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<title>CanFestival: drivers/can_peak_win32/can_peak_win32.c Source File</title>
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<a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a> » <a class="el" href="dir_b9e4537d9fecb2b52c76d8041f923c97.html">can_peak_win32</a></div>
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215
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<h1>can_peak_win32.c</h1><a href="can__peak__win32_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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26 |
<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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28 |
<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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31 |
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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40 |
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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41 |
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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43 |
<a name="l00022"></a>00022
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44 |
<a name="l00023"></a>00023 <span class="preprocessor">#if defined(WIN32) && !defined(__CYGWIN__)</span>
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45 |
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))</span>
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46 |
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#else</span>
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<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#include <stdio.h></span>
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<a name="l00027"></a>00027 <span class="preprocessor">#include <string.h></span>
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49 |
<a name="l00028"></a>00028 <span class="preprocessor">#include <errno.h></span>
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<a name="l00029"></a>00029 <span class="preprocessor">#include <fcntl.h></span>
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<a name="l00030"></a>00030 <span class="preprocessor">#endif</span>
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52 |
<a name="l00031"></a>00031 <span class="preprocessor"></span>
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<a name="l00032"></a>00032 <span class="preprocessor">#include "cancfg.h"</span>
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<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
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<a name="l00034"></a>00034
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<a name="l00035"></a>00035 <span class="preprocessor">#ifndef extra_PCAN_init_params</span>
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<a name="l00036"></a><a class="code" href="can__peak__win32_8c.html#70dcfe47338d88bba6acb1ccf7e32dcc">00036</a> <span class="preprocessor"></span><span class="preprocessor"> #define extra_PCAN_init_params </span>
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<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#else</span>
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<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor"> #define extra_PCAN_init_params\</span>
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<a name="l00039"></a>00039 <span class="preprocessor"> ,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\</span>
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<a name="l00040"></a>00040 <span class="preprocessor"> ,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\</span>
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<a name="l00041"></a>00041 <span class="preprocessor"> ,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0</span>
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<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00043"></a>00043 <span class="preprocessor"></span>
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<a name="l00044"></a>00044 <span class="keyword">static</span> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *first_board = NULL;
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66 |
<a name="l00045"></a>00045 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
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<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="keyword">static</span> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *second_board = NULL;
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<a name="l00047"></a>00047 <span class="preprocessor">#endif</span>
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<a name="l00048"></a>00048 <span class="preprocessor"></span>
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<a name="l00049"></a>00049 <span class="comment">//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER;</span>
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71 |
<a name="l00050"></a>00050
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72 |
<a name="l00051"></a>00051 <span class="comment">// Define for rtr CAN message</span>
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<a name="l00052"></a><a class="code" href="can__peak__win32_8c.html#3682c04219b007e9a4bd0894b1ad9dcb">00052</a> <span class="preprocessor">#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR</span>
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<a name="l00053"></a>00053 <span class="preprocessor"></span>
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<a name="l00054"></a>00054 <span class="comment">/***************************************************************************/</span>
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<a name="l00055"></a><a class="code" href="can__peak__win32_8c.html#1c65c88802a2cbd96ea05284860c5ba4">00055</a> <span class="keywordtype">int</span> <a class="code" href="can__peak__linux_8c.html#1c65c88802a2cbd96ea05284860c5ba4">TranslateBaudeRate</a>(<span class="keywordtype">char</span>* <a class="code" href="TestMasterSlave_2getopt_8c.html#a2d33a77952a7e6973146c1284042818">optarg</a>){
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77 |
<a name="l00056"></a>00056 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"1M"</span>)) <span class="keywordflow">return</span> CAN_BAUD_1M;
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78 |
<a name="l00057"></a>00057 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"500K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_500K;
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79 |
<a name="l00058"></a>00058 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"250K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_250K;
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80 |
<a name="l00059"></a>00059 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"125K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_125K;
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81 |
<a name="l00060"></a>00060 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"100K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_100K;
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82 |
<a name="l00061"></a>00061 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"50K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_50K;
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83 |
<a name="l00062"></a>00062 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"20K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_20K;
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84 |
<a name="l00063"></a>00063 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"10K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_10K;
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85 |
<a name="l00064"></a>00064 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"5K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_5K;
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86 |
<a name="l00065"></a>00065 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0;
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87 |
<a name="l00066"></a>00066 <span class="keywordflow">return</span> 0x0000;
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88 |
<a name="l00067"></a>00067 }
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89 |
<a name="l00068"></a>00068
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90 |
<a name="l00069"></a>00069 <span class="keywordtype">void</span>
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<a name="l00070"></a><a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">00070</a> <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a> (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board)
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<a name="l00071"></a>00071 {
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93 |
<a name="l00072"></a>00072 <span class="keywordtype">int</span> baudrate;
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94 |
<a name="l00073"></a>00073
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95 |
<a name="l00074"></a>00074 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
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96 |
<a name="l00075"></a>00075 <span class="preprocessor"></span> <span class="comment">// if not the first handler</span>
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97 |
<a name="l00076"></a>00076 <span class="keywordflow">if</span>(second_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)board)
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98 |
<a name="l00077"></a>00077 <span class="keywordflow">if</span>(baudrate = <a class="code" href="can__peak__linux_8c.html#1c65c88802a2cbd96ea05284860c5ba4">TranslateBaudeRate</a>(board-><a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>))
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215
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99 |
<a name="l00078"></a>00078 CAN2_Init (baudrate,
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100 |
<a name="l00079"></a>00079 CAN_INIT_TYPE_ST <a class="code" href="can__peak__win32_8c.html#70dcfe47338d88bba6acb1ccf7e32dcc">extra_PCAN_init_params</a>);
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215
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101 |
<a name="l00080"></a>00080 <span class="preprocessor">#endif</span>
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102 |
<a name="l00081"></a>00081 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)board)
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103 |
<a name="l00082"></a>00082 <span class="keywordflow">if</span>(baudrate = <a class="code" href="can__peak__linux_8c.html#1c65c88802a2cbd96ea05284860c5ba4">TranslateBaudeRate</a>(board-><a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>))
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<a name="l00083"></a>00083 CAN_Init (baudrate,
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105 |
<a name="l00084"></a>00084 CAN_INIT_TYPE_ST extra_PCAN_init_params);
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106 |
<a name="l00085"></a>00085 }
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107 |
<a name="l00086"></a>00086
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108 |
<a name="l00087"></a>00087 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
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<a name="l00088"></a>00088 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>
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110 |
<a name="l00089"></a><a class="code" href="can__peak__win32_8c.html#b0b7065be05f6d53009b7bd46626e2c0">00089</a> <a class="code" href="can__lincan_8c.html#b0b7065be05f6d53009b7bd46626e2c0">canReceive_driver</a> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> * m)
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<a name="l00090"></a>00090 {
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<a name="l00091"></a>00091 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data;
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215
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113 |
<a name="l00092"></a>00092 TPCANMsg peakMsg;
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114 |
<a name="l00093"></a>00093
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115 |
<a name="l00094"></a>00094 DWORD Res;
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116 |
<a name="l00095"></a>00095
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117 |
<a name="l00096"></a>00096 <span class="keywordflow">do</span>{
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118 |
<a name="l00097"></a>00097 <span class="comment">// We read the queue looking for messages.</span>
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119 |
<a name="l00098"></a>00098 <span class="comment">// </span>
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120 |
<a name="l00099"></a>00099 <span class="comment">//pthread_mutex_lock (&PeakCan_mutex);</span>
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121 |
<a name="l00100"></a>00100 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
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122 |
<a name="l00101"></a>00101 <span class="preprocessor"></span> <span class="comment">// if not the first handler</span>
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123 |
<a name="l00102"></a>00102 <span class="keywordflow">if</span>(second_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
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124 |
<a name="l00103"></a>00103 Res = CAN2_Read (&peakMsg);
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125 |
<a name="l00104"></a>00104 <span class="keywordflow">else</span>
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126 |
<a name="l00105"></a>00105 <span class="preprocessor">#endif</span>
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127 |
<a name="l00106"></a>00106 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
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128 |
<a name="l00107"></a>00107 Res = CAN_Read (&peakMsg);
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129 |
<a name="l00108"></a>00108 <span class="keywordflow">else</span>
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130 |
<a name="l00109"></a>00109 Res = CAN_ERR_BUSOFF;
|
|
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131 |
<a name="l00110"></a>00110
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132 |
<a name="l00111"></a>00111 <span class="comment">// A message was received</span>
|
|
|
133 |
<a name="l00112"></a>00112 <span class="comment">// We process the message(s)</span>
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|
134 |
<a name="l00113"></a>00113 <span class="comment">// </span>
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135 |
<a name="l00114"></a>00114 <span class="keywordflow">if</span> (Res == CAN_ERR_OK)
|
|
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136 |
<a name="l00115"></a>00115 {
|
|
|
137 |
<a name="l00116"></a>00116 <span class="comment">// if something different that 11bit or rtr... problem</span>
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138 |
<a name="l00117"></a>00117 <span class="keywordflow">if</span> (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR))
|
|
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139 |
<a name="l00118"></a>00118 {
|
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140 |
<a name="l00119"></a>00119 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
|
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141 |
<a name="l00120"></a>00120 {
|
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142 |
<a name="l00121"></a>00121 printf (<span class="stringliteral">"!!! Peak board read : re-init\n"</span>);
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|
143 |
<a name="l00122"></a>00122 <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a>((<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a>*) fd0);
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215
|
144 |
<a name="l00123"></a>00123 usleep (10000);
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145 |
<a name="l00124"></a>00124 }
|
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146 |
<a name="l00125"></a>00125
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147 |
<a name="l00126"></a>00126 <span class="comment">// If status, return status if 29bit, return overrun</span>
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148 |
<a name="l00127"></a>00127 <span class="comment">//pthread_mutex_unlock (&PeakCan_mutex);</span>
|
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149 |
<a name="l00128"></a>00128 <span class="keywordflow">return</span> peakMsg.MSGTYPE ==
|
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150 |
<a name="l00129"></a>00129 MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
|
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151 |
<a name="l00130"></a>00130 }
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240
|
152 |
<a name="l00131"></a>00131 m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = peakMsg.ID;
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215
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153 |
<a name="l00132"></a>00132 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) <span class="comment">/* bits of MSGTYPE_ */</span>
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240
|
154 |
<a name="l00133"></a>00133 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0;
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215
|
155 |
<a name="l00134"></a>00134 <span class="keywordflow">else</span>
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240
|
156 |
<a name="l00135"></a>00135 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 1;
|
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157 |
<a name="l00136"></a>00136 m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = peakMsg.LEN; <span class="comment">/* count of data bytes (0..8) */</span>
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215
|
158 |
<a name="l00137"></a>00137 <span class="keywordflow">for</span> (data = 0; data < peakMsg.LEN; data++)
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240
|
159 |
<a name="l00138"></a>00138 m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[data] = peakMsg.DATA[data]; <span class="comment">/* data bytes, up to 8 */</span>
|
|
215
|
160 |
<a name="l00139"></a>00139
|
|
|
161 |
<a name="l00140"></a>00140 }<span class="keywordflow">else</span>{
|
|
|
162 |
<a name="l00141"></a>00141 <span class="comment">//pthread_mutex_unlock (&PeakCan_mutex);</span>
|
|
|
163 |
<a name="l00142"></a>00142 <span class="comment">//if (Res != CAN_ERR_OK)</span>
|
|
|
164 |
<a name="l00143"></a>00143 <span class="comment">//{</span>
|
|
|
165 |
<a name="l00144"></a>00144 <span class="keywordflow">if</span> (!
|
|
|
166 |
<a name="l00145"></a>00145 (Res & CAN_ERR_QRCVEMPTY || Res & CAN_ERR_BUSLIGHT
|
|
|
167 |
<a name="l00146"></a>00146 || Res & CAN_ERR_BUSHEAVY))
|
|
|
168 |
<a name="l00147"></a>00147 {
|
|
|
169 |
<a name="l00148"></a>00148 printf (<span class="stringliteral">"canReceive returned error (%d)\n"</span>, Res);
|
|
|
170 |
<a name="l00149"></a>00149 <span class="keywordflow">return</span> 1;
|
|
|
171 |
<a name="l00150"></a>00150 }
|
|
|
172 |
<a name="l00151"></a>00151 usleep (1000);
|
|
|
173 |
<a name="l00152"></a>00152 }
|
|
|
174 |
<a name="l00153"></a>00153 }<span class="keywordflow">while</span>(Res != CAN_ERR_OK);
|
|
|
175 |
<a name="l00154"></a>00154 <span class="keywordflow">return</span> 0;
|
|
|
176 |
<a name="l00155"></a>00155 }
|
|
|
177 |
<a name="l00156"></a>00156
|
|
|
178 |
<a name="l00157"></a>00157 <span class="comment">/***************************************************************************/</span>
|
|
240
|
179 |
<a name="l00158"></a>00158 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>
|
|
|
180 |
<a name="l00159"></a><a class="code" href="can__peak__win32_8c.html#36327c9e0ec6d284b346963a321e3c2b">00159</a> <a class="code" href="can__lincan_8c.html#36327c9e0ec6d284b346963a321e3c2b">canSend_driver</a> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> * m)
|
|
215
|
181 |
<a name="l00160"></a>00160 {
|
|
240
|
182 |
<a name="l00161"></a>00161 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data;
|
|
215
|
183 |
<a name="l00162"></a>00162 TPCANMsg peakMsg;
|
|
240
|
184 |
<a name="l00163"></a>00163 peakMsg.ID = m-><a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>; <span class="comment">/* 11/29 bit code */</span>
|
|
|
185 |
<a name="l00164"></a>00164 <span class="keywordflow">if</span> (m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> == 0)
|
|
215
|
186 |
<a name="l00165"></a>00165 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; <span class="comment">/* bits of MSGTYPE_ */</span>
|
|
|
187 |
<a name="l00166"></a>00166 <span class="keywordflow">else</span>
|
|
|
188 |
<a name="l00167"></a>00167 {
|
|
240
|
189 |
<a name="l00168"></a>00168 peakMsg.MSGTYPE = <a class="code" href="can__peak__linux_8c.html#3682c04219b007e9a4bd0894b1ad9dcb">CAN_INIT_TYPE_ST_RTR</a>; <span class="comment">/* bits of MSGTYPE_ */</span>
|
|
215
|
190 |
<a name="l00169"></a>00169 }
|
|
240
|
191 |
<a name="l00170"></a>00170 peakMsg.LEN = m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>;
|
|
215
|
192 |
<a name="l00171"></a>00171 <span class="comment">/* count of data bytes (0..8) */</span>
|
|
240
|
193 |
<a name="l00172"></a>00172 <span class="keywordflow">for</span> (data = 0; data < m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>; data++)
|
|
|
194 |
<a name="l00173"></a>00173 peakMsg.DATA[data] = m-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[data]; <span class="comment">/* data bytes, up to 8 */</span>
|
|
215
|
195 |
<a name="l00174"></a>00174 <span class="keywordflow">do</span>
|
|
|
196 |
<a name="l00175"></a>00175 {
|
|
|
197 |
<a name="l00176"></a>00176 #ifdef PCAN2_HEADER_
|
|
|
198 |
<a name="l00177"></a>00177 <span class="comment">// if not the first handler</span>
|
|
|
199 |
<a name="l00178"></a>00178 <span class="keywordflow">if</span>(second_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
|
|
|
200 |
<a name="l00179"></a>00179 errno = CAN2_Write (&peakMsg);
|
|
|
201 |
<a name="l00180"></a>00180 <span class="keywordflow">else</span>
|
|
|
202 |
<a name="l00181"></a>00181 <span class="preprocessor">#endif</span>
|
|
|
203 |
<a name="l00182"></a>00182 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
|
|
|
204 |
<a name="l00183"></a>00183 errno = CAN_Write (&peakMsg);
|
|
|
205 |
<a name="l00184"></a>00184 <span class="keywordflow">else</span>
|
|
|
206 |
<a name="l00185"></a>00185 <span class="keywordflow">goto</span> fail;
|
|
|
207 |
<a name="l00186"></a>00186 <span class="keywordflow">if</span> (errno)
|
|
|
208 |
<a name="l00187"></a>00187 {
|
|
|
209 |
<a name="l00188"></a>00188 <span class="keywordflow">if</span> (errno == CAN_ERR_BUSOFF)
|
|
|
210 |
<a name="l00189"></a>00189 {
|
|
|
211 |
<a name="l00190"></a>00190 printf (<span class="stringliteral">"!!! Peak board write : re-init\n"</span>);
|
|
240
|
212 |
<a name="l00191"></a>00191 <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a>((<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a>*)fd0);
|
|
215
|
213 |
<a name="l00192"></a>00192 usleep (10000);
|
|
|
214 |
<a name="l00193"></a>00193 }
|
|
|
215 |
<a name="l00194"></a>00194 usleep (1000);
|
|
|
216 |
<a name="l00195"></a>00195 }
|
|
|
217 |
<a name="l00196"></a>00196 }
|
|
|
218 |
<a name="l00197"></a>00197 <span class="keywordflow">while</span> (errno != CAN_ERR_OK);
|
|
|
219 |
<a name="l00198"></a>00198 <span class="keywordflow">return</span> 0;
|
|
|
220 |
<a name="l00199"></a>00199 fail:
|
|
|
221 |
<a name="l00200"></a>00200 <span class="keywordflow">return</span> 1;
|
|
|
222 |
<a name="l00201"></a>00201 }
|
|
|
223 |
<a name="l00202"></a>00202
|
|
|
224 |
<a name="l00203"></a>00203 <span class="comment">/***************************************************************************/</span>
|
|
240
|
225 |
<a name="l00204"></a>00204 <a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a>
|
|
|
226 |
<a name="l00205"></a><a class="code" href="can__peak__win32_8c.html#a91c5884b47322592815c82427be3fac">00205</a> <a class="code" href="can__lincan_8c.html#a91c5884b47322592815c82427be3fac">canOpen_driver</a> (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> * board)
|
|
215
|
227 |
<a name="l00206"></a>00206 {
|
|
|
228 |
<a name="l00207"></a>00207 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
|
|
|
229 |
<a name="l00208"></a>00208 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board != NULL && second_board != NULL)
|
|
|
230 |
<a name="l00209"></a>00209 <span class="preprocessor">#else</span>
|
|
|
231 |
<a name="l00210"></a>00210 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board != NULL)
|
|
|
232 |
<a name="l00211"></a>00211 <span class="preprocessor">#endif</span>
|
|
|
233 |
<a name="l00212"></a>00212 <span class="preprocessor"></span> {
|
|
|
234 |
<a name="l00213"></a>00213 fprintf (stderr, <span class="stringliteral">"Open failed.\n"</span>);
|
|
|
235 |
<a name="l00214"></a>00214 fprintf (stderr,
|
|
|
236 |
<a name="l00215"></a>00215 <span class="stringliteral">"can_peak_win32.c: no more can port available with this pcan library\n"</span>);
|
|
|
237 |
<a name="l00216"></a>00216 fprintf (stderr,
|
|
|
238 |
<a name="l00217"></a>00217 <span class="stringliteral">"can_peak_win32.c: please link another executable with another pcan lib\n"</span>);
|
|
|
239 |
<a name="l00218"></a>00218 <span class="keywordflow">return</span> NULL;
|
|
|
240 |
<a name="l00219"></a>00219 }
|
|
|
241 |
<a name="l00220"></a>00220
|
|
|
242 |
<a name="l00221"></a>00221 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
|
|
|
243 |
<a name="l00222"></a>00222 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board == NULL)
|
|
|
244 |
<a name="l00223"></a>00223 first_board = board;
|
|
|
245 |
<a name="l00224"></a>00224 <span class="keywordflow">else</span>
|
|
|
246 |
<a name="l00225"></a>00225 second_board = board;
|
|
|
247 |
<a name="l00226"></a>00226 <span class="preprocessor">#else</span>
|
|
|
248 |
<a name="l00227"></a>00227 <span class="preprocessor"></span> first_board = board;
|
|
|
249 |
<a name="l00228"></a>00228 <span class="preprocessor">#endif</span>
|
|
|
250 |
<a name="l00229"></a>00229 <span class="preprocessor"></span>
|
|
240
|
251 |
<a name="l00230"></a>00230 <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a>(board);
|
|
215
|
252 |
<a name="l00231"></a>00231
|
|
240
|
253 |
<a name="l00232"></a>00232 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a>)board;
|
|
215
|
254 |
<a name="l00233"></a>00233 }
|
|
|
255 |
<a name="l00234"></a>00234
|
|
|
256 |
<a name="l00235"></a>00235 <span class="comment">/***************************************************************************/</span>
|
|
|
257 |
<a name="l00236"></a>00236 <span class="keywordtype">int</span>
|
|
240
|
258 |
<a name="l00237"></a><a class="code" href="can__peak__win32_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">00237</a> <a class="code" href="can__lincan_8c.html#d2f4803f3a623c82a4c3e92d4e75e5a5">canClose_driver</a> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a> fd0)
|
|
215
|
259 |
<a name="l00238"></a>00238 {
|
|
|
260 |
<a name="l00239"></a>00239 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
|
|
|
261 |
<a name="l00240"></a>00240 <span class="preprocessor"></span> <span class="comment">// if not the first handler</span>
|
|
|
262 |
<a name="l00241"></a>00241 <span class="keywordflow">if</span>(second_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
|
|
|
263 |
<a name="l00242"></a>00242 {
|
|
|
264 |
<a name="l00243"></a>00243 CAN2_Close ();
|
|
|
265 |
<a name="l00244"></a>00244 second_board = (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)NULL;
|
|
|
266 |
<a name="l00245"></a>00245 }<span class="keywordflow">else</span>
|
|
|
267 |
<a name="l00246"></a>00246 <span class="preprocessor">#endif</span>
|
|
|
268 |
<a name="l00247"></a>00247 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
|
|
|
269 |
<a name="l00248"></a>00248 {
|
|
|
270 |
<a name="l00249"></a>00249 CAN_Close ();
|
|
|
271 |
<a name="l00250"></a>00250 first_board = (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)NULL;
|
|
|
272 |
<a name="l00251"></a>00251 }
|
|
|
273 |
<a name="l00252"></a>00252 <span class="keywordflow">return</span> 0;
|
|
|
274 |
<a name="l00253"></a>00253 }
|
|
240
|
275 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by
|
|
215
|
276 |
<a href="http://www.doxygen.org/index.html">
|
|
|
277 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
|
|
|
278 |
</body>
|
|
|
279 |
</html>
|