CanFestival: /home/epimerde/documents/tc11/CanFestival-3/drivers/can_socket/can

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 }
+
/home/epimerde/documents/tc11/CanFestival-3/drivers/can_socket/can_socket.c
