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<a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a> » <a class="el" href="dir_e214fcc19be6ea390978e8fc1683888c.html">can_virtual</a></div>
<h1>can_virtual.c</h1><a href="can__virtual_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>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="comment">/*</span>
<a name="l00024"></a>00024 <span class="comment"> Virtual CAN driver.</span>
<a name="l00025"></a>00025 <span class="comment">*/</span>
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="preprocessor">#include <stdio.h></span>
<a name="l00028"></a>00028 <span class="preprocessor">#include <unistd.h></span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="def_8h.html">def.h</a>"</span>
<a name="l00032"></a>00032
<a name="l00033"></a><a class="code" href="can__virtual_8c.html#722407e147a7e12159a03b4d7ce8e389">00033</a> <span class="preprocessor">#define MAX_NB_CAN_PIPES 16</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span>
<a name="l00035"></a><a class="code" href="structCANPipe.html">00035</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00036"></a><a class="code" href="structCANPipe.html#46897ae7bcc29d077bc394d3369a4f6b">00036</a> <span class="keywordtype">char</span> used;
<a name="l00037"></a><a class="code" href="structCANPipe.html#90d2509d623c873ab944860877db8fb1">00037</a> <span class="keywordtype">int</span> pipe[2];
<a name="l00038"></a>00038 } <a class="code" href="structCANPipe.html">CANPipe</a>;
<a name="l00039"></a>00039
<a name="l00040"></a><a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">00040</a> <a class="code" href="structCANPipe.html">CANPipe</a> <a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[<a class="code" href="can__virtual_8c.html#722407e147a7e12159a03b4d7ce8e389">MAX_NB_CAN_PIPES</a>] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
<a name="l00043"></a><a class="code" href="can__virtual_8c.html#b0b7065be05f6d53009b7bd46626e2c0">00043</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="can__lincan_8c.html#b0b7065be05f6d53009b7bd46626e2c0">canReceive_driver</a>(<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keywordflow">if</span>(read(((<a class="code" href="structCANPipe.html">CANPipe</a>*)fd0)->pipe[0], m, <span class="keyword">sizeof</span>(<a class="code" href="structMessage.html">Message</a>)) != (ssize_t)<span class="keyword">sizeof</span>(Message))
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <span class="keywordflow">return</span> 1;
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049 <span class="keywordflow">return</span> 0;
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051
<a name="l00052"></a><a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">00052</a> <span class="preprocessor">#define MyCase(fc) case fc: printf(#fc);break;</span>
<a name="l00053"></a><a class="code" href="TestMasterSlave_8h.html#d1dd3b302365b1f2bd0ce49f3db780d8">00053</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="can__virtual_8c.html#d1dd3b302365b1f2bd0ce49f3db780d8">print_message</a>(<a class="code" href="structMessage.html">Message</a> *m)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keywordtype">int</span> i;
<a name="l00056"></a>00056 <span class="keywordflow">switch</span>(m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> >> 7)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#5121852019ece0964262f0cb39506843">SYNC</a>)
<a name="l00059"></a>00059 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#41e214ed6a29870a04c9857cec4a0194">TIME_STAMP</a>)
<a name="l00060"></a>00060 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#1893e40a0e6bbfe4b1770cb62046c042">PDO1tx</a>)
<a name="l00061"></a>00061 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#511f4300ca65ce23d8a1c4ec3b4e2076">PDO1rx</a>)
<a name="l00062"></a>00062 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#e9ee8504cd9f462f20ad5af48eeb22ac">PDO2tx</a>)
<a name="l00063"></a>00063 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#1cc8839690c21f2c76ea549ac8e5d05c">PDO2rx</a>)
<a name="l00064"></a>00064 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#c063668bc1bd4b58d153b4819c4983a1">PDO3tx</a>)
<a name="l00065"></a>00065 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#56e948b5cab3f8b3ff5adca55f6a6c3d">PDO3rx</a>)
<a name="l00066"></a>00066 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#dfa635524047b4d8c6fce22469d7a2e8">PDO4tx</a>)
<a name="l00067"></a>00067 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#d3a50d56c7316cb4a669766d7d36f6fc">PDO4rx</a>)
<a name="l00068"></a>00068 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#ee708deff7d007a1fe37091c13e0e897">SDOtx</a>)
<a name="l00069"></a>00069 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#5ff06ebb22799a706652d981570159d9">SDOrx</a>)
<a name="l00070"></a>00070 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#e7e02f70bb48a2747c6496fdcf0f1b95">NODE_GUARD</a>)
<a name="l00071"></a>00071 <a class="code" href="can__virtual_8c.html#303cb6e9adb33087e17f29b9a75ba379">MyCase</a>(<a class="code" href="def_8h.html#d21112faeaa2f64d69dd82ff3f80fa76">NMT</a>)
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 printf(<span class="stringliteral">" rtr:%d"</span>, m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a>);
<a name="l00074"></a>00074 printf(<span class="stringliteral">" len:%d"</span>, m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>);
<a name="l00075"></a>00075 <span class="keywordflow">for</span> (i = 0 ; i < m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> ; i++)
<a name="l00076"></a>00076 printf(<span class="stringliteral">" %02x"</span>, m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[i]);
<a name="l00077"></a>00077 printf(<span class="stringliteral">"\n"</span>);
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="comment">/***************************************************************************/</span>
<a name="l00081"></a><a class="code" href="can__virtual_8c.html#36327c9e0ec6d284b346963a321e3c2b">00081</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="can__lincan_8c.html#36327c9e0ec6d284b346963a321e3c2b">canSend_driver</a>(<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 <span class="keywordtype">int</span> i;
<a name="l00084"></a>00084
<a name="l00085"></a>00085 printf(<span class="stringliteral">"%x->[ "</span>, (<a class="code" href="structCANPipe.html">CANPipe</a>*)fd0 - &<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[0]);
<a name="l00086"></a>00086 <span class="keywordflow">for</span>(i=0; i < <a class="code" href="can__virtual_8c.html#722407e147a7e12159a03b4d7ce8e389">MAX_NB_CAN_PIPES</a>; i++)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088 <span class="keywordflow">if</span>(<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i].used && &<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i] != (<a class="code" href="structCANPipe.html">CANPipe</a>*)fd0)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 printf(<span class="stringliteral">"%x "</span>,i);
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 printf(<span class="stringliteral">" ]"</span>);
<a name="l00094"></a>00094 <a class="code" href="can__virtual_8c.html#d1dd3b302365b1f2bd0ce49f3db780d8">print_message</a>(m);
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="comment">// Send to all readers, except myself</span>
<a name="l00097"></a>00097 <span class="keywordflow">for</span>(i=0; i < MAX_NB_CAN_PIPES; i++)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 <span class="keywordflow">if</span>(<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i].used && &<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i] != (<a class="code" href="structCANPipe.html">CANPipe</a>*)fd0)
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 write(<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i].pipe[1], m, <span class="keyword">sizeof</span>(<a class="code" href="structMessage.html">Message</a>));
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104 <span class="keywordflow">return</span> 0;
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 <span class="comment">/*</span>
<a name="l00107"></a>00107 <span class="comment">int TranslateBaudeRate(char* optarg){</span>
<a name="l00108"></a>00108 <span class="comment"> if(!strcmp( optarg, "1M")) return 1000;</span>
<a name="l00109"></a>00109 <span class="comment"> if(!strcmp( optarg, "500K")) return 500;</span>
<a name="l00110"></a>00110 <span class="comment"> if(!strcmp( optarg, "250K")) return 250;</span>
<a name="l00111"></a>00111 <span class="comment"> if(!strcmp( optarg, "125K")) return 125;</span>
<a name="l00112"></a>00112 <span class="comment"> if(!strcmp( optarg, "100K")) return 100;</span>
<a name="l00113"></a>00113 <span class="comment"> if(!strcmp( optarg, "50K")) return 50;</span>
<a name="l00114"></a>00114 <span class="comment"> if(!strcmp( optarg, "20K")) return 20;</span>
<a name="l00115"></a>00115 <span class="comment"> if(!strcmp( optarg, "10K")) return 10;</span>
<a name="l00116"></a>00116 <span class="comment"> if(!strcmp( optarg, "5K")) return 5;</span>
<a name="l00117"></a>00117 <span class="comment"> if(!strcmp( optarg, "none")) return 0;</span>
<a name="l00118"></a>00118 <span class="comment"> return 0;</span>
<a name="l00119"></a>00119 <span class="comment">}*/</span>
<a name="l00120"></a>00120 <span class="comment">/***************************************************************************/</span>
<a name="l00121"></a><a class="code" href="can__virtual_8c.html#a91c5884b47322592815c82427be3fac">00121</a> <a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> <a class="code" href="can__lincan_8c.html#a91c5884b47322592815c82427be3fac">canOpen_driver</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123 <span class="keywordtype">int</span> i;
<a name="l00124"></a>00124 <span class="keywordflow">for</span>(i=0; i < <a class="code" href="can__virtual_8c.html#722407e147a7e12159a03b4d7ce8e389">MAX_NB_CAN_PIPES</a>; i++)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 <span class="keywordflow">if</span>(!<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i].used)
<a name="l00127"></a>00127 <span class="keywordflow">break</span>;
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment">/* Create the pipe. */</span>
<a name="l00131"></a>00131 <span class="keywordflow">if</span> (i==MAX_NB_CAN_PIPES || pipe(<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i].pipe))
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 fprintf (stderr, <span class="stringliteral">"Open failed.\n"</span>);
<a name="l00134"></a>00134 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a>)NULL;
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i].<a class="code" href="structCANPipe.html#46897ae7bcc29d077bc394d3369a4f6b">used</a> = 1;
<a name="l00138"></a>00138 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a>) &<a class="code" href="can__virtual_8c.html#a13bbe9d129fed0a2f43085698c79e3e">canpipes</a>[i];
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="comment">/***************************************************************************/</span>
<a name="l00142"></a><a class="code" href="can__virtual_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">00142</a> <span class="keywordtype">int</span> <a class="code" href="can__lincan_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">canClose_driver</a>(<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0)
<a name="l00143"></a>00143 {
<a name="l00144"></a>00144 close(((<a class="code" href="structCANPipe.html">CANPipe</a>*)fd0)->pipe[0]);
<a name="l00145"></a>00145 close(((<a class="code" href="structCANPipe.html">CANPipe</a>*)fd0)->pipe[1]);
<a name="l00146"></a>00146 ((<a class="code" href="structCANPipe.html">CANPipe</a>*)fd0)->used = 0;
<a name="l00147"></a>00147 <span class="keywordflow">return</span> 0;
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149
<a name="l00150"></a>00150
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by
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