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3 <title>CanFestival: drivers/can_peak_win32/can_peak_win32.c Source File</title> |
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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> |
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23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
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24 <a name="l00003"></a>00003 <span class="comment"></span> |
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25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
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26 <a name="l00005"></a>00005 <span class="comment"></span> |
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27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span> |
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28 <a name="l00007"></a>00007 <span class="comment"></span> |
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29 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span> |
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30 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span> |
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31 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span> |
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32 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span> |
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33 <a name="l00012"></a>00012 <span class="comment"></span> |
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34 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span> |
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35 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
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36 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
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37 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span> |
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38 <a name="l00017"></a>00017 <span class="comment"></span> |
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39 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span> |
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40 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span> |
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41 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> |
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42 <a name="l00021"></a>00021 <span class="comment">*/</span> |
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43 <a name="l00022"></a>00022 |
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44 <a name="l00023"></a>00023 <span class="preprocessor">#if defined(WIN32) && !defined(__CYGWIN__)</span> |
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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> |
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46 <a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#else</span> |
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47 <a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#include <stdio.h></span> |
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48 <a name="l00027"></a>00027 <span class="preprocessor">#include <string.h></span> |
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49 <a name="l00028"></a>00028 <span class="preprocessor">#include <errno.h></span> |
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50 <a name="l00029"></a>00029 <span class="preprocessor">#include <fcntl.h></span> |
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51 <a name="l00030"></a>00030 <span class="preprocessor">#endif</span> |
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52 <a name="l00031"></a>00031 <span class="preprocessor"></span> |
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53 <a name="l00032"></a>00032 <span class="preprocessor">#include "cancfg.h"</span> |
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54 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span> |
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55 <a name="l00034"></a>00034 |
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56 <a name="l00035"></a>00035 <span class="preprocessor">#ifndef extra_PCAN_init_params</span> |
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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> |
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58 <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#else</span> |
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59 <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor"> #define extra_PCAN_init_params\</span> |
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60 <a name="l00039"></a>00039 <span class="preprocessor"> ,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\</span> |
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61 <a name="l00040"></a>00040 <span class="preprocessor"> ,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\</span> |
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62 <a name="l00041"></a>00041 <span class="preprocessor"> ,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0</span> |
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63 <a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#endif</span> |
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64 <a name="l00043"></a>00043 <span class="preprocessor"></span> |
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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; |
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66 <a name="l00045"></a>00045 <span class="preprocessor">#ifdef PCAN2_HEADER_</span> |
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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; |
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68 <a name="l00047"></a>00047 <span class="preprocessor">#endif</span> |
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69 <a name="l00048"></a>00048 <span class="preprocessor"></span> |
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70 <a name="l00049"></a>00049 <span class="comment">//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER;</span> |
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71 <a name="l00050"></a>00050 |
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72 <a name="l00051"></a>00051 <span class="comment">// Define for rtr CAN message</span> |
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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> |
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74 <a name="l00053"></a>00053 <span class="preprocessor"></span> |
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75 <a name="l00054"></a>00054 <span class="comment">/***************************************************************************/</span> |
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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>){ |
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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; |
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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; |
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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; |
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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; |
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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; |
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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; |
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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; |
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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; |
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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; |
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86 <a name="l00065"></a>00065 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0; |
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87 <a name="l00066"></a>00066 <span class="keywordflow">return</span> 0x0000; |
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88 <a name="l00067"></a>00067 } |
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89 <a name="l00068"></a>00068 |
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90 <a name="l00069"></a>00069 <span class="keywordtype">void</span> |
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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) |
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92 <a name="l00071"></a>00071 { |
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93 <a name="l00072"></a>00072 <span class="keywordtype">int</span> baudrate; |
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94 <a name="l00073"></a>00073 |
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95 <a name="l00074"></a>00074 <span class="preprocessor">#ifdef PCAN2_HEADER_</span> |
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96 <a name="l00075"></a>00075 <span class="preprocessor"></span> <span class="comment">// if not the first handler</span> |
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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) |
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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>)) |
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99 <a name="l00078"></a>00078 CAN2_Init (baudrate, |
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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>); |
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101 <a name="l00080"></a>00080 <span class="preprocessor">#endif</span> |
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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) |
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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>)) |
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104 <a name="l00083"></a>00083 CAN_Init (baudrate, |
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105 <a name="l00084"></a>00084 CAN_INIT_TYPE_ST extra_PCAN_init_params); |
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106 <a name="l00085"></a>00085 } |
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107 <a name="l00086"></a>00086 |
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108 <a name="l00087"></a>00087 <span class="comment">/*********functions which permit to communicate with the board****************/</span> |
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109 <a name="l00088"></a>00088 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> |
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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) |
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111 <a name="l00090"></a>00090 { |
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112 <a name="l00091"></a>00091 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data; |
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113 <a name="l00092"></a>00092 TPCANMsg peakMsg; |
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114 <a name="l00093"></a>00093 |
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115 <a name="l00094"></a>00094 DWORD Res; |
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116 <a name="l00095"></a>00095 |
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117 <a name="l00096"></a>00096 <span class="keywordflow">do</span>{ |
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118 <a name="l00097"></a>00097 <span class="comment">// We read the queue looking for messages.</span> |
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119 <a name="l00098"></a>00098 <span class="comment">// </span> |
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120 <a name="l00099"></a>00099 <span class="comment">//pthread_mutex_lock (&PeakCan_mutex);</span> |
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121 <a name="l00100"></a>00100 <span class="preprocessor">#ifdef PCAN2_HEADER_</span> |
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122 <a name="l00101"></a>00101 <span class="preprocessor"></span> <span class="comment">// if not the first handler</span> |
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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) |
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124 <a name="l00103"></a>00103 Res = CAN2_Read (&peakMsg); |
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125 <a name="l00104"></a>00104 <span class="keywordflow">else</span> |
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126 <a name="l00105"></a>00105 <span class="preprocessor">#endif</span> |
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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) |
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128 <a name="l00107"></a>00107 Res = CAN_Read (&peakMsg); |
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129 <a name="l00108"></a>00108 <span class="keywordflow">else</span> |
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130 <a name="l00109"></a>00109 Res = CAN_ERR_BUSOFF; |
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131 <a name="l00110"></a>00110 |
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132 <a name="l00111"></a>00111 <span class="comment">// A message was received</span> |
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133 <a name="l00112"></a>00112 <span class="comment">// We process the message(s)</span> |
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134 <a name="l00113"></a>00113 <span class="comment">// </span> |
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135 <a name="l00114"></a>00114 <span class="keywordflow">if</span> (Res == CAN_ERR_OK) |
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136 <a name="l00115"></a>00115 { |
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137 <a name="l00116"></a>00116 <span class="comment">// if something different that 11bit or rtr... problem</span> |
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138 <a name="l00117"></a>00117 <span class="keywordflow">if</span> (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR)) |
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139 <a name="l00118"></a>00118 { |
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140 <a name="l00119"></a>00119 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_ERR_BUSOFF) |
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141 <a name="l00120"></a>00120 { |
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142 <a name="l00121"></a>00121 printf (<span class="stringliteral">"!!! Peak board read : re-init\n"</span>); |
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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); |
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144 <a name="l00123"></a>00123 usleep (10000); |
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145 <a name="l00124"></a>00124 } |
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146 <a name="l00125"></a>00125 |
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147 <a name="l00126"></a>00126 <span class="comment">// If status, return status if 29bit, return overrun</span> |
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148 <a name="l00127"></a>00127 <span class="comment">//pthread_mutex_unlock (&PeakCan_mutex);</span> |
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149 <a name="l00128"></a>00128 <span class="keywordflow">return</span> peakMsg.MSGTYPE == |
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150 <a name="l00129"></a>00129 MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN; |
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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; |
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153 <a name="l00132"></a>00132 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) <span class="comment">/* bits of MSGTYPE_ */</span> |
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154 <a name="l00133"></a>00133 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0; |
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155 <a name="l00134"></a>00134 <span class="keywordflow">else</span> |
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156 <a name="l00135"></a>00135 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1; |
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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> |
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158 <a name="l00137"></a>00137 <span class="keywordflow">for</span> (data = 0; data < peakMsg.LEN; data++) |
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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> |
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160 <a name="l00139"></a>00139 |
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161 <a name="l00140"></a>00140 }<span class="keywordflow">else</span>{ |
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162 <a name="l00141"></a>00141 <span class="comment">//pthread_mutex_unlock (&PeakCan_mutex);</span> |
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163 <a name="l00142"></a>00142 <span class="comment">//if (Res != CAN_ERR_OK)</span> |
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164 <a name="l00143"></a>00143 <span class="comment">//{</span> |
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165 <a name="l00144"></a>00144 <span class="keywordflow">if</span> (! |
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166 <a name="l00145"></a>00145 (Res & CAN_ERR_QRCVEMPTY || Res & CAN_ERR_BUSLIGHT |
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167 <a name="l00146"></a>00146 || Res & CAN_ERR_BUSHEAVY)) |
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168 <a name="l00147"></a>00147 { |
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169 <a name="l00148"></a>00148 printf (<span class="stringliteral">"canReceive returned error (%d)\n"</span>, Res); |
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170 <a name="l00149"></a>00149 <span class="keywordflow">return</span> 1; |
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171 <a name="l00150"></a>00150 } |
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172 <a name="l00151"></a>00151 usleep (1000); |
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173 <a name="l00152"></a>00152 } |
|
174 <a name="l00153"></a>00153 }<span class="keywordflow">while</span>(Res != CAN_ERR_OK); |
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175 <a name="l00154"></a>00154 <span class="keywordflow">return</span> 0; |
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176 <a name="l00155"></a>00155 } |
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177 <a name="l00156"></a>00156 |
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178 <a name="l00157"></a>00157 <span class="comment">/***************************************************************************/</span> |
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179 <a name="l00158"></a>00158 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> |
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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) |
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181 <a name="l00160"></a>00160 { |
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182 <a name="l00161"></a>00161 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data; |
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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> |
|
185 <a name="l00164"></a>00164 <span class="keywordflow">if</span> (m-><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> |
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187 <a name="l00166"></a>00166 <span class="keywordflow">else</span> |
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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-><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 < m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">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> |
|
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 (&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 (&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 && 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 |
|
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> |