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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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/* driver pcan pci for Peak board */
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//#include "libpcan.h"
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//#include "pcan.h"
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#include "libpcan.h" // for CAN_HANDLE
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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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#define MAX_NB_CAN_PORTS 16
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typedef struct {
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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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CANPort canports[MAX_NB_CAN_PORTS] = {{0,},};
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// Define for rtr CAN message
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#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR
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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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UNS8 data;
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TPCANMsg peakMsg;
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if ((errno = CAN_Read(((CANPort*)fd0)->fd, & peakMsg))) { // Blocks until no new message or error.
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if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading"
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{
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perror("!!! Peak board : error of reading. (from f_can_receive function) \n");
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}
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return 1;
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}
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m->cob_id.w = peakMsg.ID;
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if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_*/
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m->rtr = 0;
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else
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m->rtr = 1;
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m->len = peakMsg.LEN; /* count of data bytes (0..8) */
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for(data = 0 ; data < peakMsg.LEN ; data++)
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m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */
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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 = ((CANPort*)fd0)->d;
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Message m;
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while (1) {
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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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UNS8 data;
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TPCANMsg peakMsg;
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peakMsg.ID=m -> cob_id.w; /* 11/29 bit code */
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if(m->rtr == 0)
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peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_*/
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else {
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peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_*/
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}
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peakMsg.LEN = m->len;
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/* count of data bytes (0..8) */
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for(data = 0 ; data < m->len; data ++)
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peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */
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if((errno = CAN_Write(((CANPort*)fd0)->fd, & peakMsg))) {
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perror("!!! Peak board : error of writing. (from canSend function) \n");
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return 1;
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}
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return 0;
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}
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/***************************************************************************/
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CAN_HANDLE canOpen(s_BOARD *board)
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{
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HANDLE fd0 = NULL;
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char busname[64];
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char* pEnd;
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int i;
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for(i=0; i < MAX_NB_CAN_PORTS; i++)
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{
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if(!canports[i].used)
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break;
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}
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if(strtol(board->busname, &pEnd,0) >= 0)
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{
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sprintf(busname,"/dev/pcan%s",board->busname);
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fd0 = LINUX_CAN_Open(busname, O_RDWR);
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}
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if (i==MAX_NB_CAN_PORTS || fd0 == NULL)
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{
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fprintf (stderr, "Open failed.\n");
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return (CAN_HANDLE)NULL;
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}
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CAN_Init(fd0, board->baudrate, CAN_INIT_TYPE_ST);
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canports[i].used = 1;
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canports[i].fd = fd0;
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canports[i].d = board->d;
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CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask);
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return (CANPort*) &canports[i];
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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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CAN_Close(((CANPort*)fd0)->fd);
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WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask);
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((CANPort*)fd0)->used = 0;
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return 0;
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}
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