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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): VScom |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 /** |
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24 * @file can_vscom.c |
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25 * @author VScom (http://www.vscom.de) |
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26 * @date 17/04/08 |
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27 * |
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28 * This file implements interface between CanFestival and the VSCAN API |
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29 * (supported VScom products SER-CAN, USB-CAN, NET-CAN). |
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30 * |
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31 * To build this interface following files will needed: |
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32 * vs_can_api.h |
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33 * va_can_api.lib (for Windows builds) |
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34 */ |
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35 |
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36 #include <stdio.h> |
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37 #include <string.h> |
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38 #include <errno.h> |
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39 #include <fcntl.h> |
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40 |
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41 // VSCAN API header |
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42 #include "vs_can_api.h" // for CAN_HANDLE |
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43 |
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44 #include "can_driver.h" |
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45 |
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46 /*********functions which permit to communicate with the board****************/ |
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47 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) |
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48 { |
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49 VSCAN_MSG Msg[1]; |
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50 UNS8 i; |
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51 DWORD dwRead; /* number of read frames */ |
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52 |
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53 |
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54 if (VSCAN_Read((VSCAN_HANDLE)fd0, Msg, 1, &dwRead) != VSCAN_ERR_OK) |
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55 { |
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56 printf("canReceive_driver (VScom): error receiving frame)\n"); |
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57 return 1; |
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58 } |
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59 |
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60 /* identifier of the CAN frame */ |
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61 m->cob_id = Msg[0].Id; |
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62 |
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63 /* CAN frame type */ |
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64 if (Msg[0].Flags == VSCAN_FLAGS_STANDARD) |
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65 m->rtr = 0; |
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66 else |
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67 m->rtr = 1; |
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68 |
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69 /* width of the data bytes */ |
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70 m->len = Msg[0].Size; |
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71 |
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72 /* copy data bytes from the CAN frame, up to 8 */ |
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73 for(i = 0 ; i < Msg[0].Size ; i++) |
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74 { |
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75 m->data[i] = Msg[0].Data[i]; |
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76 } |
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77 |
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78 return 0; |
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79 } |
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80 |
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81 /***************************************************************************/ |
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82 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m) |
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83 { |
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84 VSCAN_MSG Msg[1]; |
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85 UNS8 i; |
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86 DWORD dwWritten; /* number of written frames */ |
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87 |
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88 /* identifier of the CAN frame */ |
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89 Msg[0].Id = m->cob_id; |
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90 |
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91 /* CAN frame type */ |
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92 if(m->rtr == 0) |
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93 Msg[0].Flags = VSCAN_FLAGS_STANDARD; |
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94 else |
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95 Msg[0].Flags = VSCAN_FLAGS_REMOTE; |
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96 |
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97 /* width of the data bytes */ |
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98 Msg[0].Size = m->len; |
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99 |
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100 /* copy data bytes to the CAN frame, up to 8 */ |
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101 for(i = 0 ; i < m->len; i++) |
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102 Msg[0].Data[i] = m->data[i]; |
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103 |
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104 /* copy CAN frame to the output buffer */ |
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105 if (!(VSCAN_Write((VSCAN_HANDLE)fd0, Msg, (DWORD)1, &dwWritten) == VSCAN_ERR_OK && dwWritten)) |
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106 { |
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107 perror("canSend_driver (VScom): error writing to output buffer.\n"); |
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108 return 1; |
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109 } |
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110 |
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111 /* really send CAN frame */ |
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112 if(VSCAN_Flush((VSCAN_HANDLE)fd0) != VSCAN_ERR_OK) |
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113 { |
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114 perror("canSend_driver (VScom): error flushing.\n"); |
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115 return 1; |
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116 } |
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117 |
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118 return 0; |
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119 } |
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120 |
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121 |
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122 /***************************************************************************/ |
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123 int TranslateBaudeRate(char* optarg){ |
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124 if(!strcmp( optarg, "1M")) return (int)VSCAN_SPEED_1M; |
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125 if(!strcmp( optarg, "500K")) return (int)VSCAN_SPEED_500K; |
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126 if(!strcmp( optarg, "250K")) return (int)VSCAN_SPEED_250K; |
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127 if(!strcmp( optarg, "125K")) return (int)VSCAN_SPEED_125K; |
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128 if(!strcmp( optarg, "100K")) return (int)VSCAN_SPEED_100K; |
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129 if(!strcmp( optarg, "50K")) return (int)VSCAN_SPEED_50K; |
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130 if(!strcmp( optarg, "20K")) return (int)VSCAN_SPEED_20K; |
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131 if(!strcmp( optarg, "none")) return 0; |
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132 return 0x0000; |
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133 } |
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134 |
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135 UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud) |
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136 { |
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137 int baudrate; |
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138 |
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139 baudrate = TranslateBaudeRate(baud); |
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140 if(baudrate == 0) |
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141 return 0; |
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142 |
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143 if (VSCAN_Ioctl((VSCAN_HANDLE)fd, VSCAN_IOCTL_SET_SPEED, (void *)baudrate) != VSCAN_ERR_OK) |
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144 { |
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145 fprintf(stderr, "canOpen_driver (VScom): IOCTL set speed failed\n"); |
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146 return 0; |
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147 } |
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148 |
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149 return 1; |
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150 } |
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151 |
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152 /***************************************************************************/ |
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153 CAN_HANDLE canOpen_driver(s_BOARD *board) |
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154 { |
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155 VSCAN_HANDLE fd0 = 0; |
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156 char busname[64]; |
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157 char* pEnd; |
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158 int i; |
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159 int baudrate; |
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160 |
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161 printf("bus %s ", board->busname); |
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162 fd0 = VSCAN_Open(board->busname, VSCAN_MODE_NORMAL); |
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163 if(fd0 <= 0) |
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164 { |
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165 fprintf(stderr, "canOpen_driver (VScom): error opening %s\n", board->busname); |
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166 return (CAN_HANDLE)fd0; |
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167 } |
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168 printf("(fd = %d)\n", fd0); |
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169 baudrate = TranslateBaudeRate(board->baudrate); |
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170 if(baudrate == 0) |
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171 return 0; |
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172 |
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173 if (VSCAN_Ioctl((VSCAN_HANDLE)fd0, VSCAN_IOCTL_SET_SPEED, (void *)baudrate) != VSCAN_ERR_OK) |
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174 { |
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175 fprintf(stderr, "canOpen_driver (VScom): IOCTL set speed failed\n"); |
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176 return 0; |
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177 } |
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178 |
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179 return (CAN_HANDLE)fd0; |
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180 } |
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181 |
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182 /***************************************************************************/ |
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183 int canClose_driver(CAN_HANDLE fd0) |
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184 { |
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185 VSCAN_Close((VSCAN_HANDLE)fd0); |
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186 return 0; |
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187 } |