1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#include <stdio.h>

    24

#include <string.h>

    25

#include <stdlib.h>

    26

#include <errno.h>

    27

#include <stddef.h> /* for NULL */

    28

#include <sys/ioctl.h>

    29

#include <fcntl.h>

    30

#include <signal.h>

    31

#include <sys/time.h>

    32

#include <unistd.h>

    33

    34

/* driver pcan pci for Peak board */

    35

//#include "libpcan.h"

    36

//#include "pcan.h"

    37

    38

#include "libpcan.h" // for CAN_HANDLE

    39

    40

#include <applicfg.h>

    41

#include "timer.h"

    42

#include "can_driver.h"

    43

#include "timers_driver.h"

    44

    45

#define MAX_NB_CAN_PORTS 16

    46

    47

typedef struct {

    48

  char used;

    49

  HANDLE fd;

    50

  TASK_HANDLE receiveTask;

    51

  CO_Data* d;

    52

} CANPort;

    53

    54

CANPort canports[MAX_NB_CAN_PORTS] = {{0,},};

    55

    56

// Define for rtr CAN message

    57

#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 

    58

    59

/*********functions which permit to communicate with the board****************/

    60

UNS8 canReceive(CAN_HANDLE fd0, Message *m)

    61

{

    62

  UNS8 data; 

    63

  TPCANMsg peakMsg;

    64

  if ((errno = CAN_Read(((CANPort*)fd0)->fd, & peakMsg))) {		// Blocks until no new message or error.

    65

    if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading" 

    66

    {

    67

    	perror("!!! Peak board : error of reading. (from f_can_receive function) \n");

    68

    }

    69

    return 1;

    70

  }

    71

  m->cob_id.w = peakMsg.ID;   

    72

  if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)         	/* bits of MSGTYPE_*/

    73

    m->rtr = 0;

    74

  else 

    75

    m->rtr = 1;

    76

  m->len = peakMsg.LEN;					/* count of data bytes (0..8) */

    77

  for(data = 0  ; data < peakMsg.LEN ; data++)             			

    78

    m->data[data] = peakMsg.DATA[data];         	/* data bytes, up to 8 */

    79

    80

  return 0;

    81

}

    82

    83

void canReceiveLoop(CAN_HANDLE fd0)

    84

{

    85

	CO_Data* d = ((CANPort*)fd0)->d;

    86

	Message m;

    87

	while (1) {

    88

		if(!canReceive(fd0, &m))

    89

		{

    90

			EnterMutex();

    91

			canDispatch(d, &m);

    92

			LeaveMutex();

    93

		}else{

    94

//			printf("canReceive returned error\n");

    95

			break;

    96

		}

    97

	}

    98

}

    99

   100

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

   101

UNS8 canSend(CAN_HANDLE fd0, Message *m)

   102

{

   103

  UNS8 data;

   104

  TPCANMsg peakMsg;

   105

  peakMsg.ID=m -> cob_id.w;              			/* 11/29 bit code */

   106

  if(m->rtr == 0)	

   107

    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/

   108

  else {

   109

    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/

   110

  }

   111

  peakMsg.LEN = m->len;   

   112

          			/* count of data bytes (0..8) */

   113

  for(data = 0 ; data <  m->len; data ++)

   114

  	peakMsg.DATA[data] = m->data[data];         	/* data bytes, up to 8 */

   115

   116

  if((errno = CAN_Write(((CANPort*)fd0)->fd, & peakMsg))) {

   117

    perror("!!! Peak board : error of writing. (from canSend function) \n");

   118

    return 1;

   119

  }

   120

  return 0;

   121

   122

}

   123

   124

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

   125

CAN_HANDLE canOpen(s_BOARD *board)

   126

{

   127

  HANDLE fd0 = NULL;

   128

  char busname[64];

   129

  char* pEnd;

   130

  int i;  

   131

   132

  for(i=0; i < MAX_NB_CAN_PORTS; i++)

   133

  {

   134

  	if(!canports[i].used)

   135

	  	break;

   136

  }

   137

   138

  if(strtol(board->busname, &pEnd,0) >= 0)

   139

  {

   140

    sprintf(busname,"/dev/pcan%s",board->busname);

   141

    fd0 = LINUX_CAN_Open(busname, O_RDWR);

   142

  }

   143

   144

  if (i==MAX_NB_CAN_PORTS || fd0 == NULL)

   145

    {

   146

      fprintf (stderr, "Open failed.\n");

   147

      return (CAN_HANDLE)NULL;

   148

    }

   149

   150

   CAN_Init(fd0, board->baudrate, CAN_INIT_TYPE_ST);

   151

   152

   canports[i].used = 1;

   153

   canports[i].fd = fd0;

   154

   155

   canports[i].d = board->d;

   156

   CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask);

   157

   158

   return (CANPort*) &canports[i];

   159

}

   160

   161

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

   162

int canClose(CAN_HANDLE fd0)

   163

{

   164

  CAN_Close(((CANPort*)fd0)->fd);

   165

  WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask);

   166

  ((CANPort*)fd0)->used = 0;

   167

  return 0;

   168

}