CanFestival: /home/epimerde/documents/tc11/CanFestival-3/drivers/can_lincan/can

00001 /*
nico@207: 00002 This file is part of CanFestival, a library implementing CanOpen Stack.
nico@207: 00003 
nico@207: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@207: 00005 
nico@207: 00006 See COPYING file for copyrights details.
nico@207: 00007 
nico@207: 00008 This library is free software; you can redistribute it and/or
nico@207: 00009 modify it under the terms of the GNU Lesser General Public
nico@207: 00010 License as published by the Free Software Foundation; either
nico@207: 00011 version 2.1 of the License, or (at your option) any later version.
nico@207: 00012 
nico@207: 00013 This library is distributed in the hope that it will be useful,
nico@207: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@207: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@207: 00016 Lesser General Public License for more details.
nico@207: 00017 
nico@207: 00018 You should have received a copy of the GNU Lesser General Public
nico@207: 00019 License along with this library; if not, write to the Free Software
nico@207: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@207: 00021 */
nico@207: 00022 
nico@207: 00023 #include <stdio.h>
nico@207: 00024 #include <string.h>
nico@207: 00025 #include <errno.h>
nico@207: 00026 #include <fcntl.h>
nico@207: 00027 
nico@207: 00028 #include "canmsg.h"
nico@207: 00029 #include "lincan.h"
nico@207: 00030 
nico@207: 00031 #include "can_driver.h"
nico@207: 00032 
nico@207: 00033 /*********functions which permit to communicate with the board****************/
nico@207: 00034 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
nico@207: 00035 {
nico@207: 00036   int res;
nico@207: 00037   struct canmsg_t canmsg;
nico@207: 00038 
nico@207: 00039   canmsg.flags = 0; /* Ensure standard receive, not required for LinCAN>=0.3.1 */
nico@207: 00040 
nico@207: 00041   do{
nico@207: 00042     res = read(fd0,&canmsg,sizeof(canmsg_t));
nico@207: 00043     if((res<0)&&(errno == -EAGAIN)) res = 0;
nico@207: 00044   }while(res==0);
nico@207: 00045 
nico@207: 00046   if(res != sizeof(canmsg_t)) // No new message
nico@207: 00047     return 1;
nico@207: 00048 
nico@207: 00049   if(canmsg.flags&MSG_EXT){
nico@207: 00050     /* There is no mark for extended messages in CanFestival */;
nico@207: 00051   }
nico@207: 00052 
nico@207: 00053   m->cob_id.w = canmsg.id;
nico@207: 00054   m->len = canmsg.length;
nico@207: 00055   if(canmsg.flags&MSG_RTR){
nico@207: 00056     m->rtr = 1;
nico@207: 00057   }else{
nico@207: 00058     m->rtr = 0;
nico@207: 00059     memcpy(m->data,canmsg.data,8);
nico@207: 00060   }
nico@207: 00061 
nico@207: 00062   return 0;
nico@207: 00063 }
nico@207: 00064 
nico@207: 00065 /***************************************************************************/
nico@207: 00066 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
nico@207: 00067 {
nico@207: 00068   int res;
nico@207: 00069   struct canmsg_t canmsg;
nico@207: 00070 
nico@207: 00071 
nico@207: 00072   canmsg.flags = 0;
nico@207: 00073   canmsg.id = m->cob_id.w;
nico@207: 00074   canmsg.length = m->len;
nico@207: 00075   if(m->rtr){
nico@207: 00076     canmsg.flags |= MSG_RTR;
nico@207: 00077   }else{
nico@207: 00078     memcpy(canmsg.data,m->data,8);
nico@207: 00079   }
nico@207: 00080 
nico@207: 00081   if(canmsg.id >= 0x800){
nico@207: 00082     canmsg.flags |= MSG_EXT;
nico@207: 00083   }
nico@207: 00084 
nico@207: 00085   res = write(fd0,&canmsg,sizeof(canmsg_t));
nico@207: 00086   if(res!=sizeof(canmsg_t))
nico@207: 00087     return 1;
nico@207: 00088 
nico@207: 00089   return 0;
nico@207: 00090 }
nico@207: 00091 
nico@207: 00092 /***************************************************************************/
nico@207: 00093 static const char lnx_can_dev_prefix[] = "/dev/can";
nico@207: 00094 
nico@207: 00095 CAN_HANDLE canOpen_driver(s_BOARD *board)
nico@207: 00096 {
nico@207: 00097   int name_len = strlen(board->busname);
nico@207: 00098   int prefix_len = strlen(lnx_can_dev_prefix);
nico@207: 00099   char dev_name[prefix_len+name_len+1];
nico@207: 00100   int o_flags = 0;
nico@207: 00101   CAN_HANDLE fd0;
nico@207: 00102 
nico@207: 00103   fd0=malloc(sizeof(*fd0));
nico@207: 00104   if(fd0==NULL)
nico@207: 00105     return NULL;
nico@207: 00106 
nico@207: 00107   /*o_flags = O_NONBLOCK;*/
nico@207: 00108 
nico@207: 00109   memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
nico@207: 00110   memcpy(dev_name+prefix_len,board->busname,name_len);
nico@207: 00111   dev_name[prefix_len+name_len] = 0;
nico@207: 00112 
nico@207: 00113   fd0 = open(dev_name, O_RDWR|o_flags);
nico@207: 00114   if(fd0 < 0){
nico@207: 00115     fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname);
nico@207: 00116     goto error_ret;
nico@207: 00117   }
nico@207: 00118 
nico@207: 00119   return fd0;
nico@207: 00120 
nico@207: 00121  error_ret:
nico@207: 00122   free(fd0);
nico@207: 00123   return NULL;
nico@207: 00124 }
nico@207: 00125 
nico@207: 00126 /***************************************************************************/
nico@207: 00127 int canClose_driver(CAN_HANDLE fd0)
nico@207: 00128 {
nico@207: 00129   if(!fd0)
nico@207: 00130     return 0;
nico@207: 00131   close(fd0);
nico@207: 00132   return 0;
nico@207: 00133 }
nico@207:
/home/epimerde/documents/tc11/CanFestival-3/drivers/can_lincan/can_lincan.c
