From ed31980cb89579b381cf4b9647e7755ea59beba1 Mon Sep 17 00:00:00 2001
From: James Snyder <jbsnyder@fanplastic.org>
Date: Sat, 4 Jul 2009 17:10:41 +0000
Subject: [PATCH] Forgot to commit this.

---
 src/modules/can.c | 84 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 84 insertions(+)
 create mode 100644 src/modules/can.c

diff --git a/src/modules/can.c b/src/modules/can.c
new file mode 100644
index 00000000..5e8483b1
--- /dev/null
+++ b/src/modules/can.c
@@ -0,0 +1,84 @@
+// Module for interfacing Lua code with a Controller Area Network (CAN)
+
+#include "lua.h"
+#include "lualib.h"
+#include "lauxlib.h"
+#include "platform.h"
+#include "auxmods.h"
+#include "lrotable.h"
+
+// Lua: setup( id, clock )
+static int can_setup( lua_State* L )
+{
+  unsigned id;
+  u32 clock, res;
+  
+  id = luaL_checkinteger( L, 1 );
+  MOD_CHECK_ID( can, id );
+  clock = luaL_checkinteger( L, 2 );
+  res = platform_can_setup( id, clock );
+  lua_pushinteger( L, res );
+  return 1;
+}
+
+// Lua: send( id, canid, canidtype, message )
+static int can_send( lua_State* L )
+{
+  size_t len;
+  int id, canid, idtype;
+  const char *data;
+  
+  id = luaL_checkinteger( L, 1 );
+  MOD_CHECK_ID( can, id );
+  canid = luaL_checkinteger( L, 2 );
+  idtype = luaL_checkinteger( L, 3 );
+  data = luaL_checklstring (L, 4, &len);
+  if ( len > PLATFORM_CAN_MAXLEN )
+    return luaL_error( L, "message exceeds max length" );
+  
+  platform_can_send( id, canid, idtype, len, ( const u8 * )data );
+  
+  return 0;
+}
+
+// Lua: canid, canidtype, message = recv( id )
+static int can_recv( lua_State* L )
+{
+  u8 len;
+  int id;
+  u32 canid;
+  u8  idtype, data[ 8 ];
+  
+  id = luaL_checkinteger( L, 1 );
+  MOD_CHECK_ID( can, id );
+  
+  platform_can_recv( id, &canid, &idtype, &len, data );
+  lua_pushinteger( L, canid );
+  lua_pushinteger( L, idtype );
+  lua_pushlstring (L, ( const char * )data, ( size_t )len);
+  
+  return 3;
+}
+
+
+// Module function map
+#define MIN_OPT_LEVEL 2
+#include "lrodefs.h"
+const LUA_REG_TYPE can_map[] = 
+{
+  { LSTRKEY( "setup" ),  LFUNCVAL( can_setup ) },
+  { LSTRKEY( "send" ),  LFUNCVAL( can_send ) },  
+  { LSTRKEY( "recv" ),  LFUNCVAL( can_recv ) },
+  { LNILKEY, LNILVAL }
+};
+
+LUALIB_API int luaopen_can( lua_State *L )
+{
+#if LUA_OPTIMIZE_MEMORY > 0
+  return 0;
+#else // #if LUA_OPTIMIZE_MEMORY > 0
+  luaL_register( L, AUXLIB_CAN, can_map );
+  
+  return 1;
+#endif // #if LUA_OPTIMIZE_MEMORY > 0  
+}