42 static CO_ReturnError_t setFilters(CO_CANmodule_t *CANmodule){  in setFilters()  argument
45     if(CANmodule->useCANrxFilters){  in setFilters()
49         nFiltersIn = CANmodule->rxSize;  in setFilters()
64                 fin = &CANmodule->filter[i];  in setFilters()
77             if(setsockopt(CANmodule->fd, SOL_CAN_RAW, CAN_RAW_FILTER,  in setFilters()
87         CANmodule->filter[0].can_id = 0;  in setFilters()
88         CANmodule->filter[0].can_mask = 0;  in setFilters()
89         if(setsockopt(CANmodule->fd, SOL_CAN_RAW, CAN_RAW_FILTER,  in setFilters()
90             &CANmodule->filter[0], sizeof(struct can_filter)) != 0)  in setFilters()
106 void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule){  in CO_CANsetNormalMode()  argument
108     if(CANmodule == NULL || setFilters(CANmodule) != CO_ERROR_NO){  in CO_CANsetNormalMode()
111     CANmodule->CANnormal = true;  in CO_CANsetNormalMode()
117         CO_CANmodule_t         *CANmodule,  in CO_CANmodule_init()  argument
129     if(CANmodule==NULL || CANdriverState==NULL || rxArray==NULL || txArray==NULL){  in CO_CANmodule_init()
135         CANmodule->CANdriverState = CANdriverState;  in CO_CANmodule_init()
136         CANmodule->rxArray = rxArray;  in CO_CANmodule_init()
137         CANmodule->rxSize = rxSize;  in CO_CANmodule_init()
138         CANmodule->txArray = txArray;  in CO_CANmodule_init()
139         CANmodule->txSize = txSize;  in CO_CANmodule_init()
140         CANmodule->CANnormal = false;  in CO_CANmodule_init()
141         CANmodule->useCANrxFilters = true;  in CO_CANmodule_init()
142         CANmodule->bufferInhibitFlag = false;  in CO_CANmodule_init()
143         CANmodule->firstCANtxMessage = true;  in CO_CANmodule_init()
144         CANmodule->error = 0;  in CO_CANmodule_init()
145         CANmodule->CANtxCount = 0U;  in CO_CANmodule_init()
146         CANmodule->errOld = 0U;  in CO_CANmodule_init()
147         CANmodule->em = NULL;  in CO_CANmodule_init()
150         CANmodule->useCANrxFilters = false;  in CO_CANmodule_init()
165     if(ret == CO_ERROR_NO && CANmodule->wasConfigured == 0){  in CO_CANmodule_init()
168         CANmodule->wasConfigured = 1;  in CO_CANmodule_init()
171         CANmodule->fd = socket(AF_CAN, SOCK_RAW, CAN_RAW);  in CO_CANmodule_init()
172         if(CANmodule->fd < 0){  in CO_CANmodule_init()
178             if(bind(CANmodule->fd, (struct sockaddr*)&sockAddr, sizeof(sockAddr)) != 0){  in CO_CANmodule_init()
185             CANmodule->filter = (struct can_filter *) calloc(rxSize, sizeof(struct can_filter));  in CO_CANmodule_init()
186             if(CANmodule->filter == NULL){  in CO_CANmodule_init()
193     if(ret == CO_ERROR_NO && CANmodule->filter == NULL){  in CO_CANmodule_init()
198     if(ret == CO_ERROR_NO && CANmodule->useCANrxFilters){  in CO_CANmodule_init()
201             CANmodule->filter[i].can_id = 0;  in CO_CANmodule_init()
202             CANmodule->filter[i].can_mask = CAN_SFF_MASK | CAN_EFF_FLAG | CAN_RTR_FLAG;  in CO_CANmodule_init()
208         setsockopt(CANmodule->fd, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);  in CO_CANmodule_init()
216 void CO_CANmodule_disable(CO_CANmodule_t *CANmodule){  in CO_CANmodule_disable()  argument
217     close(CANmodule->fd);  in CO_CANmodule_disable()
218     free(CANmodule->filter);  in CO_CANmodule_disable()
219     CANmodule->filter = NULL;  in CO_CANmodule_disable()
231         CO_CANmodule_t         *CANmodule,  in CO_CANrxBufferInit()  argument
241     if((CANmodule!=NULL) && (object!=NULL) && (pFunct!=NULL) &&  in CO_CANrxBufferInit()
242        (CANmodule->filter!=NULL) && (index < CANmodule->rxSize)){  in CO_CANrxBufferInit()
244         CO_CANrx_t *buffer = &CANmodule->rxArray[index];  in CO_CANrxBufferInit()
258         if(CANmodule->useCANrxFilters){  in CO_CANrxBufferInit()
259             CANmodule->filter[index].can_id = buffer->ident;  in CO_CANrxBufferInit()
260             CANmodule->filter[index].can_mask = buffer->mask;  in CO_CANrxBufferInit()
261             if(CANmodule->CANnormal){  in CO_CANrxBufferInit()
262                 ret = setFilters(CANmodule);  in CO_CANrxBufferInit()
276         CO_CANmodule_t         *CANmodule,  in CO_CANtxBufferInit()  argument
285     if((CANmodule != NULL) && (index < CANmodule->txSize)){  in CO_CANtxBufferInit()
287         buffer = &CANmodule->txArray[index];  in CO_CANtxBufferInit()
305 CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer){  in CO_CANsend()  argument
310     n = write(CANmodule->fd, buffer, count);  in CO_CANsend()
317         CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_CAN_TX_OVERFLOW, CO_EMC_CAN_OVERRUN, n);  in CO_CANsend()
326 void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule){  in CO_CANclearPendingSyncPDOs()  argument
332 void CO_CANverifyErrors(CO_CANmodule_t *CANmodule){  in CO_CANverifyErrors()  argument
335     CO_EM_t* em = (CO_EM_t*)CANmodule->em;  in CO_CANverifyErrors()
338     canGetErrorCounters(CANmodule->CANdriverState, &rxErrors, &txErrors);  in CO_CANverifyErrors()
342     err = ((uint32_t)txErrors << 16) | ((uint32_t)rxErrors << 8) | CANmodule->error;  in CO_CANverifyErrors()
344     if(CANmodule->errOld != err){  in CO_CANverifyErrors()
345         CANmodule->errOld = err;  in CO_CANverifyErrors()
365                 if(!CANmodule->firstCANtxMessage){  in CO_CANverifyErrors()
386         if(CANmodule->error & 0x02){                       /* CAN RX bus overflow */  in CO_CANverifyErrors()
395 void CO_CANrxWait(CO_CANmodule_t *CANmodule){  in CO_CANrxWait()  argument
399     if(CANmodule == NULL){  in CO_CANrxWait()
406     n = read(CANmodule->fd, &msg, size);  in CO_CANrxWait()
408     if(CANmodule->CANnormal){  in CO_CANrxWait()
411 …          CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_CAN_RXB_OVERFLOW, CO_EMC_COMMUNICATION, n);  in CO_CANrxWait()
424             buffer = &CANmodule->rxArray[0];  in CO_CANrxWait()
425             for(i = CANmodule->rxSize; i > 0U; i--){  in CO_CANrxWait()