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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): Edouard TISSERANT and Francis DUPIN |
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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 #include <stdio.h> |
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24 #include <string.h> |
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25 #include <stdlib.h> |
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26 #include <errno.h> |
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27 #include <stddef.h> /* for NULL */ |
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28 #include <sys/ioctl.h> |
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29 #include <fcntl.h> |
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30 #include <signal.h> |
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31 #include <sys/time.h> |
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32 #include <unistd.h> |
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33 |
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34 /* driver pcan pci for Peak board */ |
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35 //#include "libpcan.h" |
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36 //#include "pcan.h" |
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37 |
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38 #include "libpcan.h" // for CAN_HANDLE |
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39 |
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40 #include <applicfg.h> |
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41 #include "timer.h" |
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42 #include "can_driver.h" |
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43 #include "timers_driver.h" |
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44 |
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45 #define MAX_NB_CAN_PORTS 16 |
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46 |
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47 typedef struct { |
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48 char used; |
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49 HANDLE fd; |
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50 TASK_HANDLE receiveTask; |
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51 CO_Data* d; |
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52 } CANPort; |
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53 |
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54 CANPort canports[MAX_NB_CAN_PORTS] = {{0,},}; |
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55 |
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56 // Define for rtr CAN message |
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57 #define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR |
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58 |
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59 /*********functions which permit to communicate with the board****************/ |
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60 UNS8 canReceive(CAN_HANDLE fd0, Message *m) |
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61 { |
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62 UNS8 data; |
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63 TPCANMsg peakMsg; |
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64 if ((errno = CAN_Read(((CANPort*)fd0)->fd, & peakMsg))) { // Blocks until no new message or error. |
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65 perror("!!! Peak board : error of reading. (from f_can_receive function) \n"); |
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66 return 1; |
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67 } |
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68 m->cob_id.w = peakMsg.ID; |
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69 if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_*/ |
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70 m->rtr = 0; |
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71 else |
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72 m->rtr = 1; |
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73 m->len = peakMsg.LEN; /* count of data bytes (0..8) */ |
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74 for(data = 0 ; data < peakMsg.LEN ; data++) |
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75 m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */ |
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76 |
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77 return 0; |
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78 } |
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79 |
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80 void canReceiveLoop(CAN_HANDLE fd0) |
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81 { |
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82 CO_Data* d = ((CANPort*)fd0)->d; |
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83 Message m; |
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84 while (1) { |
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85 if(!canReceive(fd0, &m)) |
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86 { |
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87 EnterMutex(); |
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88 canDispatch(d, &m); |
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89 LeaveMutex(); |
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90 }else{ |
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91 // printf("canReceive returned error\n"); |
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92 break; |
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93 } |
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94 } |
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95 } |
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96 |
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97 /***************************************************************************/ |
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98 UNS8 canSend(CAN_HANDLE fd0, Message *m) |
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99 { |
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100 UNS8 data; |
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101 TPCANMsg peakMsg; |
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102 peakMsg.ID=m -> cob_id.w; /* 11/29 bit code */ |
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103 if(m->rtr == 0) |
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104 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_*/ |
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105 else { |
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106 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_*/ |
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107 } |
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108 peakMsg.LEN = m->len; |
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109 /* count of data bytes (0..8) */ |
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110 for(data = 0 ; data < m->len; data ++) |
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111 peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */ |
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112 |
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113 if((errno = CAN_Write(((CANPort*)fd0)->fd, & peakMsg))) { |
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114 perror("!!! Peak board : error of writing. (from canSend function) \n"); |
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115 return 1; |
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116 } |
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117 return 0; |
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118 |
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119 } |
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120 |
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121 /***************************************************************************/ |
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122 CAN_HANDLE canOpen(s_BOARD *board) |
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123 { |
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124 HANDLE fd0 = NULL; |
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125 char busname[64]; |
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126 char* pEnd; |
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127 int i; |
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128 |
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129 for(i=0; i < MAX_NB_CAN_PORTS; i++) |
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130 { |
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131 if(!canports[i].used) |
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132 break; |
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133 } |
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134 |
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135 if(strtol(board->busname, &pEnd,0) >= 0) |
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136 { |
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137 sprintf(busname,"/dev/pcan%s",board->busname); |
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138 fd0 = LINUX_CAN_Open(busname, O_RDWR); |
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139 } |
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140 |
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141 if (i==MAX_NB_CAN_PORTS || fd0 == NULL) |
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142 { |
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143 fprintf (stderr, "Open failed.\n"); |
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144 return (CAN_HANDLE)NULL; |
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145 } |
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146 |
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147 CAN_Init(fd0, board->baudrate, CAN_INIT_TYPE_ST); |
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148 |
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149 canports[i].used = 1; |
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150 canports[i].fd = fd0; |
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151 |
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152 canports[i].d = board->d; |
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153 CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask); |
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154 |
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155 return (CANPort*) &canports[i]; |
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156 } |
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157 |
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158 /***************************************************************************/ |
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159 int canClose(CAN_HANDLE fd0) |
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160 { |
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161 CAN_Close(((CANPort*)fd0)->fd); |
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162 ((CANPort*)fd0)->used = 0; |
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163 WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask); |
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164 return 0; |
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165 } |