diff -r c9d01296d6d9 -r 732c33c2d8a7 drivers/can_serial/can_serial.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_serial/can_serial.c	Fri Apr 25 12:18:23 2008 +0200
@@ -0,0 +1,216 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+Ruthlessly butchered by James Steward to produce a serial (tty) port
+driver.
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/*
+	Single serial port CAN driver.
+*/
+
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <termios.h>
+#include <stdlib.h>
+
+#define NEED_PRINT_MESSAGE
+#include "can_driver.h"
+#include "def.h"
+
+typedef struct {
+	int fd;
+	struct termios old_termio, new_termio;
+} CANPort;
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message * m)
+{
+	int rv, N, n = 0;
+	fd_set rfds;
+	struct timeval tv;
+
+	N = 4; //initially try to read 4 bytes, including the length byte
+	
+retry:
+	rv = read(((CANPort *) fd0)->fd, &((char *)m)[n], N - n);
+
+	if (rv == -1) {
+		fprintf(stderr, "read: %s\n", strerror(errno));
+		return 1;
+	}
+
+	n += rv;
+
+	if (n == 4) {
+		N = (4 + m->len);
+		
+		if (m->len > 8) {
+			fprintf(stderr, "Warning: invalid message length %d\n", 
+					m->len);
+			
+			//try to resync
+			n = 0;
+			N = 4;
+		}
+
+	}
+
+	if (n < N) {
+
+		FD_ZERO(&rfds);
+		FD_SET(((CANPort *) fd0)->fd, &rfds);
+
+		tv.tv_sec = 0;
+		tv.tv_usec=100000;
+		
+		rv = select(((CANPort *) fd0)->fd + 1, &rfds, NULL, NULL, &tv);
+		if (rv == -1) {
+			fprintf(stderr, "select: %s\n", strerror(errno));
+			return 1;
+		} else if (rv == 0) {
+			n = 0;
+		}
+
+		goto retry;	
+	}
+
+	print_message(m);
+
+	return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message * m)
+{
+	int rv;
+
+	print_message(m);
+
+	// Send to serial port 
+	rv = write(((CANPort *) fd0)->fd, m, 4 + m->len);
+
+	if (rv != 4 + m->len) {
+		return 1;
+	}
+
+	return 0;
+}
+
+/***************************************************************************/
+int TranslateBaudRate(char *optarg)
+{
+	if (!strcmp(optarg, "1M"))
+		return (int) 1000;
+	if (!strcmp(optarg, "500K"))
+		return (int) 500;
+	if (!strcmp(optarg, "250K"))
+		return (int) 250;
+	if (!strcmp(optarg, "125K"))
+		return (int) 125;
+	if (!strcmp(optarg, "100K"))
+		return (int) 100;
+	if (!strcmp(optarg, "50K"))
+		return (int) 50;
+	if (!strcmp(optarg, "20K"))
+		return (int) 20;
+	if (!strcmp(optarg, "10K"))
+		return (int) 10;
+	if (!strcmp(optarg, "5K"))
+		return (int) 5;
+	if (!strcmp(optarg, "none"))
+		return 0;
+	return 0x0000;
+}
+
+UNS8 canChangeBaudRate_driver(CAN_HANDLE fd0, char *baud)
+{
+	printf("Faked changing to baud rate %s[%d]\n", 
+			baud, TranslateBaudRate(baud));
+	return 0;
+}
+
+/***************************************************************************/
+CAN_HANDLE canOpen_driver(s_BOARD * board)
+{
+	int rv;
+
+	CANPort *p;
+
+	p = (CANPort *)calloc(1, sizeof(CANPort));
+	
+	if (p == NULL) {
+		fprintf(stderr, "calloc: %s\n", strerror(errno));
+		return (CAN_HANDLE) NULL;
+	}
+
+	p->fd = open(board->busname, O_RDWR);
+	
+	if (p->fd < 0) {
+		fprintf(stderr, "open: %s, %s\n", 
+				board->busname, strerror(errno));
+		free(p);
+		return (CAN_HANDLE) NULL;
+	}
+
+	if (tcgetattr(p->fd, &p->old_termio) != 0) {
+		fprintf(stderr, "tcgetattr: %s, %s\n", 
+				board->busname, strerror(errno));
+		close(p->fd);
+		free(p);
+		return (CAN_HANDLE) NULL;
+	}
+
+	memcpy(&p->new_termio, &p->old_termio, 
+					sizeof(p->old_termio));
+	cfmakeraw(&p->new_termio);
+	cfsetispeed(&p->new_termio, B115200);
+	cfsetospeed(&p->new_termio, B115200);
+	tcsetattr(p->fd, TCSANOW, &p->new_termio);
+
+	return (CAN_HANDLE) p;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+	if ((CANPort *) fd0 && ((CANPort *) fd0)->fd >= 0) {
+		tcsetattr(((CANPort *) fd0)->fd, TCSANOW, 
+					&((CANPort *) fd0)->old_termio);
+		close(((CANPort *) fd0)->fd);
+		free((CANPort *) fd0);
+	}
+
+	return 0;
+}
+
+int canfd_driver(CAN_HANDLE fd0)
+{
+	if ((CANPort *) fd0) {
+		return ((CANPort *) fd0)->fd;
+	}
+
+	return -1;
+}
+