drivers/can_lincan/can_lincan.c
author frdupin
Wed, 13 Dec 2006 16:21:14 +0100
changeset 57 522ece4057d2
parent 26 8340a591acf3
child 145 e747d2e26af0
permissions -rw-r--r--
*** empty log message ***
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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 <stdlib.h>
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#include <errno.h>
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#include <stddef.h> /* for NULL */
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#include <sys/ioctl.h>
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#include <fcntl.h>
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#include <signal.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include "canmsg.h"
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#include "lincan.h"
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struct CANPort;
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#define CAN_HANDLE struct CANPort *
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#include <applicfg.h>
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#include "timer.h"
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#include "can_driver.h"
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#include "timers_driver.h"
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typedef struct CANPort {
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  char used;
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  HANDLE fd;
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  TASK_HANDLE receiveTask;
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  CO_Data* d;
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} CANPort;
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/*********functions which permit to communicate with the board****************/
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UNS8 canReceive(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->fd,&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.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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  return 0;
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}
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void canReceiveLoop(CAN_HANDLE fd0)
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{
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	CO_Data* d = fd0->d;
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	Message m;
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	while (fd0->used) {
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		if(!canReceive(fd0, &m))
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		{
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			EnterMutex();
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			canDispatch(d, &m);
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			LeaveMutex();
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		}else{
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			printf("canReceive returned error\n");
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			break;
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		}
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	}
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}
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/***************************************************************************/
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UNS8 canSend(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;
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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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  if(canmsg.id >= 0x800){
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    canmsg.flags |= MSG_EXT;
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  }
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  res = write(fd0->fd,&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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static const char lnx_can_dev_prefix[] = "/dev/can";
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CAN_HANDLE canOpen(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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  CAN_HANDLE fd0;
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  fd0=malloc(sizeof(*fd0));
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  if(fd0==NULL)
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    return NULL;
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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->fd = open(dev_name, O_RDWR|o_flags);
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  if(fd0->fd < 0){
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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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  fd0->d = board->d;
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  fd0->used = 1;
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  CreateReceiveTask(fd0, &fd0->receiveTask);
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  return fd0;
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 error_ret:
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  free(fd0);
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  return NULL;
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}
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/***************************************************************************/
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int canClose(CAN_HANDLE fd0)
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{
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  if(!fd0)
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    return 0;
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  fd0->used = 0;
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  WaitReceiveTaskEnd(&fd0->receiveTask);
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  close(fd0->fd);
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  free(fd0);
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  return 0;
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}