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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): Jorge BERZOSA

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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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* can4linux driver

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*/

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#include <stdio.h>

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#include <string.h>

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#include <errno.h>

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#include <fcntl.h>

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#include "can4linux.h" 

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#include "can_driver.h"

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struct timeval init_time,current_time;

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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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  int res,i;

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  canmsg_t canmsg;

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  long int time_period;

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	canmsg.flags = 0; 

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	do{

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   		res = read(fd0,&canmsg,1);

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   		if((res<0)&&(errno == -EAGAIN)) res = 0;

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	}while(res==0);

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	if(res !=1) // No new message

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   	return 1;

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	if(canmsg.flags&MSG_EXT){

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   		/* There is no mark for extended messages in CanFestival */;

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	}

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	m->cob_id.w = canmsg.id;

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	m->len = canmsg.length;

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	if(canmsg.flags&MSG_RTR){

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 		m->rtr = 1;

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	}else{

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 		m->rtr = 0;

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 		memcpy(m->data,canmsg.data,8);

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	}

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 	/*gettimeofday(&current_time,NULL);

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 	time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec;

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 	printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id.w);

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 	printf("Receive ID: %lx ->",m->cob_id.w);

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 	for(i=0; i<canmsg.length;i++)printf("%x, ", m->data[i]);

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 	printf("\n");*/

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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 res;

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  canmsg_t canmsg;

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  canmsg.flags = 0;

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  canmsg.id = m->cob_id.w;

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  canmsg.length = m->len;

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  if(m->rtr){

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    canmsg.flags |= MSG_RTR;

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  }else{

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    memcpy(canmsg.data,m->data,8);

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  }

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 /*printf("Send ID: %lx ->",canmsg.id); 

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 for(i=0; i<canmsg.length;i++)printf("%x, ", canmsg.data[i]);

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 printf("\n");*/

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  if(canmsg.id >= 0x800){

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    canmsg.flags |= MSG_EXT;

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  }

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  res = write(fd0,&canmsg,1);

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  if(res!=1)

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    return 1;

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  return 0;

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}

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/***************************************************************************/

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int	set_bitrate( CAN_HANDLE fd, int baud)

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{

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    Config_par_t  cfg;	

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    volatile Command_par_t cmd;

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    cmd.cmd = CMD_STOP;

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    ioctl(fd, COMMAND, &cmd);

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    cfg.target = CONF_TIMING; 

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    cfg.val1   = baud;

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    ioctl(fd, CONFIG, &cfg);

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    cmd.cmd = CMD_START;

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    ioctl(fd, COMMAND, &cmd);

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    return 0;

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}

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/***************************************************************************/

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int TranslateBaudeRate(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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/***************************************************************************/

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static const char lnx_can_dev_prefix[] = "/dev/can";

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CAN_HANDLE canOpen_driver(s_BOARD *board)

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{

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  int name_len = strlen(board->busname);

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  int prefix_len = strlen(lnx_can_dev_prefix);

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  char dev_name[prefix_len+name_len+1];

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  int o_flags = 0;

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  int baud = TranslateBaudeRate(board->baudrate);

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  int fd0;

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  /*o_flags = O_NONBLOCK;*/

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  memcpy(dev_name,lnx_can_dev_prefix,prefix_len);

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  memcpy(dev_name+prefix_len,board->busname,name_len);

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  dev_name[prefix_len+name_len] = 0;

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  fd0 = open(dev_name, O_RDWR|o_flags);

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  if(fd0 <= 0){

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    fprintf(stderr,"!!! %s is unknown. See can4linux.c\n", dev_name);

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    goto error_ret;

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  }

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  set_bitrate((CAN_HANDLE)fd0, baud);

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  printf("CAN device dev/can%s opened. Baudrate=>%s\n",board->busname, board->baudrate);

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  return (CAN_HANDLE)fd0;

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 error_ret:

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  return NULL;

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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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  if((int)fd0<=0)

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    return -1;

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  close(fd0);

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  return 0;

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}