author | lbessard |
Wed, 23 Jul 2008 18:02:27 +0200 | |
changeset 500 | 13fcb9328a02 |
parent 384 | 83793fc7ce48 |
child 631 | 08b6b903f84a |
permissions | -rw-r--r-- |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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See COPYING file for copyrights details. |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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/* |
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Virtual CAN driver. |
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*/ |
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#include <stdio.h> |
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#include <unistd.h> |
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#define NEED_PRINT_MESSAGE |
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#include "can_driver.h" |
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#include "def.h" |
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#define MAX_NB_CAN_PIPES 16 |
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typedef struct { |
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char used; |
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int pipe[2]; |
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} CANPipe; |
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CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},}; |
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/*********functions which permit to communicate with the board****************/ |
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UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) |
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{ |
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if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) != (ssize_t)sizeof(Message)) |
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{ |
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return 1; |
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} |
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return 0; |
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} |
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/***************************************************************************/ |
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UNS8 canSend_driver(CAN_HANDLE fd0, Message *m) |
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{ |
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int i; |
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printf("%x->[ ", (CANPipe*)fd0 - &canpipes[0]); |
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for(i=0; i < MAX_NB_CAN_PIPES; i++) |
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{ |
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if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0) |
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{ |
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printf("%x ",i); |
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} |
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} |
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printf(" ]"); |
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print_message(m); |
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// Send to all readers, except myself |
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for(i=0; i < MAX_NB_CAN_PIPES; i++) |
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{ |
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if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0) |
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{ |
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write(canpipes[i].pipe[1], m, sizeof(Message)); |
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} |
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} |
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return 0; |
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} |
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/***************************************************************************/ |
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int TranslateBaudRate(char* optarg){ |
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if(!strcmp( optarg, "1M")) return (int)1000; |
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if(!strcmp( optarg, "500K")) return (int)500; |
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if(!strcmp( optarg, "250K")) return (int)250; |
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if(!strcmp( optarg, "125K")) return (int)125; |
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if(!strcmp( optarg, "100K")) return (int)100; |
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if(!strcmp( optarg, "50K")) return (int)50; |
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if(!strcmp( optarg, "20K")) return (int)20; |
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if(!strcmp( optarg, "10K")) return (int)10; |
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if(!strcmp( optarg, "5K")) return (int)5; |
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if(!strcmp( optarg, "none")) return 0; |
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return 0x0000; |
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} |
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UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud) |
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{ |
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printf("%x-> changing to baud rate %s[%d]\n", (CANPipe*)fd0 - &canpipes[0],baud,TranslateBaudRate(baud)); |
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return 0; |
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} |
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/***************************************************************************/ |
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CAN_HANDLE canOpen_driver(s_BOARD *board) |
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{ |
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int i; |
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for(i=0; i < MAX_NB_CAN_PIPES; i++) |
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{ |
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if(!canpipes[i].used) |
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break; |
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} |
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/* Create the pipe. */ |
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if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe)) |
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{ |
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fprintf (stderr, "Open failed.\n"); |
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return (CAN_HANDLE)NULL; |
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} |
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canpipes[i].used = 1; |
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return (CAN_HANDLE) &canpipes[i]; |
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} |
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/***************************************************************************/ |
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int canClose_driver(CAN_HANDLE fd0) |
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{ |
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close(((CANPipe*)fd0)->pipe[0]); |
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close(((CANPipe*)fd0)->pipe[1]); |
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((CANPipe*)fd0)->used = 0; |
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return 0; |
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} |
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