author | Christian Taedcke <hacking@taedcke.com> |
Tue, 08 Nov 2011 09:52:40 +0000 | |
changeset 688 | 514108c6e4c4 |
parent 631 | 08b6b903f84a |
permissions | -rw-r--r-- |
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/* |
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Copyright (C): Giuseppe Massimo BERTANI |
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gmbertani@users.sourceforge.net |
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|
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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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|
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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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|
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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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/** |
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* @file can_kvaser.c |
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* @author GMB |
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* @date 17/1/08 |
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* |
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* This file is needed to interface Kvaser's CAN Leaf (USB-CAN adapter) |
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* and probably others Kvaser's products compatible with Kvaser's CANLIB, |
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* to CANfestival open source CANopen stack. |
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* |
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* It was tested under Linux 2.6 with "Leaf Professional" and CANLIB 4.72 Beta (Oct 1,2007) |
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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 <signal.h> |
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#include <unistd.h> |
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/* includes Kvaser's CANLIB header */ |
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#include <canlib.h> |
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#include "can_driver.h" |
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/** |
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* CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0 |
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* so fd0 needs to be decremented before use. |
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* |
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*/ |
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UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) |
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{ |
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canStatus retval = canOK; |
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unsigned flags = 0; |
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unsigned long timeStamp; |
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fd0--; |
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/* checking for input message (blocking) */ |
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retval = canReadWait((int)fd0, (long*)&m->cob_id, &m->data, (unsigned*)&m->len, &flags, &timeStamp, -1); |
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if (retval != canOK) |
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{ |
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fprintf(stderr, "canReceive_driver (Kvaser) : canReadWait() error, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n", |
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m->cob_id, m->len, flags, retval); |
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canClose((int)fd0); |
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return retval; |
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} |
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m->rtr = 0; |
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if (flags & canMSG_RTR) |
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{ |
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m->rtr = 1; |
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} |
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if (flags & canMSG_EXT) |
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{ |
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/* TODO: is it correct to set this info in cob_id? */ |
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m->cob_id |= 0x20000000; |
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} |
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//fprintf(stderr, "canReceive_driver (Kvaser) : canReadWait() received packet, cob_id=%08X, len=%u, flags=%08X, timestamp=%d returned value = %d\n", |
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// m->cob_id, m->len, flags, timeStamp, retval); |
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return retval; |
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} |
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/** |
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* |
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* CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0 |
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* so fd0 needs to be decremented before use. |
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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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canStatus retval = canOK; |
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unsigned flags = 0; |
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fd0--; |
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flags |= canMSG_STD; |
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if (m->cob_id & 0x20000000) |
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{ |
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/* TODO: is it correct to desume this info from cob_id? */ |
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flags |= canMSG_EXT; |
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} |
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if (m->cob_id & 0x40000000) |
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{ |
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flags |= canMSG_RTR; |
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} |
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/* |
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* TODO: when should I set canMSG_ERROR_FRAME? |
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*/ |
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retval = canWriteWait((int)fd0, m->cob_id, m->data, m->len, 10000, flags); |
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if (retval != canOK) |
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{ |
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fprintf(stderr, "canSend_driver (Kvaser) : canWriteWait() error, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n", |
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m->cob_id, m->len, flags, retval); |
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canClose((int)fd0); |
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return retval; |
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} |
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128 |
|
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129 |
//fprintf(stderr, "canSend_driver (Kvaser) : canWriteWait() send packet, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n", |
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130 |
// m->cob_id, m->len, flags, retval); |
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131 |
return retval; |
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132 |
|
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133 |
} |
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134 |
|
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|
135 |
|
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136 |
/** |
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137 |
* |
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138 |
*/ |
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139 |
int TranslateBaudRate(char* optarg) |
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140 |
{ |
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141 |
if(!strcmp( optarg, "1M")) |
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142 |
return BAUD_1M; |
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143 |
if(!strcmp( optarg, "500K")) |
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144 |
return BAUD_500K; |
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145 |
if(!strcmp( optarg, "250K")) |
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146 |
return BAUD_250K; |
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147 |
if(!strcmp( optarg, "125K")) |
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148 |
return BAUD_125K; |
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149 |
if(!strcmp( optarg, "100K")) |
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150 |
return BAUD_100K; |
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|
151 |
if(!strcmp( optarg, "62K")) |
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152 |
return BAUD_62K; |
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153 |
if(!strcmp( optarg, "50K")) |
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154 |
return BAUD_50K; |
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|
155 |
|
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156 |
return 0; |
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157 |
} |
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158 |
|
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159 |
/** |
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160 |
* Channels and their descriptors are numbered starting from zero. |
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161 |
* So I need to increment by 1 the handle returned by CANLIB because |
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162 |
* CANfestival CAN_HANDLEs with value zero are considered NOT VALID. |
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163 |
* |
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164 |
* The baud rate could be given directly as bit/s |
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165 |
* or using one of the BAUD_* constants defined |
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166 |
* in canlib.h |
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167 |
*/ |
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168 |
CAN_HANDLE canOpen_driver(s_BOARD *board) |
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169 |
{ |
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170 |
int fd0 = -1; |
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171 |
int channel, baud; |
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172 |
canStatus retval = canOK; |
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173 |
|
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174 |
fd0--; |
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175 |
|
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176 |
sscanf(board->busname, "%d", &channel); |
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177 |
|
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178 |
baud = TranslateBaudRate(board->baudrate); |
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179 |
|
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180 |
if (baud == 0) |
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|
181 |
{ |
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182 |
sscanf(board->baudrate, "%d", &baud); |
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183 |
} |
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184 |
|
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185 |
fd0 = canOpenChannel(channel, canWANT_EXCLUSIVE|canWANT_EXTENDED); |
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186 |
if (fd0 < 0) |
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|
187 |
{ |
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|
188 |
fprintf(stderr, "canOpen_driver (Kvaser) : error opening channel %d\n", channel); |
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189 |
return (CAN_HANDLE)(fd0+1); |
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190 |
} |
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191 |
canBusOff(fd0); |
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|
192 |
|
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193 |
/* values for tseg1, tseg2, sjw, noSamp and syncmode |
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194 |
* come from canlib example "simplewrite.c". The doc |
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195 |
* says that default values will be taken if baud is one of |
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196 |
* the BAUD_* values |
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197 |
*/ |
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198 |
retval = canSetBusParams(fd0, baud, 4, 3, 1, 1, 0); |
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199 |
if (retval != canOK) |
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|
200 |
{ |
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|
201 |
fprintf(stderr, "canOpen_driver (Kvaser) : canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud); |
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|
202 |
canClose((int)fd0); |
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|
203 |
return (CAN_HANDLE)retval; |
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|
204 |
} |
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|
205 |
|
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206 |
canSetBusOutputControl(fd0, canDRIVER_NORMAL); |
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|
207 |
if (retval != canOK) |
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|
208 |
{ |
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|
209 |
fprintf(stderr, "canOpen_driver (Kvaser) : canSetBusOutputControl() error, returned value = %d\n", retval); |
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|
210 |
canClose((int)fd0); |
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|
211 |
return (CAN_HANDLE)retval; |
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|
212 |
} |
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|
213 |
|
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|
214 |
|
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|
215 |
|
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|
216 |
|
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|
217 |
retval = canBusOn(fd0); |
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|
218 |
if (retval != canOK) |
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|
219 |
{ |
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|
220 |
fprintf(stderr, "canOpen_driver (Kvaser) : canBusOn() error, returned value = %d\n", retval); |
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|
221 |
canClose((int)fd0); |
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|
222 |
return (CAN_HANDLE)retval; |
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|
223 |
} |
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|
224 |
|
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|
225 |
return (CAN_HANDLE)(fd0+1); |
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|
226 |
|
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|
227 |
} |
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|
228 |
|
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|
229 |
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud) |
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230 |
{ |
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|
231 |
int baudrate; |
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|
232 |
canStatus retval = canOK; |
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|
233 |
|
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|
234 |
|
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235 |
baudrate = TranslateBaudRate(baud); |
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|
236 |
if (baudrate == 0) |
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|
237 |
{ |
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|
238 |
sscanf(baud, "%d", &baudrate); |
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|
239 |
} |
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|
240 |
|
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|
241 |
|
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|
242 |
fprintf(stderr, "%x-> changing to baud rate %s[%d]\n", (int)fd0, baud, baudrate); |
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|
243 |
|
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|
244 |
canBusOff((int)fd0); |
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|
245 |
|
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|
246 |
/* values for tseg1, tseg2, sjw, noSamp and syncmode |
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|
247 |
* come from canlib example "simplewrite.c". The doc |
7d845f5d730c
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|
248 |
* says that default values will be taken if baud is one of |
7d845f5d730c
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|
249 |
* the BAUD_* values |
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|
250 |
*/ |
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|
251 |
retval = canSetBusParams((int)fd0, baudrate, 4, 3, 1, 1, 0); |
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|
252 |
if (retval != canOK) |
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|
253 |
{ |
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|
254 |
fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud); |
7d845f5d730c
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|
255 |
canClose((int)fd0); |
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return (UNS8)retval; |
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} |
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|
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canSetBusOutputControl((int)fd0, canDRIVER_NORMAL); |
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if (retval != canOK) |
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{ |
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fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canSetBusOutputControl() error, returned value = %d\n", retval); |
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canClose((int)fd0); |
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return (UNS8)retval; |
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} |
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|
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retval = canBusOn((int)fd0); |
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if (retval != canOK) |
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{ |
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fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canBusOn() error, returned value = %d\n", retval); |
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canClose((int)fd0); |
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return (UNS8)retval; |
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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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|
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/** |
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* |
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* CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0 |
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* so fd0 needs to be decremented before use. |
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*/ |
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int canClose_driver(CAN_HANDLE fd0) |
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{ |
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canStatus retval = canOK; |
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|
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fd0--; |
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|
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retval = canBusOff((int)fd0); |
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if (retval != canOK) |
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{ |
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fprintf(stderr, "canClose_driver (Kvaser) : canBusOff() error, returned value = %d\n", retval); |
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canClose((int)fd0); |
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return retval; |
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} |
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|
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retval = canClose((int)fd0); |
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if (retval != canOK) |
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{ |
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fprintf(stderr, "canClose_driver (Kvaser) : canClose() error, returned value = %d\n", retval); |
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return retval; |
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} |
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|
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return retval; |
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} |
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307 |