00001
00002
00003
@@ -65,67 +65,67 @@
00044 #include "linux/can.h"
00045 #include "linux/can/raw.h"
00046 #include "net/if.h"
-00047 #define PF_CAN 29
-00048 #define AF_CAN PF_CAN
+00047 #define PF_CAN 29
+00048 #define AF_CAN PF_CAN
00049
-00050 #define CAN_IFNAME "can%s"
-00051 #define CAN_SOCKET socket
-00052 #define CAN_CLOSE close
-00053 #define CAN_RECV recv
-00054 #define CAN_SEND send
-00055 #define CAN_BIND bind
-00056 #define CAN_IOCTL ioctl
-00057 #define CAN_ERRNO(err) errno
+00050 #define CAN_IFNAME "can%s"
+00051 #define CAN_SOCKET socket
+00052 #define CAN_CLOSE close
+00053 #define CAN_RECV recv
+00054 #define CAN_SEND send
+00055 #define CAN_BIND bind
+00056 #define CAN_IOCTL ioctl
+00057 #define CAN_ERRNO(err) errno
00058 #endif
00059
00060 #include "can_driver.h"
00061
00062
-00063 UNS8
-00064 canReceive_driver (CAN_HANDLE fd0, Message * m)
+00063 UNS8
+00064 canReceive_driver (CAN_HANDLE fd0, Message * m)
00065 {
00066 int res;
00067 struct can_frame frame;
00068
-00069 res = CAN_RECV (*(int *) fd0, &frame, sizeof (frame), 0);
+00069 res = CAN_RECV (*(int *) fd0, &frame, sizeof (frame), 0);
00070 if (res < 0)
00071 {
-00072 fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res)));
+00072 fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res)));
00073 return 1;
00074 }
00075
-00076 m->cob_id.w = frame.can_id & CAN_EFF_MASK;
-00077 m->len = frame.can_dlc;
+00076 m->cob_id.w = frame.can_id & CAN_EFF_MASK;
+00077 m->len = frame.can_dlc;
00078 if (frame.can_id & CAN_RTR_FLAG)
-00079 m->rtr = 1;
+00079 m->rtr = 1;
00080 else
-00081 m->rtr = 0;
-00082 memcpy (m->data, frame.data, 8);
+00081 m->rtr = 0;
+00082 memcpy (m->data, frame.data, 8);
00083
00084 return 0;
00085 }
00086
00087
00088
-00089 UNS8
-00090 canSend_driver (CAN_HANDLE fd0, Message * m)
+00089 UNS8
+00090 canSend_driver (CAN_HANDLE fd0, Message * m)
00091 {
00092 int res;
00093 struct can_frame frame;
00094
-00095 frame.can_id = m->cob_id.w;
+00095 frame.can_id = m->cob_id.w;
00096 if (frame.can_id >= 0x800)
00097 frame.can_id |= CAN_EFF_FLAG;
-00098 frame.can_dlc = m->len;
-00099 if (m->rtr)
+00098 frame.can_dlc = m->len;
+00099 if (m->rtr)
00100 frame.can_id |= CAN_RTR_FLAG;
00101 else
-00102 memcpy (frame.data, m->data, 8);
+00102 memcpy (frame.data, m->data, 8);
00103
-00104 res = CAN_SEND (*(int *) fd0, &frame, sizeof (frame), 0);
+00104 res = CAN_SEND (*(int *) fd0, &frame, sizeof (frame), 0);
00105 if (res < 0)
00106 {
-00107 fprintf (stderr, "Send failed: %s\n", strerror (CAN_ERRNO (res)));
+00107 fprintf (stderr, "Send failed: %s\n", strerror (CAN_ERRNO (res)));
00108 return 1;
00109 }
00110
@@ -135,7 +135,7 @@
00114
00115 #ifdef RTCAN_SOCKET
00116 int
-00117 TranslateBaudRate (const char *optarg)
+00117 TranslateBaudRate (const char *optarg)
00118 {
00119 int baudrate;
00120 int val, len;
@@ -167,69 +167,69 @@
00146 #endif
00147
00148
-00149 CAN_HANDLE
-00150 canOpen_driver (s_BOARD * board)
+00149 CAN_HANDLE
+00150 canOpen_driver (s_BOARD * board)
00151 {
00152 struct ifreq ifr;
00153 struct sockaddr_can addr;
00154 int err;
-00155 CAN_HANDLE fd0 = malloc (sizeof (int));
+00155 CAN_HANDLE fd0 = malloc (sizeof (int));
00156 #ifdef RTCAN_SOCKET
00157 can_baudrate_t *baudrate;
00158 can_mode_t *mode;
00159 #endif
00160
-00161 *(int *) fd0 = CAN_SOCKET (PF_CAN, SOCK_RAW, CAN_RAW);
+00161 *(int *) fd0 = CAN_SOCKET (PF_CAN, SOCK_RAW, CAN_RAW);
00162 if (*(int *) fd0 < 0)
00163 {
00164 fprintf (stderr, "Socket creation failed: %s\n",
-00165 strerror (CAN_ERRNO (*(int *) fd0)));
+00165 strerror (CAN_ERRNO (*(int *) fd0)));
00166 goto error_ret;
00167 }
00168
-00169 if (*board->busname >= '0' && *board->busname <= '9')
-00170 snprintf (ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
+00169 if (*board->busname >= '0' && *board->busname <= '9')
+00170 snprintf (ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
00171 else
-00172 strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
-00173 err = CAN_IOCTL (*(int *) fd0, SIOCGIFINDEX, &ifr);
+00172 strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
+00173 err = CAN_IOCTL (*(int *) fd0, SIOCGIFINDEX, &ifr);
00174 if (err)
00175 {
00176 fprintf (stderr, "Getting IF index for %s failed: %s\n",
-00177 ifr.ifr_name, strerror (CAN_ERRNO (err)));
+00177 ifr.ifr_name, strerror (CAN_ERRNO (err)));
00178 goto error_close;
00179 }
00180
-00181 addr.can_family = AF_CAN;
+00181 addr.can_family = AF_CAN;
00182 addr.can_ifindex = ifr.ifr_ifindex;
-00183 err = CAN_BIND (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
+00183 err = CAN_BIND (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
00184 if (err)
00185 {
-00186 fprintf (stderr, "Binding failed: %s\n", strerror (CAN_ERRNO (err)));
+00186 fprintf (stderr, "Binding failed: %s\n", strerror (CAN_ERRNO (err)));
00187 goto error_close;
00188 }
00189
00190 #ifdef RTCAN_SOCKET
00191 baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
-00192 *baudrate = TranslateBaudRate (board->baudrate);
+00192 *baudrate = TranslateBaudRate (board->baudrate);
00193 if (!*baudrate)
00194 goto error_close;
00195
-00196 err = CAN_IOCTL (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
+00196 err = CAN_IOCTL (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
00197 if (err)
00198 {
00199 fprintf (stderr,
00200 "Setting baudrate %d failed: %s\n",
-00201 *baudrate, strerror (CAN_ERRNO (err)));
+00201 *baudrate, strerror (CAN_ERRNO (err)));
00202 goto error_close;
00203 }
00204
00205 mode = (can_mode_t *) & ifr.ifr_ifru;
00206 *mode = CAN_MODE_START;
-00207 err = CAN_IOCTL (*(int *) fd0, SIOCSCANMODE, &ifr);
+00207 err = CAN_IOCTL (*(int *) fd0, SIOCSCANMODE, &ifr);
00208 if (err)
00209 {
00210 fprintf (stderr, "Starting CAN device failed: %s\n",
-00211 strerror (CAN_ERRNO (err)));
+00211 strerror (CAN_ERRNO (err)));
00212 goto error_close;
00213 }
00214 #endif
@@ -237,7 +237,7 @@
00216 return fd0;
00217
00218 error_close:
-00219 CAN_CLOSE (*(int *) fd0);
+00219 CAN_CLOSE (*(int *) fd0);
00220
00221 error_ret:
00222 free (fd0);
@@ -246,16 +246,16 @@
00225
00226
00227 int
-00228 canClose_driver (CAN_HANDLE fd0)
+00228 canClose_driver (CAN_HANDLE fd0)
00229 {
00230 if (fd0)
00231 {
-00232 CAN_CLOSE (*(int *) fd0);
+00232 CAN_CLOSE (*(int *) fd0);
00233 free (fd0);
00234 }
00235 return 0;
00236 }
-