CanFestival: drivers/can_lincan/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 <errno.h>
+00026 #include <fcntl.h>
+00027 
+00028 #include "canmsg.h"
+00029 #include "lincan.h"
+00030 
+00031 #include "can_driver.h"
+00032 
+00033 /*********functions which permit to communicate with the board****************/
+00034 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+00035 {
+00036   int res;
+00037   struct canmsg_t canmsg;
+00038 
+00039   canmsg.flags = 0; /* Ensure standard receive, not required for LinCAN>=0.3.1 */
+00040 
+00041   do{
+00042     res = read(fd0,&canmsg,sizeof(canmsg_t));
+00043     if((res<0)&&(errno == -EAGAIN)) res = 0;
+00044   }while(res==0);
+00045 
+00046   if(res != sizeof(canmsg_t)) // No new message
+00047     return 1;
+00048 
+00049   if(canmsg.flags&MSG_EXT){
+00050     /* There is no mark for extended messages in CanFestival */;
+00051   }
+00052 
+00053   m->cob_id.w = canmsg.id;
+00054   m->len = canmsg.length;
+00055   if(canmsg.flags&MSG_RTR){
+00056     m->rtr = 1;
+00057   }else{
+00058     m->rtr = 0;
+00059     memcpy(m->data,canmsg.data,8);
+00060   }
+00061 
+00062   return 0;
+00063 }
+00064 
+00065 /***************************************************************************/
+00066 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+00067 {
+00068   int res;
+00069   struct canmsg_t canmsg;
+00070 
+00071 
+00072   canmsg.flags = 0;
+00073   canmsg.id = m->cob_id.w;
+00074   canmsg.length = m->len;
+00075   if(m->rtr){
+00076     canmsg.flags |= MSG_RTR;
+00077   }else{
+00078     memcpy(canmsg.data,m->data,8);
+00079   }
+00080 
+00081   if(canmsg.id >= 0x800){
+00082     canmsg.flags |= MSG_EXT;
+00083   }
+00084 
+00085   res = write(fd0,&canmsg,sizeof(canmsg_t));
+00086   if(res!=sizeof(canmsg_t))
+00087     return 1;
+00088 
+00089   return 0;
+00090 }
+00091 
+00092 /***************************************************************************/
+00093 static const char lnx_can_dev_prefix[] = "/dev/can";
+00094 
+00095 CAN_HANDLE canOpen_driver(s_BOARD *board)
+00096 {
+00097   int name_len = strlen(board->busname);
+00098   int prefix_len = strlen(lnx_can_dev_prefix);
+00099   char dev_name[prefix_len+name_len+1];
+00100   int o_flags = 0;
+00101   CAN_HANDLE fd0;
+00102 
+00103   fd0=malloc(sizeof(*fd0));
+00104   if(fd0==NULL)
+00105     return NULL;
+00106 
+00107   /*o_flags = O_NONBLOCK;*/
+00108 
+00109   memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
+00110   memcpy(dev_name+prefix_len,board->busname,name_len);
+00111   dev_name[prefix_len+name_len] = 0;
+00112 
+00113   fd0 = open(dev_name, O_RDWR|o_flags);
+00114   if(fd0 < 0){
+00115     fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname);
+00116     goto error_ret;
+00117   }
+00118 
+00119   return fd0;
+00120 
+00121  error_ret:
+00122   free(fd0);
+00123   return NULL;
+00124 }
+00125 
+00126 /***************************************************************************/
+00127 int canClose_driver(CAN_HANDLE fd0)
+00128 {
+00129   if(!fd0)
+00130     return 0;
+00131   close(fd0);
+00132   return 0;
+00133 }
+