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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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#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 "canmsg.h"

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#include "lincan.h"

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#include "can_driver.h"

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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;

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  struct canmsg_t canmsg;

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  canmsg.flags = 0; /* Ensure standard receive, not required for LinCAN>=0.3.1 */

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  do{

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    res = read(fd0,&canmsg,sizeof(canmsg_t));

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

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  }while(res==0);

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  if(res != sizeof(canmsg_t)) // 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 = 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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  return 0;

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}

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

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UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)

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{

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  int res;

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  struct canmsg_t canmsg;

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  canmsg.flags = 0;

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  canmsg.id = m->cob_id;

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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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  if(canmsg.id >= 0x800){

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    canmsg.flags |= MSG_EXT;

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  }

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  res = write(fd0,&canmsg,sizeof(canmsg_t));

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  if(res!=sizeof(canmsg_t))

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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 TranslateBaudeRate(char* optarg){

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	if(!strcmp( optarg, "1M")) return 1000000;

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	if(!strcmp( optarg, "500K")) return 500000;

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	if(!strcmp( optarg, "250K")) return 250000;

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	if(!strcmp( optarg, "125K")) return 125000;

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	if(!strcmp( optarg, "100K")) return 100000;

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	if(!strcmp( optarg, "50K")) return 50000;

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	if(!strcmp( optarg, "20K")) return 20000;

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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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UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)

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{

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	struct can_baudparams_t params;

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	params.baudrate = TranslateBaudeRate(baud);

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	if(params.baudrate == 0)

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		return 0;

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	params.flags = -1;	// use driver defaults

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	params.sjw = -1;	// use driver defaults

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	params.sample_pt = -1;	// use driver defaults

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	if(ioctl((int)fd0, CONF_BAUDPARAMS, &params) < 0)

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	{

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		fprintf(stderr, "canOpen_driver (lincan): IOCTL set speed failed\n");

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		return 0;

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	}

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	return 1;

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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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	struct can_baudparams_t params;

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	int o_flags = 0;

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	int fd;

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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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	printf("dev_name %s\n", dev_name);

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	fd = open(dev_name, O_RDWR|o_flags);

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	if(fd < 0)

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	{

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		fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname);

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		goto error_ret;

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	}

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	printf("fd = %d\n", fd);

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	// set baudrate

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	params.baudrate = TranslateBaudeRate(board->baudrate);

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	if(params.baudrate == 0)

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		goto error_ret;

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	params.flags = -1;	// use driver defaults

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	params.sjw = -1;	// use driver defaults

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	params.sample_pt = -1;	// use driver defaults

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	if(ioctl(fd, CONF_BAUDPARAMS, &params) < 0)

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	{

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		fprintf(stderr, "canOpen_driver (lincan): IOCTL set speed failed\n");

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		goto error_ret;

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	}

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	return (CAN_HANDLE)fd;

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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(!fd0)

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    return 0;

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  close(fd0);

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  return 0;

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}