00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack.
 00003 
@@ -52,12 +52,12 @@
 00031 #include "can_driver.h"
 00032 
 00033 /*********functions which permit to communicate with the board****************/
-00034 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+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 */
+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));
@@ -67,40 +67,40 @@
 00046   if(res != sizeof(canmsg_t)) // No new message
 00047     return 1;
 00048 
-00049   if(canmsg.flags&MSG_EXT){
+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;
+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);
+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)
+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;
+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);
+00078     memcpy(canmsg.data,m->data,8);
 00079   }
 00080 
-00081   if(canmsg.id >= 0x800){
-00082     canmsg.flags |= MSG_EXT;
+00081   if(canmsg.id >= 0x800){
+00082     canmsg.flags |= MSG_EXT;
 00083   }
 00084 
 00085   res = write(fd0,&canmsg,sizeof(canmsg_t));
@@ -113,13 +113,13 @@
 00092 /***************************************************************************/
 00093 static const char lnx_can_dev_prefix[] = "/dev/can";
 00094 
-00095 CAN_HANDLE canOpen_driver(s_BOARD *board)
+00095 CAN_HANDLE canOpen_driver(s_BOARD *board)
 00096 {
-00097   int name_len = strlen(board->busname);
+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;
+00101   CAN_HANDLE fd0;
 00102 
 00103   fd0=malloc(sizeof(*fd0));
 00104   if(fd0==NULL)
@@ -128,12 +128,12 @@
 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);
+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);
+00115     fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname);
 00116     goto error_ret;
 00117   }
 00118 
@@ -145,14 +145,14 @@
 00124 }
 00125 
 00126 /***************************************************************************/
-00127 int canClose_driver(CAN_HANDLE fd0)
+00127 int canClose_driver(CAN_HANDLE fd0)
 00128 {
 00129   if(!fd0)
 00130     return 0;
 00131   close(fd0);
 00132   return 0;
 00133 }
-