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21 <a class="el" href="dir_d58fb241e647de6212c31ecccf9cbace.html">drivers</a> » <a class="el" href="dir_cd779dce9851c080a65607e200b2368c.html">can_peak_win32</a></div> |
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22 <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> |
22 <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> |
23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
24 <a name="l00003"></a>00003 <span class="comment"></span> |
24 <a name="l00003"></a>00003 <span class="comment"></span> |
25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
26 <a name="l00005"></a>00005 <span class="comment"></span> |
26 <a name="l00005"></a>00005 <span class="comment"></span> |
52 <a name="l00031"></a>00031 <span class="preprocessor"></span> |
52 <a name="l00031"></a>00031 <span class="preprocessor"></span> |
53 <a name="l00032"></a>00032 <span class="preprocessor">#include "cancfg.h"</span> |
53 <a name="l00032"></a>00032 <span class="preprocessor">#include "cancfg.h"</span> |
54 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span> |
54 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span> |
55 <a name="l00034"></a>00034 |
55 <a name="l00034"></a>00034 |
56 <a name="l00035"></a>00035 <span class="preprocessor">#ifndef extra_PCAN_init_params</span> |
56 <a name="l00035"></a>00035 <span class="preprocessor">#ifndef extra_PCAN_init_params</span> |
57 <a name="l00036"></a><a class="code" href="can__peak__win32_8c.html#6c15c0d426ae2e61f69f3119d3fe486b">00036</a> <span class="preprocessor"></span><span class="preprocessor"> #define extra_PCAN_init_params </span> |
57 <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> |
58 <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#else</span> |
58 <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#else</span> |
59 <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor"> #define extra_PCAN_init_params\</span> |
59 <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor"> #define extra_PCAN_init_params\</span> |
60 <a name="l00039"></a>00039 <span class="preprocessor"> ,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\</span> |
60 <a name="l00039"></a>00039 <span class="preprocessor"> ,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\</span> |
61 <a name="l00040"></a>00040 <span class="preprocessor"> ,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\</span> |
61 <a name="l00040"></a>00040 <span class="preprocessor"> ,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\</span> |
62 <a name="l00041"></a>00041 <span class="preprocessor"> ,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0</span> |
62 <a name="l00041"></a>00041 <span class="preprocessor"> ,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0</span> |
68 <a name="l00047"></a>00047 <span class="preprocessor">#endif</span> |
68 <a name="l00047"></a>00047 <span class="preprocessor">#endif</span> |
69 <a name="l00048"></a>00048 <span class="preprocessor"></span> |
69 <a name="l00048"></a>00048 <span class="preprocessor"></span> |
70 <a name="l00049"></a>00049 <span class="comment">//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER;</span> |
70 <a name="l00049"></a>00049 <span class="comment">//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER;</span> |
71 <a name="l00050"></a>00050 |
71 <a name="l00050"></a>00050 |
72 <a name="l00051"></a>00051 <span class="comment">// Define for rtr CAN message</span> |
72 <a name="l00051"></a>00051 <span class="comment">// Define for rtr CAN message</span> |
73 <a name="l00052"></a><a class="code" href="can__peak__win32_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">00052</a> <span class="preprocessor">#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR</span> |
73 <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> |
74 <a name="l00053"></a>00053 <span class="preprocessor"></span> |
74 <a name="l00053"></a>00053 <span class="preprocessor"></span> |
75 <a name="l00054"></a>00054 <span class="comment">/***************************************************************************/</span> |
75 <a name="l00054"></a>00054 <span class="comment">/***************************************************************************/</span> |
76 <a name="l00055"></a><a class="code" href="can__peak__win32_8c.html#6820d7fa32e6e79d432c6003e4c15c32">00055</a> <span class="keywordtype">int</span> <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(<span class="keywordtype">char</span>* <a class="code" href="TestMasterSlave_2getopt_8c.html#db50a0eab9fed92fc3bfc7dfa4f2c410">optarg</a>){ |
76 <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>){ |
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; |
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; |
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; |
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; |
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; |
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; |
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; |
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; |
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; |
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; |
86 <a name="l00065"></a>00065 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0; |
86 <a name="l00065"></a>00065 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0; |
87 <a name="l00066"></a>00066 <span class="keywordflow">return</span> 0x0000; |
87 <a name="l00066"></a>00066 <span class="keywordflow">return</span> 0x0000; |
88 <a name="l00067"></a>00067 } |
88 <a name="l00067"></a>00067 } |
89 <a name="l00068"></a>00068 |
89 <a name="l00068"></a>00068 |
90 <a name="l00069"></a>00069 <span class="keywordtype">void</span> |
90 <a name="l00069"></a>00069 <span class="keywordtype">void</span> |
91 <a name="l00070"></a><a class="code" href="can__peak__win32_8c.html#9f623ce2d3a68e90dfdb1ff0d54a9b57">00070</a> <a class="code" href="can__peak__win32_8c.html#9f623ce2d3a68e90dfdb1ff0d54a9b57">canInit</a> (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board) |
91 <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) |
92 <a name="l00071"></a>00071 { |
92 <a name="l00071"></a>00071 { |
93 <a name="l00072"></a>00072 <span class="keywordtype">int</span> baudrate; |
93 <a name="l00072"></a>00072 <span class="keywordtype">int</span> baudrate; |
94 <a name="l00073"></a>00073 |
94 <a name="l00073"></a>00073 |
95 <a name="l00074"></a>00074 <span class="preprocessor">#ifdef PCAN2_HEADER_</span> |
95 <a name="l00074"></a>00074 <span class="preprocessor">#ifdef PCAN2_HEADER_</span> |
96 <a name="l00075"></a>00075 <span class="preprocessor"></span> <span class="comment">// if not the first handler</span> |
96 <a name="l00075"></a>00075 <span class="preprocessor"></span> <span class="comment">// if not the first handler</span> |
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) |
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) |
98 <a name="l00077"></a>00077 <span class="keywordflow">if</span>(baudrate = <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(board-><a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>)) |
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>)) |
99 <a name="l00078"></a>00078 CAN2_Init (baudrate, |
99 <a name="l00078"></a>00078 CAN2_Init (baudrate, |
100 <a name="l00079"></a>00079 CAN_INIT_TYPE_ST <a class="code" href="can__peak__win32_8c.html#6c15c0d426ae2e61f69f3119d3fe486b">extra_PCAN_init_params</a>); |
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>); |
101 <a name="l00080"></a>00080 <span class="preprocessor">#endif</span> |
101 <a name="l00080"></a>00080 <span class="preprocessor">#endif</span> |
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) |
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) |
103 <a name="l00082"></a>00082 <span class="keywordflow">if</span>(baudrate = <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(board-><a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>)) |
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>)) |
104 <a name="l00083"></a>00083 CAN_Init (baudrate, |
104 <a name="l00083"></a>00083 CAN_Init (baudrate, |
105 <a name="l00084"></a>00084 CAN_INIT_TYPE_ST extra_PCAN_init_params); |
105 <a name="l00084"></a>00084 CAN_INIT_TYPE_ST extra_PCAN_init_params); |
106 <a name="l00085"></a>00085 } |
106 <a name="l00085"></a>00085 } |
107 <a name="l00086"></a>00086 |
107 <a name="l00086"></a>00086 |
108 <a name="l00087"></a>00087 <span class="comment">/*********functions which permit to communicate with the board****************/</span> |
108 <a name="l00087"></a>00087 <span class="comment">/*********functions which permit to communicate with the board****************/</span> |
109 <a name="l00088"></a>00088 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> |
109 <a name="l00088"></a>00088 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> |
110 <a name="l00089"></a><a class="code" href="can__peak__win32_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">00089</a> <a class="code" href="can__lincan_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">canReceive_driver</a> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> * m) |
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) |
111 <a name="l00090"></a>00090 { |
111 <a name="l00090"></a>00090 { |
112 <a name="l00091"></a>00091 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data; |
112 <a name="l00091"></a>00091 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data; |
113 <a name="l00092"></a>00092 TPCANMsg peakMsg; |
113 <a name="l00092"></a>00092 TPCANMsg peakMsg; |
114 <a name="l00093"></a>00093 |
114 <a name="l00093"></a>00093 |
115 <a name="l00094"></a>00094 DWORD Res; |
115 <a name="l00094"></a>00094 DWORD Res; |
116 <a name="l00095"></a>00095 |
116 <a name="l00095"></a>00095 |
117 <a name="l00096"></a>00096 <span class="keywordflow">do</span>{ |
117 <a name="l00096"></a>00096 <span class="keywordflow">do</span>{ |
138 <a name="l00117"></a>00117 <span class="keywordflow">if</span> (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR)) |
138 <a name="l00117"></a>00117 <span class="keywordflow">if</span> (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR)) |
139 <a name="l00118"></a>00118 { |
139 <a name="l00118"></a>00118 { |
140 <a name="l00119"></a>00119 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_ERR_BUSOFF) |
140 <a name="l00119"></a>00119 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_ERR_BUSOFF) |
141 <a name="l00120"></a>00120 { |
141 <a name="l00120"></a>00120 { |
142 <a name="l00121"></a>00121 printf (<span class="stringliteral">"!!! Peak board read : re-init\n"</span>); |
142 <a name="l00121"></a>00121 printf (<span class="stringliteral">"!!! Peak board read : re-init\n"</span>); |
143 <a name="l00122"></a>00122 <a class="code" href="can__peak__win32_8c.html#9f623ce2d3a68e90dfdb1ff0d54a9b57">canInit</a>((<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a>*) fd0); |
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); |
144 <a name="l00123"></a>00123 usleep (10000); |
144 <a name="l00123"></a>00123 usleep (10000); |
145 <a name="l00124"></a>00124 } |
145 <a name="l00124"></a>00124 } |
146 <a name="l00125"></a>00125 |
146 <a name="l00125"></a>00125 |
147 <a name="l00126"></a>00126 <span class="comment">// If status, return status if 29bit, return overrun</span> |
147 <a name="l00126"></a>00126 <span class="comment">// If status, return status if 29bit, return overrun</span> |
148 <a name="l00127"></a>00127 <span class="comment">//pthread_mutex_unlock (&PeakCan_mutex);</span> |
148 <a name="l00127"></a>00127 <span class="comment">//pthread_mutex_unlock (&PeakCan_mutex);</span> |
149 <a name="l00128"></a>00128 <span class="keywordflow">return</span> peakMsg.MSGTYPE == |
149 <a name="l00128"></a>00128 <span class="keywordflow">return</span> peakMsg.MSGTYPE == |
150 <a name="l00129"></a>00129 MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN; |
150 <a name="l00129"></a>00129 MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN; |
151 <a name="l00130"></a>00130 } |
151 <a name="l00130"></a>00130 } |
152 <a name="l00131"></a>00131 m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = peakMsg.ID; |
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; |
153 <a name="l00132"></a>00132 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) <span class="comment">/* bits of MSGTYPE_ */</span> |
153 <a name="l00132"></a>00132 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) <span class="comment">/* bits of MSGTYPE_ */</span> |
154 <a name="l00133"></a>00133 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0; |
154 <a name="l00133"></a>00133 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 0; |
155 <a name="l00134"></a>00134 <span class="keywordflow">else</span> |
155 <a name="l00134"></a>00134 <span class="keywordflow">else</span> |
156 <a name="l00135"></a>00135 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1; |
156 <a name="l00135"></a>00135 m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = 1; |
157 <a name="l00136"></a>00136 m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = peakMsg.LEN; <span class="comment">/* count of data bytes (0..8) */</span> |
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> |
158 <a name="l00137"></a>00137 <span class="keywordflow">for</span> (data = 0; data < peakMsg.LEN; data++) |
158 <a name="l00137"></a>00137 <span class="keywordflow">for</span> (data = 0; data < peakMsg.LEN; data++) |
159 <a name="l00138"></a>00138 m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data] = peakMsg.DATA[data]; <span class="comment">/* data bytes, up to 8 */</span> |
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> |
160 <a name="l00139"></a>00139 |
160 <a name="l00139"></a>00139 |
161 <a name="l00140"></a>00140 }<span class="keywordflow">else</span>{ |
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> |
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> |
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> |
164 <a name="l00143"></a>00143 <span class="comment">//{</span> |
174 <a name="l00153"></a>00153 }<span class="keywordflow">while</span>(Res != CAN_ERR_OK); |
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; |
175 <a name="l00154"></a>00154 <span class="keywordflow">return</span> 0; |
176 <a name="l00155"></a>00155 } |
176 <a name="l00155"></a>00155 } |
177 <a name="l00156"></a>00156 |
177 <a name="l00156"></a>00156 |
178 <a name="l00157"></a>00157 <span class="comment">/***************************************************************************/</span> |
178 <a name="l00157"></a>00157 <span class="comment">/***************************************************************************/</span> |
179 <a name="l00158"></a>00158 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> |
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#def95aee49efa13dd047d0b3b5507ad3">00159</a> <a class="code" href="can__lincan_8c.html#def95aee49efa13dd047d0b3b5507ad3">canSend_driver</a> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> * m) |
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) |
181 <a name="l00160"></a>00160 { |
181 <a name="l00160"></a>00160 { |
182 <a name="l00161"></a>00161 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data; |
182 <a name="l00161"></a>00161 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> data; |
183 <a name="l00162"></a>00162 TPCANMsg peakMsg; |
183 <a name="l00162"></a>00162 TPCANMsg peakMsg; |
184 <a name="l00163"></a>00163 peakMsg.ID = m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>; <span class="comment">/* 11/29 bit code */</span> |
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#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> == 0) |
185 <a name="l00164"></a>00164 <span class="keywordflow">if</span> (m-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> == 0) |
186 <a name="l00165"></a>00165 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; <span class="comment">/* bits of MSGTYPE_ */</span> |
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> |
187 <a name="l00166"></a>00166 <span class="keywordflow">else</span> |
188 <a name="l00167"></a>00167 { |
188 <a name="l00167"></a>00167 { |
189 <a name="l00168"></a>00168 peakMsg.MSGTYPE = <a class="code" href="can__peak__linux_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">CAN_INIT_TYPE_ST_RTR</a>; <span class="comment">/* bits of MSGTYPE_ */</span> |
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> |
190 <a name="l00169"></a>00169 } |
190 <a name="l00169"></a>00169 } |
191 <a name="l00170"></a>00170 peakMsg.LEN = m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; |
191 <a name="l00170"></a>00170 peakMsg.LEN = m-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>; |
192 <a name="l00171"></a>00171 <span class="comment">/* count of data bytes (0..8) */</span> |
192 <a name="l00171"></a>00171 <span class="comment">/* count of data bytes (0..8) */</span> |
193 <a name="l00172"></a>00172 <span class="keywordflow">for</span> (data = 0; data < m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; data++) |
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#229865b09691e658677ba76f2d82ce89">data</a>[data]; <span class="comment">/* data bytes, up to 8 */</span> |
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> |
195 <a name="l00174"></a>00174 <span class="keywordflow">do</span> |
195 <a name="l00174"></a>00174 <span class="keywordflow">do</span> |
196 <a name="l00175"></a>00175 { |
196 <a name="l00175"></a>00175 { |
197 <a name="l00176"></a>00176 #ifdef PCAN2_HEADER_ |
197 <a name="l00176"></a>00176 #ifdef PCAN2_HEADER_ |
198 <a name="l00177"></a>00177 <span class="comment">// if not the first handler</span> |
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) |
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) |
207 <a name="l00186"></a>00186 <span class="keywordflow">if</span> (errno) |
207 <a name="l00186"></a>00186 <span class="keywordflow">if</span> (errno) |
208 <a name="l00187"></a>00187 { |
208 <a name="l00187"></a>00187 { |
209 <a name="l00188"></a>00188 <span class="keywordflow">if</span> (errno == CAN_ERR_BUSOFF) |
209 <a name="l00188"></a>00188 <span class="keywordflow">if</span> (errno == CAN_ERR_BUSOFF) |
210 <a name="l00189"></a>00189 { |
210 <a name="l00189"></a>00189 { |
211 <a name="l00190"></a>00190 printf (<span class="stringliteral">"!!! Peak board write : re-init\n"</span>); |
211 <a name="l00190"></a>00190 printf (<span class="stringliteral">"!!! Peak board write : re-init\n"</span>); |
212 <a name="l00191"></a>00191 <a class="code" href="can__peak__win32_8c.html#9f623ce2d3a68e90dfdb1ff0d54a9b57">canInit</a>((<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a>*)fd0); |
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); |
213 <a name="l00192"></a>00192 usleep (10000); |
213 <a name="l00192"></a>00192 usleep (10000); |
214 <a name="l00193"></a>00193 } |
214 <a name="l00193"></a>00193 } |
215 <a name="l00194"></a>00194 usleep (1000); |
215 <a name="l00194"></a>00194 usleep (1000); |
216 <a name="l00195"></a>00195 } |
216 <a name="l00195"></a>00195 } |
217 <a name="l00196"></a>00196 } |
217 <a name="l00196"></a>00196 } |
220 <a name="l00199"></a>00199 fail: |
220 <a name="l00199"></a>00199 fail: |
221 <a name="l00200"></a>00200 <span class="keywordflow">return</span> 1; |
221 <a name="l00200"></a>00200 <span class="keywordflow">return</span> 1; |
222 <a name="l00201"></a>00201 } |
222 <a name="l00201"></a>00201 } |
223 <a name="l00202"></a>00202 |
223 <a name="l00202"></a>00202 |
224 <a name="l00203"></a>00203 <span class="comment">/***************************************************************************/</span> |
224 <a name="l00203"></a>00203 <span class="comment">/***************************************************************************/</span> |
225 <a name="l00204"></a>00204 <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> |
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#945403aba7f36acbd2e7160ade361bab">00205</a> <a class="code" href="can__lincan_8c.html#945403aba7f36acbd2e7160ade361bab">canOpen_driver</a> (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> * board) |
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) |
227 <a name="l00206"></a>00206 { |
227 <a name="l00206"></a>00206 { |
228 <a name="l00207"></a>00207 <span class="preprocessor">#ifdef PCAN2_HEADER_</span> |
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) |
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> |
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) |
231 <a name="l00210"></a>00210 <span class="preprocessor"></span> <span class="keywordflow">if</span>(first_board != NULL) |
246 <a name="l00225"></a>00225 second_board = board; |
246 <a name="l00225"></a>00225 second_board = board; |
247 <a name="l00226"></a>00226 <span class="preprocessor">#else</span> |
247 <a name="l00226"></a>00226 <span class="preprocessor">#else</span> |
248 <a name="l00227"></a>00227 <span class="preprocessor"></span> first_board = board; |
248 <a name="l00227"></a>00227 <span class="preprocessor"></span> first_board = board; |
249 <a name="l00228"></a>00228 <span class="preprocessor">#endif</span> |
249 <a name="l00228"></a>00228 <span class="preprocessor">#endif</span> |
250 <a name="l00229"></a>00229 <span class="preprocessor"></span> |
250 <a name="l00229"></a>00229 <span class="preprocessor"></span> |
251 <a name="l00230"></a>00230 <a class="code" href="can__peak__win32_8c.html#9f623ce2d3a68e90dfdb1ff0d54a9b57">canInit</a>(board); |
251 <a name="l00230"></a>00230 <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a>(board); |
252 <a name="l00231"></a>00231 |
252 <a name="l00231"></a>00231 |
253 <a name="l00232"></a>00232 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a>)board; |
253 <a name="l00232"></a>00232 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#324227f7b01d51ee83a883174769ac8f">CAN_HANDLE</a>)board; |
254 <a name="l00233"></a>00233 } |
254 <a name="l00233"></a>00233 } |
255 <a name="l00234"></a>00234 |
255 <a name="l00234"></a>00234 |
256 <a name="l00235"></a>00235 <span class="comment">/***************************************************************************/</span> |
256 <a name="l00235"></a>00235 <span class="comment">/***************************************************************************/</span> |
257 <a name="l00236"></a>00236 <span class="keywordtype">int</span> |
257 <a name="l00236"></a>00236 <span class="keywordtype">int</span> |
258 <a name="l00237"></a><a class="code" href="can__peak__win32_8c.html#76e6a915d0e40a23b863198b2aaa5545">00237</a> <a class="code" href="can__lincan_8c.html#76e6a915d0e40a23b863198b2aaa5545">canClose_driver</a> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0) |
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) |
259 <a name="l00238"></a>00238 { |
259 <a name="l00238"></a>00238 { |
260 <a name="l00239"></a>00239 <span class="preprocessor">#ifdef PCAN2_HEADER_</span> |
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> |
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) |
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 { |
263 <a name="l00242"></a>00242 { |
270 <a name="l00249"></a>00249 CAN_Close (); |
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; |
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 } |
272 <a name="l00251"></a>00251 } |
273 <a name="l00252"></a>00252 <span class="keywordflow">return</span> 0; |
273 <a name="l00252"></a>00252 <span class="keywordflow">return</span> 0; |
274 <a name="l00253"></a>00253 } |
274 <a name="l00253"></a>00253 } |
275 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:38 2007 for CanFestival by |
275 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by |
276 <a href="http://www.doxygen.org/index.html"> |
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> |
277 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
278 </body> |
278 </body> |
279 </html> |
279 </html> |