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20 <h1>/home/epimerde/documents/tc11/CanFestival-3/drivers/can_socket/can_socket.c</h1><a href="can__socket_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
21 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack.</span>
22 <a name="l00003"></a>00003 <span class="comment"></span>
23 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
24 <a name="l00005"></a>00005 <span class="comment"></span>
25 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
26 <a name="l00007"></a>00007 <span class="comment"></span>
27 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
28 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
29 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
30 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
31 <a name="l00012"></a>00012 <span class="comment"></span>
32 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
33 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
34 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
35 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
36 <a name="l00017"></a>00017 <span class="comment"></span>
37 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
38 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
39 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
40 <a name="l00021"></a>00021 <span class="comment">*/</span>
41 <a name="l00022"></a>00022
42 <a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span>
43 <a name="l00024"></a>00024 <span class="preprocessor">#include <string.h></span>
44 <a name="l00025"></a>00025 <span class="preprocessor">#include <stdlib.h></span>
45 <a name="l00026"></a>00026 <span class="preprocessor">#include <stddef.h></span> <span class="comment">/* for NULL */</span>
46 <a name="l00027"></a>00027 <span class="preprocessor">#include <errno.h></span>
47 <a name="l00028"></a>00028
48 <a name="l00029"></a>00029 <span class="preprocessor">#include "<a class="code" href="win32_2config_8h.html">config.h</a>"</span>
49 <a name="l00030"></a>00030
50 <a name="l00031"></a>00031 <span class="preprocessor">#ifdef RTCAN_SOCKET</span>
51 <a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#include "rtdm/rtcan.h"</span>
52 <a name="l00033"></a>00033 <span class="preprocessor">#define CAN_IFNAME "rtcan%s"</span>
53 <a name="l00034"></a>00034 <span class="preprocessor"></span><span class="preprocessor">#define CAN_SOCKET rt_dev_socket</span>
54 <a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define CAN_CLOSE rt_dev_close</span>
55 <a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define CAN_RECV rt_dev_recv</span>
56 <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define CAN_SEND rt_dev_send</span>
57 <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define CAN_BIND rt_dev_bind</span>
58 <a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#define CAN_IOCTL rt_dev_ioctl</span>
59 <a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define CAN_ERRNO(err) (-err)</span>
60 <a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#else</span>
61 <a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#include <sys/socket.h></span>
62 <a name="l00043"></a>00043 <span class="preprocessor">#include <sys/ioctl.h></span>
63 <a name="l00044"></a>00044 <span class="preprocessor">#include "linux/can.h"</span>
64 <a name="l00045"></a>00045 <span class="preprocessor">#include "linux/can/raw.h"</span>
65 <a name="l00046"></a>00046 <span class="preprocessor">#include "net/if.h"</span>
66 <a name="l00047"></a><a class="code" href="can__socket_8c.html#eac0c3db7a1e021f17987bcc76893849">00047</a> <span class="preprocessor">#define PF_CAN 29</span>
67 <a name="l00048"></a><a class="code" href="can__socket_8c.html#546620c7e758f003b24b7fdae4f97bd4">00048</a> <span class="preprocessor"></span><span class="preprocessor">#define AF_CAN PF_CAN</span>
68 <a name="l00049"></a>00049 <span class="preprocessor"></span><span class="comment">//#include "af_can.h"</span>
69 <a name="l00050"></a><a class="code" href="can__socket_8c.html#b0e2c857f77f55e9d76239af529340ef">00050</a> <span class="preprocessor">#define CAN_IFNAME "can%s"</span>
70 <a name="l00051"></a><a class="code" href="can__socket_8c.html#3947ec96c2f7841c6a25f0d2b9989597">00051</a> <span class="preprocessor"></span><span class="preprocessor">#define CAN_SOCKET socket</span>
71 <a name="l00052"></a><a class="code" href="can__socket_8c.html#4a4bdc94205926096ef572a540e4d025">00052</a> <span class="preprocessor"></span><span class="preprocessor">#define CAN_CLOSE close</span>
72 <a name="l00053"></a><a class="code" href="can__socket_8c.html#b78c6a888be103b97e95bfc85f5da083">00053</a> <span class="preprocessor"></span><span class="preprocessor">#define CAN_RECV recv</span>
73 <a name="l00054"></a><a class="code" href="can__socket_8c.html#70c9889a227060d2e902e298858c1f36">00054</a> <span class="preprocessor"></span><span class="preprocessor">#define CAN_SEND send</span>
74 <a name="l00055"></a><a class="code" href="can__socket_8c.html#f51a5befd644cec65f24d3502b31d630">00055</a> <span class="preprocessor"></span><span class="preprocessor">#define CAN_BIND bind</span>
75 <a name="l00056"></a><a class="code" href="can__socket_8c.html#56776428046c869321581cd587514964">00056</a> <span class="preprocessor"></span><span class="preprocessor">#define CAN_IOCTL ioctl</span>
76 <a name="l00057"></a><a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">00057</a> <span class="preprocessor"></span><span class="preprocessor">#define CAN_ERRNO(err) errno</span>
77 <a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
78 <a name="l00059"></a>00059 <span class="preprocessor"></span>
79 <a name="l00060"></a>00060 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
80 <a name="l00061"></a>00061
81 <a name="l00062"></a>00062 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
82 <a name="l00063"></a>00063 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>
83 <a name="l00064"></a><a class="code" href="can__socket_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">00064</a> <a class="code" href="can__lincan_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">canReceive_driver</a> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> * m)
84 <a name="l00065"></a>00065 {
85 <a name="l00066"></a>00066 <span class="keywordtype">int</span> res;
86 <a name="l00067"></a>00067 <span class="keyword">struct </span>can_frame frame;
87 <a name="l00068"></a>00068
88 <a name="l00069"></a>00069 res = <a class="code" href="can__socket_8c.html#b78c6a888be103b97e95bfc85f5da083">CAN_RECV</a> (*(<span class="keywordtype">int</span> *) fd0, &frame, <span class="keyword">sizeof</span> (frame), 0);
89 <a name="l00070"></a>00070 <span class="keywordflow">if</span> (res < 0)
90 <a name="l00071"></a>00071 {
91 <a name="l00072"></a>00072 fprintf (stderr, <span class="stringliteral">"Recv failed: %s\n"</span>, strerror (<a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">CAN_ERRNO</a> (res)));
92 <a name="l00073"></a>00073 <span class="keywordflow">return</span> 1;
93 <a name="l00074"></a>00074 }
94 <a name="l00075"></a>00075
95 <a name="l00076"></a>00076 m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = frame.can_id & CAN_EFF_MASK;
96 <a name="l00077"></a>00077 m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = frame.can_dlc;
97 <a name="l00078"></a>00078 <span class="keywordflow">if</span> (frame.can_id & CAN_RTR_FLAG)
98 <a name="l00079"></a>00079 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1;
99 <a name="l00080"></a>00080 <span class="keywordflow">else</span>
100 <a name="l00081"></a>00081 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0;
101 <a name="l00082"></a>00082 memcpy (m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>, frame.data, 8);
102 <a name="l00083"></a>00083
103 <a name="l00084"></a>00084 <span class="keywordflow">return</span> 0;
104 <a name="l00085"></a>00085 }
105 <a name="l00086"></a>00086
106 <a name="l00087"></a>00087
107 <a name="l00088"></a>00088 <span class="comment">/***************************************************************************/</span>
108 <a name="l00089"></a>00089 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>
109 <a name="l00090"></a><a class="code" href="can__socket_8c.html#def95aee49efa13dd047d0b3b5507ad3">00090</a> <a class="code" href="can__lincan_8c.html#def95aee49efa13dd047d0b3b5507ad3">canSend_driver</a> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> * m)
110 <a name="l00091"></a>00091 {
111 <a name="l00092"></a>00092 <span class="keywordtype">int</span> res;
112 <a name="l00093"></a>00093 <span class="keyword">struct </span>can_frame frame;
113 <a name="l00094"></a>00094
114 <a name="l00095"></a>00095 frame.can_id = m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>;
115 <a name="l00096"></a>00096 <span class="keywordflow">if</span> (frame.can_id >= 0x800)
116 <a name="l00097"></a>00097 frame.can_id |= CAN_EFF_FLAG;
117 <a name="l00098"></a>00098 frame.can_dlc = m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>;
118 <a name="l00099"></a>00099 <span class="keywordflow">if</span> (m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a>)
119 <a name="l00100"></a>00100 frame.can_id |= CAN_RTR_FLAG;
120 <a name="l00101"></a>00101 <span class="keywordflow">else</span>
121 <a name="l00102"></a>00102 memcpy (frame.data, m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>, 8);
122 <a name="l00103"></a>00103
123 <a name="l00104"></a>00104 res = <a class="code" href="can__socket_8c.html#70c9889a227060d2e902e298858c1f36">CAN_SEND</a> (*(<span class="keywordtype">int</span> *) fd0, &frame, <span class="keyword">sizeof</span> (frame), 0);
124 <a name="l00105"></a>00105 <span class="keywordflow">if</span> (res < 0)
125 <a name="l00106"></a>00106 {
126 <a name="l00107"></a>00107 fprintf (stderr, <span class="stringliteral">"Send failed: %s\n"</span>, strerror (<a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">CAN_ERRNO</a> (res)));
127 <a name="l00108"></a>00108 <span class="keywordflow">return</span> 1;
128 <a name="l00109"></a>00109 }
129 <a name="l00110"></a>00110
130 <a name="l00111"></a>00111 <span class="keywordflow">return</span> 0;
131 <a name="l00112"></a>00112 }
132 <a name="l00113"></a>00113
133 <a name="l00114"></a>00114 <span class="comment">/***************************************************************************/</span>
134 <a name="l00115"></a>00115 <span class="preprocessor">#ifdef RTCAN_SOCKET</span>
135 <a name="l00116"></a>00116 <span class="preprocessor"></span><span class="keywordtype">int</span>
136 <a name="l00117"></a>00117 TranslateBaudRate (<span class="keyword">const</span> <span class="keywordtype">char</span> *optarg)
137 <a name="l00118"></a>00118 {
138 <a name="l00119"></a>00119 <span class="keywordtype">int</span> baudrate;
139 <a name="l00120"></a>00120 <span class="keywordtype">int</span> val, len;
140 <a name="l00121"></a>00121 <span class="keywordtype">char</span> *pos = NULL;
141 <a name="l00122"></a>00122
142 <a name="l00123"></a>00123 len = strlen (optarg);
143 <a name="l00124"></a>00124 <span class="keywordflow">if</span> (!len)
144 <a name="l00125"></a>00125 <span class="keywordflow">return</span> 0;
145 <a name="l00126"></a>00126
146 <a name="l00127"></a>00127 <span class="keywordflow">switch</span> ((<span class="keywordtype">int</span>) optarg[len - 1])
147 <a name="l00128"></a>00128 {
148 <a name="l00129"></a>00129 <span class="keywordflow">case</span> <span class="charliteral">'M'</span>:
149 <a name="l00130"></a>00130 baudrate = 1000000;
150 <a name="l00131"></a>00131 <span class="keywordflow">break</span>;
151 <a name="l00132"></a>00132 <span class="keywordflow">case</span> <span class="charliteral">'K'</span>:
152 <a name="l00133"></a>00133 baudrate = 1000;
153 <a name="l00134"></a>00134 <span class="keywordflow">break</span>;
154 <a name="l00135"></a>00135 <span class="keywordflow">default</span>:
155 <a name="l00136"></a>00136 baudrate = 1;
156 <a name="l00137"></a>00137 <span class="keywordflow">break</span>;
157 <a name="l00138"></a>00138 }
158 <a name="l00139"></a>00139 <span class="keywordflow">if</span> ((sscanf (optarg, <span class="stringliteral">"%i"</span>, &val)) == 1)
159 <a name="l00140"></a>00140 baudrate *= val;
160 <a name="l00141"></a>00141 <span class="keywordflow">else</span>
161 <a name="l00142"></a>00142 baudrate = 0;;
162 <a name="l00143"></a>00143
163 <a name="l00144"></a>00144 <span class="keywordflow">return</span> baudrate;
164 <a name="l00145"></a>00145 }
165 <a name="l00146"></a>00146 <span class="preprocessor">#endif</span>
166 <a name="l00147"></a>00147 <span class="preprocessor"></span>
167 <a name="l00148"></a>00148 <span class="comment">/***************************************************************************/</span>
168 <a name="l00149"></a>00149 <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a>
169 <a name="l00150"></a><a class="code" href="can__socket_8c.html#945403aba7f36acbd2e7160ade361bab">00150</a> <a class="code" href="can__lincan_8c.html#945403aba7f36acbd2e7160ade361bab">canOpen_driver</a> (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> * board)
170 <a name="l00151"></a>00151 {
171 <a name="l00152"></a>00152 <span class="keyword">struct </span>ifreq ifr;
172 <a name="l00153"></a>00153 <span class="keyword">struct </span>sockaddr_can addr;
173 <a name="l00154"></a>00154 <span class="keywordtype">int</span> err;
174 <a name="l00155"></a>00155 <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0 = malloc (<span class="keyword">sizeof</span> (<span class="keywordtype">int</span>));
175 <a name="l00156"></a>00156 <span class="preprocessor">#ifdef RTCAN_SOCKET</span>
176 <a name="l00157"></a>00157 <span class="preprocessor"></span> can_baudrate_t *baudrate;
177 <a name="l00158"></a>00158 can_mode_t *mode;
178 <a name="l00159"></a>00159 <span class="preprocessor">#endif</span>
179 <a name="l00160"></a>00160 <span class="preprocessor"></span>
180 <a name="l00161"></a>00161 *(<span class="keywordtype">int</span> *) fd0 = <a class="code" href="can__socket_8c.html#3947ec96c2f7841c6a25f0d2b9989597">CAN_SOCKET</a> (<a class="code" href="can__socket_8c.html#eac0c3db7a1e021f17987bcc76893849">PF_CAN</a>, SOCK_RAW, CAN_RAW);
181 <a name="l00162"></a>00162 <span class="keywordflow">if</span> (*(<span class="keywordtype">int</span> *) fd0 < 0)
182 <a name="l00163"></a>00163 {
183 <a name="l00164"></a>00164 fprintf (stderr, <span class="stringliteral">"Socket creation failed: %s\n"</span>,
184 <a name="l00165"></a>00165 strerror (<a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">CAN_ERRNO</a> (*(<span class="keywordtype">int</span> *) fd0)));
185 <a name="l00166"></a>00166 <span class="keywordflow">goto</span> error_ret;
186 <a name="l00167"></a>00167 }
187 <a name="l00168"></a>00168
188 <a name="l00169"></a>00169 <span class="keywordflow">if</span> (*board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a> >= <span class="charliteral">'0'</span> && *board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a> <= <span class="charliteral">'9'</span>)
189 <a name="l00170"></a>00170 snprintf (ifr.ifr_name, IFNAMSIZ, <a class="code" href="can__socket_8c.html#b0e2c857f77f55e9d76239af529340ef">CAN_IFNAME</a>, board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>);
190 <a name="l00171"></a>00171 <span class="keywordflow">else</span>
191 <a name="l00172"></a>00172 strncpy (ifr.ifr_name, board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, IFNAMSIZ);
192 <a name="l00173"></a>00173 err = <a class="code" href="can__socket_8c.html#56776428046c869321581cd587514964">CAN_IOCTL</a> (*(<span class="keywordtype">int</span> *) fd0, SIOCGIFINDEX, &ifr);
193 <a name="l00174"></a>00174 <span class="keywordflow">if</span> (err)
194 <a name="l00175"></a>00175 {
195 <a name="l00176"></a>00176 fprintf (stderr, <span class="stringliteral">"Getting IF index for %s failed: %s\n"</span>,
196 <a name="l00177"></a>00177 ifr.ifr_name, strerror (<a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">CAN_ERRNO</a> (err)));
197 <a name="l00178"></a>00178 <span class="keywordflow">goto</span> error_close;
198 <a name="l00179"></a>00179 }
199 <a name="l00180"></a>00180
200 <a name="l00181"></a>00181 addr.can_family = <a class="code" href="can__socket_8c.html#546620c7e758f003b24b7fdae4f97bd4">AF_CAN</a>;
201 <a name="l00182"></a>00182 addr.can_ifindex = ifr.ifr_ifindex;
202 <a name="l00183"></a>00183 err = <a class="code" href="can__socket_8c.html#f51a5befd644cec65f24d3502b31d630">CAN_BIND</a> (*(<span class="keywordtype">int</span> *) fd0, (<span class="keyword">struct</span> sockaddr *) &addr, <span class="keyword">sizeof</span> (addr));
203 <a name="l00184"></a>00184 <span class="keywordflow">if</span> (err)
204 <a name="l00185"></a>00185 {
205 <a name="l00186"></a>00186 fprintf (stderr, <span class="stringliteral">"Binding failed: %s\n"</span>, strerror (<a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">CAN_ERRNO</a> (err)));
206 <a name="l00187"></a>00187 <span class="keywordflow">goto</span> error_close;
207 <a name="l00188"></a>00188 }
208 <a name="l00189"></a>00189
209 <a name="l00190"></a>00190 <span class="preprocessor">#ifdef RTCAN_SOCKET</span>
210 <a name="l00191"></a>00191 <span class="preprocessor"></span> baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
211 <a name="l00192"></a>00192 *baudrate = TranslateBaudRate (board-><a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>);
212 <a name="l00193"></a>00193 <span class="keywordflow">if</span> (!*baudrate)
213 <a name="l00194"></a>00194 <span class="keywordflow">goto</span> error_close;
214 <a name="l00195"></a>00195
215 <a name="l00196"></a>00196 err = <a class="code" href="can__socket_8c.html#56776428046c869321581cd587514964">CAN_IOCTL</a> (*(<span class="keywordtype">int</span> *) fd0, SIOCSCANBAUDRATE, &ifr);
216 <a name="l00197"></a>00197 <span class="keywordflow">if</span> (err)
217 <a name="l00198"></a>00198 {
218 <a name="l00199"></a>00199 fprintf (stderr,
219 <a name="l00200"></a>00200 <span class="stringliteral">"Setting baudrate %d failed: %s\n"</span>,
220 <a name="l00201"></a>00201 *baudrate, strerror (<a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">CAN_ERRNO</a> (err)));
221 <a name="l00202"></a>00202 <span class="keywordflow">goto</span> error_close;
222 <a name="l00203"></a>00203 }
223 <a name="l00204"></a>00204
224 <a name="l00205"></a>00205 mode = (can_mode_t *) & ifr.ifr_ifru;
225 <a name="l00206"></a>00206 *mode = CAN_MODE_START;
226 <a name="l00207"></a>00207 err = <a class="code" href="can__socket_8c.html#56776428046c869321581cd587514964">CAN_IOCTL</a> (*(<span class="keywordtype">int</span> *) fd0, SIOCSCANMODE, &ifr);
227 <a name="l00208"></a>00208 <span class="keywordflow">if</span> (err)
228 <a name="l00209"></a>00209 {
229 <a name="l00210"></a>00210 fprintf (stderr, <span class="stringliteral">"Starting CAN device failed: %s\n"</span>,
230 <a name="l00211"></a>00211 strerror (<a class="code" href="can__socket_8c.html#e9e218c73b4cb73965e4412c4d50eb2e">CAN_ERRNO</a> (err)));
231 <a name="l00212"></a>00212 <span class="keywordflow">goto</span> error_close;
232 <a name="l00213"></a>00213 }
233 <a name="l00214"></a>00214 <span class="preprocessor">#endif</span>
234 <a name="l00215"></a>00215 <span class="preprocessor"></span>
235 <a name="l00216"></a>00216 <span class="keywordflow">return</span> fd0;
236 <a name="l00217"></a>00217
237 <a name="l00218"></a>00218 error_close:
238 <a name="l00219"></a>00219 <a class="code" href="can__socket_8c.html#4a4bdc94205926096ef572a540e4d025">CAN_CLOSE</a> (*(<span class="keywordtype">int</span> *) fd0);
239 <a name="l00220"></a>00220
240 <a name="l00221"></a>00221 error_ret:
241 <a name="l00222"></a>00222 free (fd0);
242 <a name="l00223"></a>00223 <span class="keywordflow">return</span> NULL;
243 <a name="l00224"></a>00224 }
244 <a name="l00225"></a>00225
245 <a name="l00226"></a>00226 <span class="comment">/***************************************************************************/</span>
246 <a name="l00227"></a>00227 <span class="keywordtype">int</span>
247 <a name="l00228"></a><a class="code" href="can__socket_8c.html#76e6a915d0e40a23b863198b2aaa5545">00228</a> <a class="code" href="can__lincan_8c.html#76e6a915d0e40a23b863198b2aaa5545">canClose_driver</a> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0)
248 <a name="l00229"></a>00229 {
249 <a name="l00230"></a>00230 <span class="keywordflow">if</span> (fd0)
250 <a name="l00231"></a>00231 {
251 <a name="l00232"></a>00232 <a class="code" href="can__socket_8c.html#4a4bdc94205926096ef572a540e4d025">CAN_CLOSE</a> (*(<span class="keywordtype">int</span> *) fd0);
252 <a name="l00233"></a>00233 free (fd0);
253 <a name="l00234"></a>00234 }
254 <a name="l00235"></a>00235 <span class="keywordflow">return</span> 0;
255 <a name="l00236"></a>00236 }
256 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 16:29:06 2007 for CanFestival by
257 <a href="http://www.doxygen.org/index.html">
258 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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