->used = 1;
CreateReceiveTask(fd0, &fd0->receiveTask);
return fd0;
error_ret:
free(fd0);
return NULL;
}
/***************************************************************************/
int canClose(CAN_HANDLE fd0)
{
if(!fd0)
return 0;
fd0->used = 0;
WaitReceiveTaskEnd(&fd0->receiveTask);
close(fd0->fd);
free(fd0);
return 0;
}