doc/doxygen/html/can__peak__win32_8c-source.html
changeset 215 f49e5a6b7804
child 240 34654679f262
equal deleted inserted replaced
214:003cc3c63855 215:f49e5a6b7804
       
     1 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
       
     2 <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
       
     3 <title>CanFestival: drivers/can_peak_win32/can_peak_win32.c Source File</title>
       
     4 <link href="doxygen.css" rel="stylesheet" type="text/css">
       
     5 <link href="tabs.css" rel="stylesheet" type="text/css">
       
     6 </head><body>
       
     7 <!-- Generated by Doxygen 1.5.1 -->
       
     8 <div class="tabs">
       
     9   <ul>
       
    10     <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
       
    11     <li><a href="annotated.html"><span>Data&nbsp;Structures</span></a></li>
       
    12     <li id="current"><a href="files.html"><span>Files</span></a></li>
       
    13     <li><a href="dirs.html"><span>Directories</span></a></li>
       
    14   </ul></div>
       
    15 <div class="tabs">
       
    16   <ul>
       
    17     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
       
    18     <li><a href="globals.html"><span>Globals</span></a></li>
       
    19   </ul></div>
       
    20 <div class="nav">
       
    21 <a class="el" href="dir_d58fb241e647de6212c31ecccf9cbace.html">drivers</a>&nbsp;&raquo&nbsp;<a class="el" href="dir_cd779dce9851c080a65607e200b2368c.html">can_peak_win32</a></div>
       
    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>
       
    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>
       
    26 <a name="l00005"></a>00005 <span class="comment"></span>
       
    27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
       
    28 <a name="l00007"></a>00007 <span class="comment"></span>
       
    29 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
       
    30 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
       
    31 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
       
    32 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
       
    33 <a name="l00012"></a>00012 <span class="comment"></span>
       
    34 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
       
    35 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
       
    36 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
       
    37 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
       
    38 <a name="l00017"></a>00017 <span class="comment"></span>
       
    39 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
       
    40 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
       
    41 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
       
    42 <a name="l00021"></a>00021 <span class="comment">*/</span>
       
    43 <a name="l00022"></a>00022 
       
    44 <a name="l00023"></a>00023 <span class="preprocessor">#if defined(WIN32) &amp;&amp; !defined(__CYGWIN__)</span>
       
    45 <a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))</span>
       
    46 <a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#else</span>
       
    47 <a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#include &lt;stdio.h&gt;</span>
       
    48 <a name="l00027"></a>00027 <span class="preprocessor">#include &lt;string.h&gt;</span>
       
    49 <a name="l00028"></a>00028 <span class="preprocessor">#include &lt;errno.h&gt;</span>
       
    50 <a name="l00029"></a>00029 <span class="preprocessor">#include &lt;fcntl.h&gt;</span>
       
    51 <a name="l00030"></a>00030 <span class="preprocessor">#endif</span>
       
    52 <a name="l00031"></a>00031 <span class="preprocessor"></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>
       
    55 <a name="l00034"></a>00034 
       
    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>
       
    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>
       
    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>
       
    62 <a name="l00041"></a>00041 <span class="preprocessor">                ,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0</span>
       
    63 <a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
       
    64 <a name="l00043"></a>00043 <span class="preprocessor"></span>
       
    65 <a name="l00044"></a>00044 <span class="keyword">static</span> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *first_board = NULL;
       
    66 <a name="l00045"></a>00045 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
       
    67 <a name="l00046"></a>00046 <span class="preprocessor"></span><span class="keyword">static</span> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *second_board = NULL;
       
    68 <a name="l00047"></a>00047 <span class="preprocessor">#endif</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>
       
    71 <a name="l00050"></a>00050 
       
    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>
       
    74 <a name="l00053"></a>00053 <span class="preprocessor"></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>){
       
    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;
       
    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;
       
    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;
       
    82 <a name="l00061"></a>00061         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"50K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_50K;
       
    83 <a name="l00062"></a>00062         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"20K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_20K;
       
    84 <a name="l00063"></a>00063         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"10K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_10K;
       
    85 <a name="l00064"></a>00064         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"5K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_5K;
       
    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;
       
    88 <a name="l00067"></a>00067 }
       
    89 <a name="l00068"></a>00068 
       
    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)
       
    92 <a name="l00071"></a>00071 {
       
    93 <a name="l00072"></a>00072         <span class="keywordtype">int</span> baudrate;
       
    94 <a name="l00073"></a>00073         
       
    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>
       
    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-&gt;<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>))
       
    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>);
       
   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)
       
   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-&gt;<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>))
       
   104 <a name="l00083"></a>00083                         CAN_Init (baudrate,
       
   105 <a name="l00084"></a>00084                           CAN_INIT_TYPE_ST extra_PCAN_init_params);
       
   106 <a name="l00085"></a>00085 }
       
   107 <a name="l00086"></a>00086 
       
   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>
       
   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)
       
   111 <a name="l00090"></a>00090 {
       
   112 <a name="l00091"></a>00091         <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data;
       
   113 <a name="l00092"></a>00092         TPCANMsg peakMsg;
       
   114 <a name="l00093"></a>00093 
       
   115 <a name="l00094"></a>00094         DWORD Res;
       
   116 <a name="l00095"></a>00095 
       
   117 <a name="l00096"></a>00096         <span class="keywordflow">do</span>{
       
   118 <a name="l00097"></a>00097                 <span class="comment">// We read the queue looking for messages.</span>
       
   119 <a name="l00098"></a>00098                 <span class="comment">// </span>
       
   120 <a name="l00099"></a>00099                 <span class="comment">//pthread_mutex_lock (&amp;PeakCan_mutex);</span>
       
   121 <a name="l00100"></a>00100 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
       
   122 <a name="l00101"></a>00101 <span class="preprocessor"></span>                <span class="comment">// if not the first handler</span>
       
   123 <a name="l00102"></a>00102                 <span class="keywordflow">if</span>(second_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
       
   124 <a name="l00103"></a>00103                         Res = CAN2_Read (&amp;peakMsg);
       
   125 <a name="l00104"></a>00104                 <span class="keywordflow">else</span>
       
   126 <a name="l00105"></a>00105 <span class="preprocessor">#endif</span>
       
   127 <a name="l00106"></a>00106 <span class="preprocessor"></span>                <span class="keywordflow">if</span>(first_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
       
   128 <a name="l00107"></a>00107                         Res = CAN_Read (&amp;peakMsg);
       
   129 <a name="l00108"></a>00108                 <span class="keywordflow">else</span>
       
   130 <a name="l00109"></a>00109                         Res = CAN_ERR_BUSOFF;
       
   131 <a name="l00110"></a>00110         
       
   132 <a name="l00111"></a>00111                 <span class="comment">// A message was received</span>
       
   133 <a name="l00112"></a>00112                 <span class="comment">// We process the message(s)</span>
       
   134 <a name="l00113"></a>00113                 <span class="comment">// </span>
       
   135 <a name="l00114"></a>00114                 <span class="keywordflow">if</span> (Res == CAN_ERR_OK)
       
   136 <a name="l00115"></a>00115                 {
       
   137 <a name="l00116"></a>00116                         <span class="comment">// if something different that 11bit or rtr... problem</span>
       
   138 <a name="l00117"></a>00117                         <span class="keywordflow">if</span> (peakMsg.MSGTYPE &amp; ~(MSGTYPE_STANDARD | MSGTYPE_RTR))
       
   139 <a name="l00118"></a>00118                         {
       
   140 <a name="l00119"></a>00119                                 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
       
   141 <a name="l00120"></a>00120                                 {
       
   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);
       
   144 <a name="l00123"></a>00123                                         usleep (10000);
       
   145 <a name="l00124"></a>00124                                 }
       
   146 <a name="l00125"></a>00125         
       
   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 (&amp;PeakCan_mutex);</span>
       
   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;
       
   151 <a name="l00130"></a>00130                         }
       
   152 <a name="l00131"></a>00131                         m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">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>
       
   154 <a name="l00133"></a>00133                                 m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0;
       
   155 <a name="l00134"></a>00134                         <span class="keywordflow">else</span>
       
   156 <a name="l00135"></a>00135                                 m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1;
       
   157 <a name="l00136"></a>00136                         m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">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 &lt; peakMsg.LEN; data++)
       
   159 <a name="l00138"></a>00138                                 m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data] = peakMsg.DATA[data];     <span class="comment">/* data bytes, up to 8 */</span>
       
   160 <a name="l00139"></a>00139         
       
   161 <a name="l00140"></a>00140                 }<span class="keywordflow">else</span>{
       
   162 <a name="l00141"></a>00141                 <span class="comment">//pthread_mutex_unlock (&amp;PeakCan_mutex);</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>
       
   165 <a name="l00144"></a>00144                         <span class="keywordflow">if</span> (!
       
   166 <a name="l00145"></a>00145                                 (Res &amp; CAN_ERR_QRCVEMPTY || Res &amp; CAN_ERR_BUSLIGHT
       
   167 <a name="l00146"></a>00146                                  || Res &amp; CAN_ERR_BUSHEAVY))
       
   168 <a name="l00147"></a>00147                         {
       
   169 <a name="l00148"></a>00148                                 printf (<span class="stringliteral">"canReceive returned error (%d)\n"</span>, Res);
       
   170 <a name="l00149"></a>00149                                 <span class="keywordflow">return</span> 1;
       
   171 <a name="l00150"></a>00150                         }
       
   172 <a name="l00151"></a>00151                         usleep (1000);          
       
   173 <a name="l00152"></a>00152                 }
       
   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;
       
   176 <a name="l00155"></a>00155 }
       
   177 <a name="l00156"></a>00156 
       
   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>
       
   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)
       
   181 <a name="l00160"></a>00160 {
       
   182 <a name="l00161"></a>00161         <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data;
       
   183 <a name="l00162"></a>00162         TPCANMsg peakMsg;
       
   184 <a name="l00163"></a>00163         peakMsg.ID = m-&gt;<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>
       
   185 <a name="l00164"></a>00164         <span class="keywordflow">if</span> (m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> == 0)
       
   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>
       
   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>
       
   190 <a name="l00169"></a>00169         }
       
   191 <a name="l00170"></a>00170         peakMsg.LEN = m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>;
       
   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 &lt; m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; data++)
       
   194 <a name="l00173"></a>00173                 peakMsg.DATA[data] = m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data];     <span class="comment">/* data bytes, up to 8 */</span>
       
   195 <a name="l00174"></a>00174         <span class="keywordflow">do</span>
       
   196 <a name="l00175"></a>00175         {
       
   197 <a name="l00176"></a>00176 #ifdef PCAN2_HEADER_
       
   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)
       
   200 <a name="l00179"></a>00179                         errno = CAN2_Write (&amp;peakMsg);
       
   201 <a name="l00180"></a>00180                 <span class="keywordflow">else</span> 
       
   202 <a name="l00181"></a>00181 <span class="preprocessor">#endif</span>
       
   203 <a name="l00182"></a>00182 <span class="preprocessor"></span>                <span class="keywordflow">if</span>(first_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
       
   204 <a name="l00183"></a>00183                         errno = CAN_Write (&amp;peakMsg);
       
   205 <a name="l00184"></a>00184                 <span class="keywordflow">else</span> 
       
   206 <a name="l00185"></a>00185                         <span class="keywordflow">goto</span> fail;
       
   207 <a name="l00186"></a>00186                 <span class="keywordflow">if</span> (errno)
       
   208 <a name="l00187"></a>00187                 {
       
   209 <a name="l00188"></a>00188                         <span class="keywordflow">if</span> (errno == CAN_ERR_BUSOFF)
       
   210 <a name="l00189"></a>00189                         {
       
   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);
       
   213 <a name="l00192"></a>00192                                 usleep (10000);
       
   214 <a name="l00193"></a>00193                         }
       
   215 <a name="l00194"></a>00194                         usleep (1000);
       
   216 <a name="l00195"></a>00195                 }
       
   217 <a name="l00196"></a>00196         }
       
   218 <a name="l00197"></a>00197         <span class="keywordflow">while</span> (errno != CAN_ERR_OK);
       
   219 <a name="l00198"></a>00198         <span class="keywordflow">return</span> 0;
       
   220 <a name="l00199"></a>00199 fail:
       
   221 <a name="l00200"></a>00200         <span class="keywordflow">return</span> 1;
       
   222 <a name="l00201"></a>00201 }
       
   223 <a name="l00202"></a>00202 
       
   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>
       
   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)
       
   227 <a name="l00206"></a>00206 {
       
   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 &amp;&amp; second_board != NULL)
       
   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)
       
   232 <a name="l00211"></a>00211 <span class="preprocessor">#endif</span>
       
   233 <a name="l00212"></a>00212 <span class="preprocessor"></span>        {
       
   234 <a name="l00213"></a>00213                 fprintf (stderr, <span class="stringliteral">"Open failed.\n"</span>);
       
   235 <a name="l00214"></a>00214                 fprintf (stderr,
       
   236 <a name="l00215"></a>00215                                  <span class="stringliteral">"can_peak_win32.c: no more can port available with this pcan library\n"</span>);
       
   237 <a name="l00216"></a>00216                 fprintf (stderr,
       
   238 <a name="l00217"></a>00217                                  <span class="stringliteral">"can_peak_win32.c: please link another executable with another pcan lib\n"</span>);
       
   239 <a name="l00218"></a>00218                 <span class="keywordflow">return</span> NULL;
       
   240 <a name="l00219"></a>00219         }
       
   241 <a name="l00220"></a>00220 
       
   242 <a name="l00221"></a>00221 <span class="preprocessor">#ifdef PCAN2_HEADER_</span>
       
   243 <a name="l00222"></a>00222 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(first_board == NULL)
       
   244 <a name="l00223"></a>00223                 first_board = board;
       
   245 <a name="l00224"></a>00224         <span class="keywordflow">else</span>
       
   246 <a name="l00225"></a>00225                 second_board = board; 
       
   247 <a name="l00226"></a>00226 <span class="preprocessor">#else</span>
       
   248 <a name="l00227"></a>00227 <span class="preprocessor"></span>        first_board = board;
       
   249 <a name="l00228"></a>00228 <span class="preprocessor">#endif</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);
       
   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;
       
   254 <a name="l00233"></a>00233 }
       
   255 <a name="l00234"></a>00234 
       
   256 <a name="l00235"></a>00235 <span class="comment">/***************************************************************************/</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)
       
   259 <a name="l00238"></a>00238 {
       
   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>
       
   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         {
       
   264 <a name="l00243"></a>00243                 CAN2_Close ();
       
   265 <a name="l00244"></a>00244                 second_board = (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)NULL;
       
   266 <a name="l00245"></a>00245         }<span class="keywordflow">else</span>   
       
   267 <a name="l00246"></a>00246 <span class="preprocessor">#endif</span>
       
   268 <a name="l00247"></a>00247 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(first_board == (<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *)fd0)
       
   269 <a name="l00248"></a>00248         {
       
   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;
       
   272 <a name="l00251"></a>00251         }
       
   273 <a name="l00252"></a>00252         <span class="keywordflow">return</span> 0;
       
   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&nbsp;
       
   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>
       
   278 </body>
       
   279 </html>