CanFestival: drivers/can_lincan/can

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