diff -r 2cb34a4ac65a -r 6b5a4c21e061 doc/doxygen/html/can__socket_8c-source.html --- a/doc/doxygen/html/can__socket_8c-source.html Tue Jun 05 17:34:33 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,260 +0,0 @@ - - -CanFestival: /home/epimerde/documents/tc11/CanFestival-3/drivers/can_socket/can_socket.c Source File - - - - -
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/home/epimerde/documents/tc11/CanFestival-3/drivers/can_socket/can_socket.c

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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 <stdlib.h>
-00026 #include <stddef.h>             /* for NULL */
-00027 #include <errno.h>
-00028 
-00029 #include "config.h"
-00030 
-00031 #ifdef RTCAN_SOCKET
-00032 #include "rtdm/rtcan.h"
-00033 #define CAN_IFNAME     "rtcan%s"
-00034 #define CAN_SOCKET     rt_dev_socket
-00035 #define CAN_CLOSE      rt_dev_close
-00036 #define CAN_RECV       rt_dev_recv
-00037 #define CAN_SEND       rt_dev_send
-00038 #define CAN_BIND       rt_dev_bind
-00039 #define CAN_IOCTL      rt_dev_ioctl
-00040 #define CAN_ERRNO(err) (-err)
-00041 #else
-00042 #include <sys/socket.h>
-00043 #include <sys/ioctl.h>
-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
-00049 //#include "af_can.h"
-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 /*********functions which permit to communicate with the board****************/
-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);
-00070   if (res < 0)
-00071     {
-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;
-00078   if (frame.can_id & CAN_RTR_FLAG)
-00079     m->rtr = 1;
-00080   else
-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)
-00091 {
-00092   int res;
-00093   struct can_frame frame;
-00094 
-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)
-00100     frame.can_id |= CAN_RTR_FLAG;
-00101   else
-00102     memcpy (frame.data, m->data, 8);
-00103 
-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)));
-00108       return 1;
-00109     }
-00110 
-00111   return 0;
-00112 }
-00113 
-00114 /***************************************************************************/
-00115 #ifdef RTCAN_SOCKET
-00116 int
-00117 TranslateBaudRate (const char *optarg)
-00118 {
-00119   int baudrate;
-00120   int val, len;
-00121   char *pos = NULL;
-00122 
-00123   len = strlen (optarg);
-00124   if (!len)
-00125     return 0;
-00126 
-00127   switch ((int) optarg[len - 1])
-00128     {
-00129     case 'M':
-00130       baudrate = 1000000;
-00131       break;
-00132     case 'K':
-00133       baudrate = 1000;
-00134       break;
-00135     default:
-00136       baudrate = 1;
-00137       break;
-00138     }
-00139   if ((sscanf (optarg, "%i", &val)) == 1)
-00140     baudrate *= val;
-00141   else
-00142     baudrate = 0;;
-00143 
-00144   return baudrate;
-00145 }
-00146 #endif
-00147 
-00148 /***************************************************************************/
-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));
-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);
-00162   if (*(int *) fd0 < 0)
-00163     {
-00164       fprintf (stderr, "Socket creation failed: %s\n",
-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);
-00171   else
-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)));
-00178       goto error_close;
-00179     }
-00180 
-00181   addr.can_family = AF_CAN;
-00182   addr.can_ifindex = ifr.ifr_ifindex;
-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)));
-00187       goto error_close;
-00188     }
-00189 
-00190 #ifdef RTCAN_SOCKET
-00191   baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
-00192   *baudrate = TranslateBaudRate (board->baudrate);
-00193   if (!*baudrate)
-00194     goto error_close;
-00195 
-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)));
-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);
-00208   if (err)
-00209     {
-00210       fprintf (stderr, "Starting CAN device failed: %s\n",
-00211                strerror (CAN_ERRNO (err)));
-00212       goto error_close;
-00213     }
-00214 #endif
-00215 
-00216   return fd0;
-00217 
-00218 error_close:
-00219   CAN_CLOSE (*(int *) fd0);
-00220 
-00221 error_ret:
-00222   free (fd0);
-00223   return NULL;
-00224 }
-00225 
-00226 /***************************************************************************/
-00227 int
-00228 canClose_driver (CAN_HANDLE fd0)
-00229 {
-00230   if (fd0)
-00231     {
-00232       CAN_CLOSE (*(int *) fd0);
-00233       free (fd0);
-00234     }
-00235   return 0;
-00236 }
-

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