1

/*

     2

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

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

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

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

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

    12

    13

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

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

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

    19

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

    20

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

    21

*/

    22

    23

#include <stdio.h>

    24

#include <string.h>

    25

#include <errno.h>

    26

#include <fcntl.h>

    27

#include <stdlib.h>

    28

    29

/* driver pcan pci for Peak board */

    30

//#include "libpcan.h"

    31

//#include "pcan.h"

    32

    33

#include "libpcan.h" // for CAN_HANDLE

    34

    35

#include "can_driver.h"

    36

    37

// Define for rtr CAN message

    38

#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 

    39

    40

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

    41

UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)

    42

{

    43

  UNS8 data; 

    44

  TPCANMsg peakMsg;

    45

  if ((errno = CAN_Read(fd0, & peakMsg))) {		// Blocks until no new message or error.

    46

    if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading" 

    47

    {

    48

    	perror("canReceive_driver (Peak_Linux) : error of reading.\n");

    49

    }

    50

    return 1;

    51

  }

    52

  m->cob_id = peakMsg.ID;   

    53

  if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)         	/* bits of MSGTYPE_*/

    54

    m->rtr = 0;

    55

  else 

    56

    m->rtr = 1;

    57

  m->len = peakMsg.LEN;					/* count of data bytes (0..8) */

    58

  for(data = 0  ; data < peakMsg.LEN ; data++)             			

    59

    m->data[data] = peakMsg.DATA[data];         	/* data bytes, up to 8 */

    60

    61

#if defined DEBUG_MSG_CONSOLE_ON

    62

  MSG("in : ");

    63

  print_message(m);

    64

#endif

    65

    66

  return 0;

    67

}

    68

    69

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

    70

UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)

    71

{

    72

  UNS8 data;

    73

  TPCANMsg peakMsg;

    74

  peakMsg.ID=m -> cob_id;              			/* 11/29 bit code */

    75

  if(m->rtr == 0)	

    76

    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/

    77

  else {

    78

    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/

    79

  }

    80

  peakMsg.LEN = m->len;   

    81

          			/* count of data bytes (0..8) */

    82

  for(data = 0 ; data <  m->len; data ++)

    83

  	peakMsg.DATA[data] = m->data[data];         	/* data bytes, up to 8 */

    84

    85

#if defined DEBUG_MSG_CONSOLE_ON

    86

  MSG("out : ");

    87

  print_message(m);

    88

#endif

    89

  if((errno = CAN_Write(fd0, & peakMsg))) {

    90

    perror("canSend_driver (Peak_Linux) : error of writing.\n");

    91

    return 1;

    92

  }

    93

  return 0;

    94

    95

}

    96

    97

    98

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

    99

int TranslateBaudeRate(char* optarg){

   100

	if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;

   101

	if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;

   102

	if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;

   103

	if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;

   104

	if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;

   105

	if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;

   106

	if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;

   107

	if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;

   108

	if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;

   109

	if(!strcmp( optarg, "none")) return 0;

   110

	return 0x0000;

   111

}

   112

   113

UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)

   114

{

   115

	printf("canChangeBaudRate not yet supported by this driver\n");

   116

	return 0;

   117

}

   118

   119

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

   120

CAN_HANDLE canOpen_driver(s_BOARD *board)

   121

{

   122

  HANDLE fd0 = NULL;

   123

  char busname[64];

   124

  char* pEnd;

   125

  int baudrate;

   126

   127

  if(strtol(board->busname, &pEnd,0) >= 0)

   128

  {

   129

    sprintf(busname,"/dev/pcan%s",board->busname);

   130

    fd0 = LINUX_CAN_Open(busname, O_RDWR);

   131

  }

   132

   133

  if(fd0 && (baudrate = TranslateBaudeRate(board->baudrate)))

   134

  {

   135

   	CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);

   136

  }else{

   137

  	fprintf(stderr, "canOpen_driver (Peak_Linux) : error opening %s\n", busname);

   138

  }

   139

   140

   return (CAN_HANDLE)fd0;

   141

}

   142

   143

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

   144

int canClose_driver(CAN_HANDLE fd0)

   145

{

   146

  CAN_Close(fd0);

   147

  return 0;

   148

}