Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
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<title>CanFestival: drivers/can_lincan/can_lincan.c Source File</title>
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<a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a> » <a class="el" href="dir_daf7036eef6d5824a8b65c083e166f12.html">can_lincan</a></div>
<h1>can_lincan.c</h1><a href="can__lincan_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="preprocessor">#include <stdio.h></span>
<a name="l00024"></a>00024 <span class="preprocessor">#include <string.h></span>
<a name="l00025"></a>00025 <span class="preprocessor">#include <errno.h></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include <fcntl.h></span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#include "<a class="code" href="canmsg_8h.html">canmsg.h</a>"</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="lincan_8h.html">lincan.h</a>"</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
<a name="l00034"></a><a class="code" href="can__lincan_8c.html#b0b7065be05f6d53009b7bd46626e2c0">00034</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="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keywordtype">int</span> res;
<a name="l00037"></a>00037 <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg;
<a name="l00038"></a>00038
<a name="l00039"></a>00039 canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> = 0; <span class="comment">/* Ensure standard receive, not required for LinCAN>=0.3.1 */</span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="keywordflow">do</span>{
<a name="l00042"></a>00042 res = read(fd0,&canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>));
<a name="l00043"></a>00043 <span class="keywordflow">if</span>((res<0)&&(errno == -EAGAIN)) res = 0;
<a name="l00044"></a>00044 }<span class="keywordflow">while</span>(res==0);
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keywordflow">if</span>(res != <span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>)) <span class="comment">// No new message</span>
<a name="l00047"></a>00047 <span class="keywordflow">return</span> 1;
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a>&<a class="code" href="canmsg_8h.html#128f615ef49f3a1543e537de31c01c66">MSG_EXT</a>){
<a name="l00050"></a>00050 <span class="comment">/* There is no mark for extended messages in CanFestival */</span>;
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052
<a name="l00053"></a>00053 m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = canmsg.<a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a>;
<a name="l00054"></a>00054 m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = canmsg.<a class="code" href="structcanmsg__t.html#2a262c8851a64ac544169daa82a5982e">length</a>;
<a name="l00055"></a>00055 <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a>&<a class="code" href="canmsg_8h.html#c6b14508549c3561cdf166125bdfde89">MSG_RTR</a>){
<a name="l00056"></a>00056 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 1;
<a name="l00057"></a>00057 }<span class="keywordflow">else</span>{
<a name="l00058"></a>00058 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0;
<a name="l00059"></a>00059 memcpy(m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>,canmsg.<a class="code" href="structcanmsg__t.html#2bcbe2a891519403a17eb8f38ca9734d">data</a>,8);
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="keywordflow">return</span> 0;
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="comment">/***************************************************************************/</span>
<a name="l00066"></a><a class="code" href="can__lincan_8c.html#36327c9e0ec6d284b346963a321e3c2b">00066</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="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keywordtype">int</span> res;
<a name="l00069"></a>00069 <span class="keyword">struct </span><a class="code" href="structcanmsg__t.html">canmsg_t</a> canmsg;
<a name="l00070"></a>00070
<a name="l00071"></a>00071
<a name="l00072"></a>00072 canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> = 0;
<a name="l00073"></a>00073 canmsg.<a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a> = m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>;
<a name="l00074"></a>00074 canmsg.<a class="code" href="structcanmsg__t.html#2a262c8851a64ac544169daa82a5982e">length</a> = m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>;
<a name="l00075"></a>00075 <span class="keywordflow">if</span>(m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a>){
<a name="l00076"></a>00076 canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> |= <a class="code" href="canmsg_8h.html#c6b14508549c3561cdf166125bdfde89">MSG_RTR</a>;
<a name="l00077"></a>00077 }<span class="keywordflow">else</span>{
<a name="l00078"></a>00078 memcpy(canmsg.<a class="code" href="structcanmsg__t.html#2bcbe2a891519403a17eb8f38ca9734d">data</a>,m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>,8);
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keywordflow">if</span>(canmsg.<a class="code" href="structcanmsg__t.html#21e7f9aad713250d588017c0e50fe639">id</a> >= 0x800){
<a name="l00082"></a>00082 canmsg.<a class="code" href="structcanmsg__t.html#6e841aa7cf06830955a185886b920510">flags</a> |= <a class="code" href="canmsg_8h.html#128f615ef49f3a1543e537de31c01c66">MSG_EXT</a>;
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a>00085 res = write(fd0,&canmsg,<span class="keyword">sizeof</span>(<a class="code" href="structcanmsg__t.html">canmsg_t</a>));
<a name="l00086"></a>00086 <span class="keywordflow">if</span>(res!=<span class="keyword">sizeof</span>(canmsg_t))
<a name="l00087"></a>00087 <span class="keywordflow">return</span> 1;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordflow">return</span> 0;
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="comment">/***************************************************************************/</span>
<a name="l00093"></a>00093 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span> lnx_can_dev_prefix[] = <span class="stringliteral">"/dev/can"</span>;
<a name="l00094"></a>00094
<a name="l00095"></a><a class="code" href="can__lincan_8c.html#a91c5884b47322592815c82427be3fac">00095</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="l00096"></a>00096 {
<a name="l00097"></a>00097 <span class="keywordtype">int</span> name_len = strlen(board-><a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>);
<a name="l00098"></a>00098 <span class="keywordtype">int</span> prefix_len = strlen(lnx_can_dev_prefix);
<a name="l00099"></a>00099 <span class="keywordtype">char</span> dev_name[prefix_len+name_len+1];
<a name="l00100"></a>00100 <span class="keywordtype">int</span> o_flags = 0;
<a name="l00101"></a>00101 <a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0;
<a name="l00102"></a>00102
<a name="l00103"></a>00103 fd0=malloc(<span class="keyword">sizeof</span>(*fd0));
<a name="l00104"></a>00104 <span class="keywordflow">if</span>(fd0==NULL)
<a name="l00105"></a>00105 <span class="keywordflow">return</span> NULL;
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">/*o_flags = O_NONBLOCK;*/</span>
<a name="l00108"></a>00108
<a name="l00109"></a>00109 memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
<a name="l00110"></a>00110 memcpy(dev_name+prefix_len,board-><a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>,name_len);
<a name="l00111"></a>00111 dev_name[prefix_len+name_len] = 0;
<a name="l00112"></a>00112
<a name="l00113"></a>00113 fd0 = open(dev_name, O_RDWR|o_flags);
<a name="l00114"></a>00114 <span class="keywordflow">if</span>(fd0 < 0){
<a name="l00115"></a>00115 fprintf(stderr,<span class="stringliteral">"!!! Board %s is unknown. See can_lincan.c\n"</span>, board-><a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>);
<a name="l00116"></a>00116 <span class="keywordflow">goto</span> error_ret;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keywordflow">return</span> fd0;
<a name="l00120"></a>00120
<a name="l00121"></a>00121 error_ret:
<a name="l00122"></a>00122 free(fd0);
<a name="l00123"></a>00123 <span class="keywordflow">return</span> NULL;
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="comment">/***************************************************************************/</span>
<a name="l00127"></a><a class="code" href="can__lincan_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">00127</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="l00128"></a>00128 {
<a name="l00129"></a>00129 <span class="keywordflow">if</span>(!fd0)
<a name="l00130"></a>00130 <span class="keywordflow">return</span> 0;
<a name="l00131"></a>00131 close(fd0);
<a name="l00132"></a>00132 <span class="keywordflow">return</span> 0;
<a name="l00133"></a>00133 }
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