c46a2edd57
This driver is more sophisticated than the normal socketCAN driver. Compared to the normal socketCAN driver, this one contains the linking exception license. Changes compared to normal socketCAN driver: - Re-implementation based on driver template - Error detection works - Setting up filters works properly - Optional Support for socketCAN error frames. This currently handles bus-off and no-ack condition by setting driver into listen-only mode. If you decide to use this feature have a close look at your own requirements and fit error handling functions to that. - Optional support for CAN interface combining (not redundancy!). With this feature enabled you can have multiple CAN interface represented as one within CANopenNode stack. By default, all TX messages are sent on all used CAN interfaces, but the user can change this behaviour inside own app (e.g. check on wich bus rx-sdo is received and set-up tx-sdo accordingly). Be aware that no bridging between the interfaces is done!
60 lines
1,005 B
C
60 lines
1,005 B
C
/* Snipped from https://stackoverflow.com/a/2486353 */
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#include <unistd.h>
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#include <assert.h>
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#include <fcntl.h>
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#include <stdlib.h>
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#include "CO_notify_pipe.h"
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struct CO_NotifyPipe {
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int m_receiveFd;
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int m_sendFd;
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};
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CO_NotifyPipe_t *CO_NotifyPipeCreate(void)
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{
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int pipefd[2];
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CO_NotifyPipe_t *p;
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int ret = pipe(pipefd);
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if (ret < 0) {
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return NULL;
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}
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p = calloc(1, sizeof(CO_NotifyPipe_t));
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if (p == NULL) {
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return NULL;
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}
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p->m_receiveFd = pipefd[0];
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p->m_sendFd = pipefd[1];
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fcntl(p->m_sendFd,F_SETFL,O_NONBLOCK);
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return p;
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}
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void CO_NotifyPipeFree(CO_NotifyPipe_t *p)
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{
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if (p == NULL) {
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return;
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}
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close(p->m_sendFd);
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close(p->m_receiveFd);
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free(p);
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}
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int CO_NotifyPipeGetFd(CO_NotifyPipe_t *p)
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{
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if (p == NULL) {
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return -1;
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}
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return p->m_receiveFd;
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}
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void CO_NotifyPipeSend(CO_NotifyPipe_t *p)
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{
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if (p == NULL) {
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return;
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}
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write(p->m_sendFd,"1",1);
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}
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