--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/can_peak_win32.c	Tue Jun 20 22:43:37 2006 +0200
@@ -0,0 +1,166 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stddef.h> /* for NULL */
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <signal.h>
+#include <sys/time.h>
+#include <unistd.h>
+
+/* driver pcan pci for Peak board */
+//#include "libpcan.h"
+//#include "pcan.h"
+
+#include <applicfg.h>
+#include "timer.h"
+#include "can_driver.h"
+#include "timers_driver.h"
+
+#define MAX_NB_CAN_PORTS 1
+
+typedef struct {
+  char used;
+  TASK_HANDLE receiveTask;
+  CO_Data* d;
+} CANPort;
+
+CANPort canports[MAX_NB_CAN_PORTS] = {{0,},};
+
+// Define for rtr CAN message
+#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive(CAN_HANDLE fd0, Message *m)
+{
+  UNS8 data; 
+  TPCANMsg peakMsg;
+  if ((errno = CAN_Read(& peakMsg))) {		// Blocks until no new message or error.
+    perror("!!! Peak board : error of reading. (from f_can_receive function) \n");
+    return 1;
+  }
+  m->cob_id.w = peakMsg.ID;   
+  if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)         	/* bits of MSGTYPE_*/
+    m->rtr = 0;
+  else 
+    m->rtr = 1;
+  m->len = peakMsg.LEN;					/* count of data bytes (0..8) */
+  for(data = 0  ; data < peakMsg.LEN ; data++)             			
+    m->data[data] = peakMsg.DATA[data];         	/* data bytes, up to 8 */
+  
+  return 0;
+}
+
+void canReceiveLoop(CAN_HANDLE fd0)
+{
+	CO_Data* d = ((CANPort*)fd0)->d;
+	Message m;
+	while (1) {
+		if(!canReceive(fd0, &m))
+		{
+			EnterMutex();
+			canDispatch(d, &m);
+			LeaveMutex();
+		}else{
+//			printf("canReceive returned error\n");
+			break;
+		}
+	}
+}
+
+/***************************************************************************/
+UNS8 canSend(CAN_HANDLE fd0, Message *m)
+{
+  UNS8 data;
+  TPCANMsg peakMsg;
+  peakMsg.ID=m -> cob_id.w;              			/* 11/29 bit code */
+  if(m->rtr == 0)	
+    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/
+  else {
+    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/
+  }
+  peakMsg.LEN = m->len;   
+          			/* count of data bytes (0..8) */
+  for(data = 0 ; data <  m->len; data ++)
+  	peakMsg.DATA[data] = m->data[data];         	/* data bytes, up to 8 */
+  
+  if((errno = CAN_Write(& peakMsg))) {
+    perror("!!! Peak board : error of writing. (from canSend function) \n");
+    return 1;
+  }
+  return 0;
+
+}
+
+/***************************************************************************/
+CAN_HANDLE canOpen(s_BOARD *board)
+{
+  HANDLE fd0 = NULL;
+  char busname[64];
+  char* pEnd;
+  int i;  
+  
+  for(i=0; i < MAX_NB_CAN_PORTS; i++)
+  {
+  	if(!canports[i].used)
+	  	break;
+  }
+  if(canports[i].used)
+  {
+  	perror("can_peak_win32.c: no more can port available with this pcan library\n");
+  	perror("can_peak_win32.c: please link another executable with another pcan lib\n");
+  	return NULL;
+  }
+//  if(strtol(board->busname, &pEnd,0) >= 0)
+//  {
+//    sprintf(busname,"/dev/pcan%s",board->busname);
+//    fd0 = LINUX_CAN_Open(busname, O_RDWR);
+//  }
+
+  if (i==MAX_NB_CAN_PORTS || fd0 == NULL)
+    {
+      fprintf (stderr, "Open failed.\n");
+      return (CAN_HANDLE)NULL;
+    }
+
+   CAN_Init(board->baudrate, CAN_INIT_TYPE_ST);
+
+   canports[i].used = 1;
+
+   canports[i].d = board->d;
+   CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask);
+
+   return (CANPort*) &canports[i];
+}
+
+/***************************************************************************/
+int canClose(CAN_HANDLE fd0)
+{
+  CAN_Close();
+  ((CANPort*)fd0)->used = 0;
+  WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask);
+  return 0;
+}