| changeset 145 | e747d2e26af0 |
| parent 0 | 4472ee7c6c3e |
| child 157 | 8b45ff4202c3 |
| 144:3ebf16150b2e | 145:e747d2e26af0 |
|---|---|
22 |
22 |
23 /* |
23 /* |
24 Virtual CAN driver. |
24 Virtual CAN driver. |
25 */ |
25 */ |
26 |
26 |
27 #include <stdlib.h> |
27 #include <stdio.h> |
28 #include <unistd.h> |
|
28 |
29 |
29 #include <sys/types.h> |
30 #include "can_driver.h" |
30 #include <unistd.h> |
|
31 #include <stdio.h> |
|
32 |
31 |
33 #include <applicfg.h> |
32 #define MAX_NB_CAN_PIPES 16 |
34 #include "timer.h" |
|
35 #include "can_driver.h" |
|
36 #include "timers_driver.h" |
|
37 |
|
38 #define MAX_NB_CAN_PIPES 10 |
|
39 |
33 |
40 typedef struct { |
34 typedef struct { |
41 char used; |
35 char used; |
42 int pipe[2]; |
36 int pipe[2]; |
43 TASK_HANDLE receiveTask; |
|
44 CO_Data* d; |
|
45 } CANPipe; |
37 } CANPipe; |
46 |
38 |
47 CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,{0,0},},}; |
39 CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},}; |
48 |
40 |
49 /*********functions which permit to communicate with the board****************/ |
41 /*********functions which permit to communicate with the board****************/ |
50 UNS8 canReceive(CAN_HANDLE fd0, Message *m) |
42 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) |
51 { |
43 { |
52 if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) < sizeof(Message)) |
44 if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) < sizeof(Message)) |
53 { |
45 { |
54 return 1; |
46 return 1; |
55 } |
47 } |
56 return 0; |
48 return 0; |
57 } |
49 } |
58 |
50 |
59 void canReceiveLoop(CAN_HANDLE fd0) |
|
60 { |
|
61 CO_Data* d = ((CANPipe*)fd0)->d; |
|
62 Message m; |
|
63 while (1) { |
|
64 if(!canReceive(fd0, &m)) |
|
65 { |
|
66 EnterMutex(); |
|
67 canDispatch(d, &m); |
|
68 LeaveMutex(); |
|
69 }else{ |
|
70 break; |
|
71 } |
|
72 } |
|
73 } |
|
74 |
|
75 /***************************************************************************/ |
51 /***************************************************************************/ |
76 UNS8 canSend(CAN_HANDLE fd0, Message *m) |
52 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m) |
77 { |
53 { |
78 int i; |
54 int i; |
79 // Send to all readers, except myself |
55 // Send to all readers, except myself |
80 for(i=0; i < MAX_NB_CAN_PIPES; i++) |
56 for(i=0; i < MAX_NB_CAN_PIPES; i++) |
81 { |
57 { |
84 write(canpipes[i].pipe[1], m, sizeof(Message)); |
60 write(canpipes[i].pipe[1], m, sizeof(Message)); |
85 } |
61 } |
86 } |
62 } |
87 return 0; |
63 return 0; |
88 } |
64 } |
89 |
65 /* |
66 int TranslateBaudeRate(char* optarg){ |
|
67 if(!strcmp( optarg, "1M")) return 1000; |
|
68 if(!strcmp( optarg, "500K")) return 500; |
|
69 if(!strcmp( optarg, "250K")) return 250; |
|
70 if(!strcmp( optarg, "125K")) return 125; |
|
71 if(!strcmp( optarg, "100K")) return 100; |
|
72 if(!strcmp( optarg, "50K")) return 50; |
|
73 if(!strcmp( optarg, "20K")) return 20; |
|
74 if(!strcmp( optarg, "10K")) return 10; |
|
75 if(!strcmp( optarg, "5K")) return 5; |
|
76 if(!strcmp( optarg, "none")) return 0; |
|
77 return 0; |
|
78 }*/ |
|
90 /***************************************************************************/ |
79 /***************************************************************************/ |
91 CAN_HANDLE canOpen(s_BOARD *board) |
80 CAN_HANDLE canOpen_driver(s_BOARD *board) |
92 { |
81 { |
93 int i; |
82 int i; |
94 for(i=0; i < MAX_NB_CAN_PIPES; i++) |
83 for(i=0; i < MAX_NB_CAN_PIPES; i++) |
95 { |
84 { |
96 if(!canpipes[i].used) |
85 if(!canpipes[i].used) |
103 fprintf (stderr, "Open failed.\n"); |
92 fprintf (stderr, "Open failed.\n"); |
104 return (CAN_HANDLE)NULL; |
93 return (CAN_HANDLE)NULL; |
105 } |
94 } |
106 |
95 |
107 canpipes[i].used = 1; |
96 canpipes[i].used = 1; |
108 |
|
109 canpipes[i].d = board->d; |
|
110 CreateReceiveTask((CAN_HANDLE) &canpipes[i], &canpipes[i].receiveTask); |
|
111 |
|
112 return (CAN_HANDLE) &canpipes[i]; |
97 return (CAN_HANDLE) &canpipes[i]; |
113 } |
98 } |
114 |
99 |
115 /***************************************************************************/ |
100 /***************************************************************************/ |
116 int canClose(CAN_HANDLE fd0) |
101 int canClose_driver(CAN_HANDLE fd0) |
117 { |
102 { |
118 close(((CANPipe*)fd0)->pipe[0]); |
103 close(((CANPipe*)fd0)->pipe[0]); |
119 close(((CANPipe*)fd0)->pipe[1]); |
104 close(((CANPipe*)fd0)->pipe[1]); |
120 ((CANPipe*)fd0)->used = 0; |
105 ((CANPipe*)fd0)->used = 0; |
121 WaitReceiveTaskEnd(&((CANPipe*)fd0)->receiveTask); |
106 return 0; |
122 } |
107 } |
123 |
108 |
124 |
109 |