1

/*

     2

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

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

Ruthlessly butchered by James Steward to produce a serial (tty) port

     7

driver.

     8

     9

See COPYING file for copyrights details.

    10

    11

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

    12

modify it under the terms of the GNU Lesser General Public

    13

License as published by the Free Software Foundation; either

    14

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

    15

    16

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

    17

but WITHOUT ANY WARRANTY; without even the implied warranty of

    18

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    19

Lesser General Public License for more details.

    20

    21

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

    22

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

    23

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

    24

*/

    25

    26

/*

    27

	Single serial port CAN driver.

    28

*/

    29

    30

#include <stdio.h>

    31

#include <unistd.h>

    32

#include <fcntl.h>

    33

#include <errno.h>

    34

#include <string.h>

    35

#include <termios.h>

    36

#include <stdlib.h>

    37

    38

#define NEED_PRINT_MESSAGE

    39

#include "can_driver.h"

    40

#include "def.h"

    41

    42

typedef struct {

    43

	int fd;

    44

	struct termios old_termio, new_termio;

    45

} CANPort;

    46

    47

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

    48

UNS8 canReceive_driver(CAN_HANDLE fd0, Message * m)

    49

{

    50

	int rv, N, n = 0;

    51

	fd_set rfds;

    52

	struct timeval tv;

    53

    54

	N = 4; //initially try to read 4 bytes, including the length byte

    55

    56

retry:

    57

	rv = read(((CANPort *) fd0)->fd, &((char *)m)[n], N - n);

    58

    59

	if (rv == -1) {

    60

		fprintf(stderr, "read: %s\n", strerror(errno));

    61

		return 1;

    62

	}

    63

    64

	n += rv;

    65

    66

	if (n == 4) {

    67

		N = (4 + m->len);

    68

    69

		if (m->len > 8) {

    70

			fprintf(stderr, "Warning: invalid message length %d\n", 

    71

					m->len);

    72

    73

			//try to resync

    74

			n = 0;

    75

			N = 4;

    76

		}

    77

    78

	}

    79

    80

	if (n < N) {

    81

    82

		FD_ZERO(&rfds);

    83

		FD_SET(((CANPort *) fd0)->fd, &rfds);

    84

    85

		tv.tv_sec = 0;

    86

		tv.tv_usec=100000;

    87

    88

		rv = select(((CANPort *) fd0)->fd + 1, &rfds, NULL, NULL, &tv);

    89

		if (rv == -1) {

    90

			fprintf(stderr, "select: %s\n", strerror(errno));

    91

			return 1;

    92

		} else if (rv == 0) {

    93

			n = 0;

    94

		}

    95

    96

		goto retry;	

    97

	}

    98

    99

	print_message(m);

   100

   101

	return 0;

   102

}

   103

   104

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

   105

UNS8 canSend_driver(CAN_HANDLE fd0, Message * m)

   106

{

   107

	int rv;

   108

   109

	print_message(m);

   110

   111

	// Send to serial port 

   112

	rv = write(((CANPort *) fd0)->fd, m, 4 + m->len);

   113

   114

	if (rv != 4 + m->len) {

   115

		return 1;

   116

	}

   117

   118

	return 0;

   119

}

   120

   121

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

   122

int TranslateBaudRate(char *optarg)

   123

{

   124

	if (!strcmp(optarg, "1M"))

   125

		return (int) 1000;

   126

	if (!strcmp(optarg, "500K"))

   127

		return (int) 500;

   128

	if (!strcmp(optarg, "250K"))

   129

		return (int) 250;

   130

	if (!strcmp(optarg, "125K"))

   131

		return (int) 125;

   132

	if (!strcmp(optarg, "100K"))

   133

		return (int) 100;

   134

	if (!strcmp(optarg, "50K"))

   135

		return (int) 50;

   136

	if (!strcmp(optarg, "20K"))

   137

		return (int) 20;

   138

	if (!strcmp(optarg, "10K"))

   139

		return (int) 10;

   140

	if (!strcmp(optarg, "5K"))

   141

		return (int) 5;

   142

	if (!strcmp(optarg, "none"))

   143

		return 0;

   144

	return 0x0000;

   145

}

   146

   147

UNS8 canChangeBaudRate_driver(CAN_HANDLE fd0, char *baud)

   148

{

   149

	printf("Faked changing to baud rate %s[%d]\n", 

   150

			baud, TranslateBaudRate(baud));

   151

	return 0;

   152

}

   153

   154

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

   155

CAN_HANDLE canOpen_driver(s_BOARD * board)

   156

{

   157

	int rv;

   158

   159

	CANPort *p;

   160

   161

	p = (CANPort *)calloc(1, sizeof(CANPort));

   162

   163

	if (p == NULL) {

   164

		fprintf(stderr, "calloc: %s\n", strerror(errno));

   165

		return (CAN_HANDLE) NULL;

   166

	}

   167

   168

	p->fd = open(board->busname, O_RDWR);

   169

   170

	if (p->fd < 0) {

   171

		fprintf(stderr, "open: %s, %s\n", 

   172

				board->busname, strerror(errno));

   173

		free(p);

   174

		return (CAN_HANDLE) NULL;

   175

	}

   176

   177

	if (tcgetattr(p->fd, &p->old_termio) != 0) {

   178

		fprintf(stderr, "tcgetattr: %s, %s\n", 

   179

				board->busname, strerror(errno));

   180

		close(p->fd);

   181

		free(p);

   182

		return (CAN_HANDLE) NULL;

   183

	}

   184

   185

	memcpy(&p->new_termio, &p->old_termio, 

   186

					sizeof(p->old_termio));

   187

	cfmakeraw(&p->new_termio);

   188

	cfsetispeed(&p->new_termio, B115200);

   189

	cfsetospeed(&p->new_termio, B115200);

   190

	tcsetattr(p->fd, TCSANOW, &p->new_termio);

   191

   192

	return (CAN_HANDLE) p;

   193

}

   194

   195

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

   196

int canClose_driver(CAN_HANDLE fd0)

   197

{

   198

	if ((CANPort *) fd0 && ((CANPort *) fd0)->fd >= 0) {

   199

		tcsetattr(((CANPort *) fd0)->fd, TCSANOW, 

   200

					&((CANPort *) fd0)->old_termio);

   201

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

   202

		free((CANPort *) fd0);

   203

	}

   204

   205

	return 0;

   206

}

   207

   208

int canfd_driver(CAN_HANDLE fd0)

   209

{

   210

	if ((CANPort *) fd0) {

   211

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

   212

	}

   213

   214

	return -1;

   215

}

   216