CanFestival: drivers/can_socket/can

00001 /*
nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack.
nico@215: 00003 
nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@215: 00005 
nico@215: 00006 See COPYING file for copyrights details.
nico@215: 00007 
nico@215: 00008 This library is free software; you can redistribute it and/or
nico@215: 00009 modify it under the terms of the GNU Lesser General Public
nico@215: 00010 License as published by the Free Software Foundation; either
nico@215: 00011 version 2.1 of the License, or (at your option) any later version.
nico@215: 00012 
nico@215: 00013 This library is distributed in the hope that it will be useful,
nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@215: 00016 Lesser General Public License for more details.
nico@215: 00017 
nico@215: 00018 You should have received a copy of the GNU Lesser General Public
nico@215: 00019 License along with this library; if not, write to the Free Software
nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@215: 00021 */
nico@215: 00022 
nico@215: 00023 #include <stdio.h>
nico@215: 00024 #include <string.h>
nico@215: 00025 #include <stdlib.h>
nico@215: 00026 #include <stddef.h>             /* for NULL */
nico@215: 00027 #include <errno.h>
nico@215: 00028 
nico@215: 00029 #include "config.h"
nico@215: 00030 
nico@215: 00031 #ifdef RTCAN_SOCKET
nico@215: 00032 #include "rtdm/rtcan.h"
nico@215: 00033 #define CAN_IFNAME     "rtcan%s"
nico@215: 00034 #define CAN_SOCKET     rt_dev_socket
nico@215: 00035 #define CAN_CLOSE      rt_dev_close
nico@215: 00036 #define CAN_RECV       rt_dev_recv
nico@215: 00037 #define CAN_SEND       rt_dev_send
nico@215: 00038 #define CAN_BIND       rt_dev_bind
nico@215: 00039 #define CAN_IOCTL      rt_dev_ioctl
nico@215: 00040 #define CAN_ERRNO(err) (-err)
nico@215: 00041 #else
nico@215: 00042 #include <sys/socket.h>
nico@215: 00043 #include <sys/ioctl.h>
nico@215: 00044 #include "linux/can.h"
nico@215: 00045 #include "linux/can/raw.h"
nico@215: 00046 #include "net/if.h"
etisserant@240: 00047 #define PF_CAN 29
etisserant@240: 00048 #define AF_CAN PF_CAN
nico@215: 00049 //#include "af_can.h"
etisserant@240: 00050 #define CAN_IFNAME     "can%s"
etisserant@240: 00051 #define CAN_SOCKET     socket
etisserant@240: 00052 #define CAN_CLOSE      close
etisserant@240: 00053 #define CAN_RECV       recv
etisserant@240: 00054 #define CAN_SEND       send
etisserant@240: 00055 #define CAN_BIND       bind
etisserant@240: 00056 #define CAN_IOCTL      ioctl
etisserant@240: 00057 #define CAN_ERRNO(err) errno
nico@215: 00058 #endif
nico@215: 00059 
nico@215: 00060 #include "can_driver.h"
nico@215: 00061 
nico@215: 00062 /*********functions which permit to communicate with the board****************/
etisserant@240: 00063 UNS8
etisserant@240: 00064 canReceive_driver (CAN_HANDLE fd0, Message * m)
nico@215: 00065 {
nico@215: 00066   int res;
nico@215: 00067   struct can_frame frame;
nico@215: 00068 
etisserant@240: 00069   res = CAN_RECV (*(int *) fd0, &frame, sizeof (frame), 0);
nico@215: 00070   if (res < 0)
nico@215: 00071     {
etisserant@240: 00072       fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res)));
nico@215: 00073       return 1;
nico@215: 00074     }
nico@215: 00075 
etisserant@240: 00076   m->cob_id.w = frame.can_id & CAN_EFF_MASK;
etisserant@240: 00077   m->len = frame.can_dlc;
nico@215: 00078   if (frame.can_id & CAN_RTR_FLAG)
etisserant@240: 00079     m->rtr = 1;
nico@215: 00080   else
etisserant@240: 00081     m->rtr = 0;
etisserant@240: 00082   memcpy (m->data, frame.data, 8);
nico@215: 00083 
nico@215: 00084   return 0;
nico@215: 00085 }
nico@215: 00086 
nico@215: 00087 
nico@215: 00088 /***************************************************************************/
etisserant@240: 00089 UNS8
etisserant@240: 00090 canSend_driver (CAN_HANDLE fd0, Message * m)
nico@215: 00091 {
nico@215: 00092   int res;
nico@215: 00093   struct can_frame frame;
nico@215: 00094 
etisserant@240: 00095   frame.can_id = m->cob_id.w;
nico@215: 00096   if (frame.can_id >= 0x800)
nico@215: 00097     frame.can_id |= CAN_EFF_FLAG;
etisserant@240: 00098   frame.can_dlc = m->len;
etisserant@240: 00099   if (m->rtr)
nico@215: 00100     frame.can_id |= CAN_RTR_FLAG;
nico@215: 00101   else
etisserant@240: 00102     memcpy (frame.data, m->data, 8);
nico@215: 00103 
etisserant@240: 00104   res = CAN_SEND (*(int *) fd0, &frame, sizeof (frame), 0);
nico@215: 00105   if (res < 0)
nico@215: 00106     {
etisserant@240: 00107       fprintf (stderr, "Send failed: %s\n", strerror (CAN_ERRNO (res)));
nico@215: 00108       return 1;
nico@215: 00109     }
nico@215: 00110 
nico@215: 00111   return 0;
nico@215: 00112 }
nico@215: 00113 
nico@215: 00114 /***************************************************************************/
nico@215: 00115 #ifdef RTCAN_SOCKET
nico@215: 00116 int
etisserant@240: 00117 TranslateBaudRate (const char *optarg)
nico@215: 00118 {
nico@215: 00119   int baudrate;
nico@215: 00120   int val, len;
nico@215: 00121   char *pos = NULL;
nico@215: 00122 
nico@215: 00123   len = strlen (optarg);
nico@215: 00124   if (!len)
nico@215: 00125     return 0;
nico@215: 00126 
nico@215: 00127   switch ((int) optarg[len - 1])
nico@215: 00128     {
nico@215: 00129     case 'M':
nico@215: 00130       baudrate = 1000000;
nico@215: 00131       break;
nico@215: 00132     case 'K':
nico@215: 00133       baudrate = 1000;
nico@215: 00134       break;
nico@215: 00135     default:
nico@215: 00136       baudrate = 1;
nico@215: 00137       break;
nico@215: 00138     }
nico@215: 00139   if ((sscanf (optarg, "%i", &val)) == 1)
nico@215: 00140     baudrate *= val;
nico@215: 00141   else
nico@215: 00142     baudrate = 0;;
nico@215: 00143 
nico@215: 00144   return baudrate;
nico@215: 00145 }
nico@215: 00146 #endif
nico@215: 00147 
nico@215: 00148 /***************************************************************************/
etisserant@240: 00149 CAN_HANDLE
etisserant@240: 00150 canOpen_driver (s_BOARD * board)
nico@215: 00151 {
nico@215: 00152   struct ifreq ifr;
nico@215: 00153   struct sockaddr_can addr;
nico@215: 00154   int err;
etisserant@240: 00155   CAN_HANDLE fd0 = malloc (sizeof (int));
nico@215: 00156 #ifdef RTCAN_SOCKET
nico@215: 00157   can_baudrate_t *baudrate;
nico@215: 00158   can_mode_t *mode;
nico@215: 00159 #endif
nico@215: 00160 
etisserant@240: 00161   *(int *) fd0 = CAN_SOCKET (PF_CAN, SOCK_RAW, CAN_RAW);
nico@215: 00162   if (*(int *) fd0 < 0)
nico@215: 00163     {
nico@215: 00164       fprintf (stderr, "Socket creation failed: %s\n",
etisserant@240: 00165                strerror (CAN_ERRNO (*(int *) fd0)));
nico@215: 00166       goto error_ret;
nico@215: 00167     }
nico@215: 00168 
etisserant@240: 00169   if (*board->busname >= '0' && *board->busname <= '9')
etisserant@240: 00170     snprintf (ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
nico@215: 00171   else
etisserant@240: 00172     strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
etisserant@240: 00173   err = CAN_IOCTL (*(int *) fd0, SIOCGIFINDEX, &ifr);
nico@215: 00174   if (err)
nico@215: 00175     {
nico@215: 00176       fprintf (stderr, "Getting IF index for %s failed: %s\n",
etisserant@240: 00177                ifr.ifr_name, strerror (CAN_ERRNO (err)));
nico@215: 00178       goto error_close;
nico@215: 00179     }
nico@215: 00180 
etisserant@240: 00181   addr.can_family = AF_CAN;
nico@215: 00182   addr.can_ifindex = ifr.ifr_ifindex;
etisserant@240: 00183   err = CAN_BIND (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
nico@215: 00184   if (err)
nico@215: 00185     {
etisserant@240: 00186       fprintf (stderr, "Binding failed: %s\n", strerror (CAN_ERRNO (err)));
nico@215: 00187       goto error_close;
nico@215: 00188     }
nico@215: 00189 
nico@215: 00190 #ifdef RTCAN_SOCKET
nico@215: 00191   baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
etisserant@240: 00192   *baudrate = TranslateBaudRate (board->baudrate);
nico@215: 00193   if (!*baudrate)
nico@215: 00194     goto error_close;
nico@215: 00195 
etisserant@240: 00196   err = CAN_IOCTL (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
nico@215: 00197   if (err)
nico@215: 00198     {
nico@215: 00199       fprintf (stderr,
nico@215: 00200                "Setting baudrate %d failed: %s\n",
etisserant@240: 00201                *baudrate, strerror (CAN_ERRNO (err)));
nico@215: 00202       goto error_close;
nico@215: 00203     }
nico@215: 00204 
nico@215: 00205   mode = (can_mode_t *) & ifr.ifr_ifru;
nico@215: 00206   *mode = CAN_MODE_START;
etisserant@240: 00207   err = CAN_IOCTL (*(int *) fd0, SIOCSCANMODE, &ifr);
nico@215: 00208   if (err)
nico@215: 00209     {
nico@215: 00210       fprintf (stderr, "Starting CAN device failed: %s\n",
etisserant@240: 00211                strerror (CAN_ERRNO (err)));
nico@215: 00212       goto error_close;
nico@215: 00213     }
nico@215: 00214 #endif
nico@215: 00215 
nico@215: 00216   return fd0;
nico@215: 00217 
nico@215: 00218 error_close:
etisserant@240: 00219   CAN_CLOSE (*(int *) fd0);
nico@215: 00220 
nico@215: 00221 error_ret:
nico@215: 00222   free (fd0);
nico@215: 00223   return NULL;
nico@215: 00224 }
nico@215: 00225 
nico@215: 00226 /***************************************************************************/
nico@215: 00227 int
etisserant@240: 00228 canClose_driver (CAN_HANDLE fd0)
nico@215: 00229 {
nico@215: 00230   if (fd0)
nico@215: 00231     {
etisserant@240: 00232       CAN_CLOSE (*(int *) fd0);
nico@215: 00233       free (fd0);
nico@215: 00234     }
nico@215: 00235   return 0;
nico@215: 00236 }
etisserant@240:
can_socket.c
