00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
@@ -51,17 +51,17 @@
 00030 #include "can_driver.h"
 00031 #include "def.h"
 00032 
-00033 #define MAX_NB_CAN_PIPES 16
+00033 #define MAX_NB_CAN_PIPES 16
 00034 
 00035 typedef struct {
-00036   char used;
-00037   int pipe[2];
+00036   char used;
+00037   int pipe[2];
 00038 } CANPipe;
 00039 
-00040 CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
+00040 CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
 00041 
 00042 /*********functions which permit to communicate with the board****************/
-00043 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+00043 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
 00044 {
 00045         if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) != (ssize_t)sizeof(Message))
 00046         {
@@ -70,56 +70,56 @@
 00049         return 0;
 00050 }
 00051 
-00052 #define MyCase(fc) case fc: printf(#fc);break;
-00053 void print_message(Message *m)
+00052 #define MyCase(fc) case fc: printf(#fc);break;
+00053 void print_message(Message *m)
 00054 {
 00055         int i;
-00056         switch(m->cob_id.w >> 7)
+00056         switch(m->cob_id.w >> 7)
 00057         {
-00058                 MyCase(SYNC)
-00059                 MyCase(TIME_STAMP)
-00060                 MyCase(PDO1tx)
-00061                 MyCase(PDO1rx)
-00062                 MyCase(PDO2tx)
-00063                 MyCase(PDO2rx)
-00064                 MyCase(PDO3tx)
-00065                 MyCase(PDO3rx)
-00066                 MyCase(PDO4tx)
-00067                 MyCase(PDO4rx)
-00068                 MyCase(SDOtx)
-00069                 MyCase(SDOrx)
-00070                 MyCase(NODE_GUARD)
-00071                 MyCase(NMT)
+00058                 MyCase(SYNC)
+00059                 MyCase(TIME_STAMP)
+00060                 MyCase(PDO1tx)
+00061                 MyCase(PDO1rx)
+00062                 MyCase(PDO2tx)
+00063                 MyCase(PDO2rx)
+00064                 MyCase(PDO3tx)
+00065                 MyCase(PDO3rx)
+00066                 MyCase(PDO4tx)
+00067                 MyCase(PDO4rx)
+00068                 MyCase(SDOtx)
+00069                 MyCase(SDOrx)
+00070                 MyCase(NODE_GUARD)
+00071                 MyCase(NMT)
 00072         }
-00073         printf(" rtr:%d", m->rtr);
-00074         printf(" len:%d", m->len);
-00075         for (i = 0 ; i < m->len ; i++)
-00076                 printf(" %02x", m->data[i]);
+00073         printf(" rtr:%d", m->rtr);
+00074         printf(" len:%d", m->len);
+00075         for (i = 0 ; i < m->len ; i++)
+00076                 printf(" %02x", m->data[i]);
 00077         printf("\n");
 00078 }
 00079 
 00080 /***************************************************************************/
-00081 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+00081 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
 00082 {
 00083   int i;
 00084   
-00085   printf("%x->[ ", (CANPipe*)fd0 - &canpipes[0]); 
-00086   for(i=0; i < MAX_NB_CAN_PIPES; i++)
+00085   printf("%x->[ ", (CANPipe*)fd0 - &canpipes[0]); 
+00086   for(i=0; i < MAX_NB_CAN_PIPES; i++)
 00087   {
-00088         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
+00088         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
 00089         {
 00090                 printf("%x ",i);        
 00091         }
 00092   }
 00093   printf(" ]"); 
-00094   print_message(m);
+00094   print_message(m);
 00095   
 00096   // Send to all readers, except myself
 00097   for(i=0; i < MAX_NB_CAN_PIPES; i++)
 00098   {
-00099         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
+00099         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
 00100         {
-00101                 write(canpipes[i].pipe[1], m, sizeof(Message));
+00101                 write(canpipes[i].pipe[1], m, sizeof(Message));
 00102         }
 00103   }
 00104   return 0;
@@ -139,28 +139,28 @@
 00118         return 0;
 00119 }*/
 00120 /***************************************************************************/
-00121 CAN_HANDLE canOpen_driver(s_BOARD *board)
+00121 CAN_HANDLE canOpen_driver(s_BOARD *board)
 00122 {
 00123   int i;  
-00124   for(i=0; i < MAX_NB_CAN_PIPES; i++)
+00124   for(i=0; i < MAX_NB_CAN_PIPES; i++)
 00125   {
-00126         if(!canpipes[i].used)
+00126         if(!canpipes[i].used)
 00127                 break;
 00128   }
 00129 
 00130   /* Create the pipe.  */
-00131   if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))
+00131   if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))
 00132     {
 00133       fprintf (stderr, "Open failed.\n");
-00134       return (CAN_HANDLE)NULL;
+00134       return (CAN_HANDLE)NULL;
 00135     }
 00136 
-00137    canpipes[i].used = 1;
-00138    return (CAN_HANDLE) &canpipes[i];
+00137    canpipes[i].used = 1;
+00138    return (CAN_HANDLE) &canpipes[i];
 00139 }
 00140 
 00141 /***************************************************************************/
-00142 int canClose_driver(CAN_HANDLE fd0)
+00142 int canClose_driver(CAN_HANDLE fd0)
 00143 {
 00144   close(((CANPipe*)fd0)->pipe[0]);
 00145   close(((CANPipe*)fd0)->pipe[1]);
@@ -169,7 +169,7 @@
 00148 }
 00149 
 00150 
-
can_virtual.c
