--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_linux/can_anagate_linux.c Tue Jul 08 15:14:48 2008 +0200
@@ -0,0 +1,320 @@
+/*
+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 <errno.h>
+#include <fcntl.h>
+
+
+#include "can_driver.h"
+
+struct SAnaGatePort
+{
+ int hHandle;
+ Message sMsgBuffer;
+ struct SAnaGatePort *pNext;
+ struct SAnaGatePort *pPrev;
+ int bBufferFull;
+};
+
+
+struct SAnaGatePort *pFistAnaGatePort = NULL;
+
+
+/********* AnaGate API CAN receive callback Funciton ****************/
+void AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
+{
+ int i;
+ struct SAnaGatePort *pAnaGatePort = pFistAnaGatePort;
+
+ while (pAnaGatePort->hHandle != hHandle )
+ {
+ pAnaGatePort = pAnaGatePort->pNext;
+ if (pAnaGatePort == pFistAnaGatePort )
+ {
+ pAnaGatePort = NULL;
+ printf("AnaGateReceiveCallBack (AnaGate_Linux): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
+ return;
+ }
+ }
+ while (pAnaGatePort->bBufferFull)
+ {
+ usleep(5000);
+ }
+ pAnaGatePort->sMsgBuffer.cob_id = nIdentifier;
+ pAnaGatePort->sMsgBuffer.len= nBufferLen;
+ if (nFlags == 2)
+ pAnaGatePort->sMsgBuffer.rtr = 1;
+ else
+ pAnaGatePort->sMsgBuffer.rtr = 0;
+
+ for (i = 0 ; i < nBufferLen; i++)
+ {
+ pAnaGatePort->sMsgBuffer.data[i] = pcBuffer[i];
+ }
+
+ pAnaGatePort->bBufferFull = 1;
+
+}
+
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+{
+ int i;
+ struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
+
+ while (pAnaGatePort->bBufferFull == 0)
+ {
+ usleep (5000);
+ }
+
+ m->cob_id = pAnaGatePort->sMsgBuffer.cob_id;
+ m->len = pAnaGatePort->sMsgBuffer.len;
+ m->rtr = pAnaGatePort->sMsgBuffer.rtr;
+ for (i = 0 ; i < pAnaGatePort->sMsgBuffer.len; i++)
+ {
+ m->data[i] = pAnaGatePort->sMsgBuffer.data[i];
+ }
+
+ pAnaGatePort->bBufferFull = 0;
+
+ return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+{
+ struct SAnaGatePort* pAnaCanPort = (struct SAnaGatePort*)fd0;
+ char cErrorMsg[100];
+ int nRetCode;
+ int nMsgTyp;
+
+ if (m->rtr == 0)
+ {
+ nMsgTyp = 0; //Normal;
+ }
+ else
+ {
+ nMsgTyp = 2; //Remote frame;
+ }
+
+ if ( (nRetCode = CANWrite(pAnaCanPort->hHandle , m->cob_id,(const char*) m->data, m->len, nMsgTyp) ) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr,"canSend_driver (AnaGate_Linux) %s \n",nRetCode);
+ //printf("canSend_driver (AnaGate_Linux) %s \n",nRetCode);
+ return 1;
+ }
+
+ return 0;
+}
+
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return 1000000;
+ if(!strcmp( optarg, "800K")) return 800000;
+ if(!strcmp( optarg, "500K")) return 500000;
+ if(!strcmp( optarg, "250K")) return 250000;
+ if(!strcmp( optarg, "125K")) return 125000;
+ if(!strcmp( optarg, "100K")) return 100000;
+ if(!strcmp( optarg, "50K")) return 50000;
+ if(!strcmp( optarg, "20K")) return 20000;
+ if(!strcmp( optarg, "10K")) return 10000;
+
+ return 0x0000;
+}
+
+/***************************************************************************/
+UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
+{
+ int nRetCode;
+ char cErrorMsg[100];
+ struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
+
+ if (nRetCode = CANSetGlobals (pAnaGatePort->hHandle, TranslateBaudeRate(baud), 0, 0, 1) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
+ //printf("canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
+ return 1;
+ }
+ return 0;
+}
+
+/***************************************************************************/
+/* To open a connection to AnaGate CAN the s_BOARD board->busname must be
+ the AnaGate IP-Adresse followed from the CAN-Port (A or B) you want to use
+ For example "192.168.1.254:A"
+*/
+
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+ int nPortNr;
+ char cErrorMsg[100];
+ int nRetCode;
+ char sIPAddress[16];
+ struct SAnaGatePort *pNewAnaGatePort;
+ unsigned int nBusnameLen;
+ char bBusnameValid = 1;
+
+
+ ///////////////////////////////////////////
+ // Do some checkings concerning the busname
+ // format should be IP-Adress:Port
+ // e.g. 192.168.1.254:A
+ ///////////////////////////////////////////
+ nBusnameLen = strlen(board->busname);
+
+ if ( nBusnameLen < strlen( "1.2.3.4:A" ) ) bBusnameValid = 0; // check minimum length of busname
+ if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = 0; // check maximum length of busname
+ if ( bBusnameValid )
+ {
+ switch (board->busname[nBusnameLen-1]) // check Portname of busname
+ {
+ case ('A'): nPortNr = 0; break;
+ case ('B'): nPortNr = 1; break;
+ case ('C'): nPortNr = 2; break;
+ case ('D'): nPortNr = 3; break;
+ default : bBusnameValid = 0; break;
+ }
+ if (board->busname[nBusnameLen-2] != ':' ) bBusnameValid = 0; // check Colon before Portname
+ }
+
+ if ( ! bBusnameValid )
+ {
+ fprintf(stderr, "canOpen_driver (AnaGate_Win32): busname (\"%s\") has a wrong format. Use IPAddr:CANPort for example \"192.168.1.254:A\"\n",board->busname);
+ return (CAN_HANDLE) NULL;
+ }
+
+ board->busname[nBusnameLen-2] = 0; // NULL Terminator for IP Address string
+ strcpy (sIPAddress, board->busname);
+
+ pNewAnaGatePort = (struct SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
+ if (pFistAnaGatePort == NULL)
+ {
+ pFistAnaGatePort = pNewAnaGatePort;
+ pNewAnaGatePort->pNext = pNewAnaGatePort;
+ pNewAnaGatePort->pPrev = pNewAnaGatePort;
+ }
+ else
+ { pNewAnaGatePort->pNext = pFistAnaGatePort;
+ pNewAnaGatePort->pPrev = pFistAnaGatePort->pPrev;
+ pFistAnaGatePort->pPrev->pNext = pNewAnaGatePort;
+ pFistAnaGatePort->pPrev = pNewAnaGatePort;
+
+ }
+
+ // Connect to AnaGate
+ if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle,
+ 0, /*confimation off*/
+ 1, /*Monitor on*/
+ nPortNr,
+ sIPAddress,
+ 1000 /*TimeOut*/ ) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
+ //printf( "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
+ return (CAN_HANDLE) NULL;
+ }
+
+ // Inizial Baudrate
+
+ if (nRetCode = CANSetGlobals (pNewAnaGatePort->hHandle,
+ TranslateBaudeRate(board->baudrate),
+ 0,/*OperatingMode = normal*/
+ 0,/*CAN-Termination = off*/
+ 1 /*HighSpeedMode = on*/) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ //printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ return (CAN_HANDLE) NULL;
+ }
+
+ // Creat receive and receive-acknoledge event
+ /*pNewAnaGatePort->hAnaRecEvent = CreateEvent(
+ NULL, // default security attributes
+ FALSE, // manual-reset event
+ FALSE, // initial state is nonsignaled
+ NULL // object name
+ );
+
+ pNewAnaGatePort->hFesticalRecAcknowledge = CreateEvent(
+ NULL, // default security attributes
+ FALSE, // manual-reset event
+ FALSE, // initial state is nonsignaled
+ NULL // object name
+ );
+ */
+
+ pNewAnaGatePort->bBufferFull = 0;
+
+ // Install receive callback funktion
+
+ if (nRetCode = CANSetCallback(pNewAnaGatePort->hHandle, AnaGateReceiveCallBack) )
+ {
+ canClose_driver (pNewAnaGatePort);
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ //printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ return (CAN_HANDLE) NULL;
+ }
+
+
+ return (CAN_HANDLE)pNewAnaGatePort;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+ struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
+ char cErrorMsg[100];
+ int nRetCode;
+
+ pAnaGatePort->bBufferFull = 1;
+
+ if ( nRetCode = CANCloseDevice(pAnaGatePort->hHandle) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
+ printf("canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
+ }
+
+ if (pAnaGatePort->pNext == pAnaGatePort)
+ {
+ free (pAnaGatePort);
+ pFistAnaGatePort=NULL;
+ }
+ else
+ {
+ pAnaGatePort->pNext->pPrev = pAnaGatePort->pPrev;
+ pAnaGatePort->pPrev->pNext = pAnaGatePort->pNext;
+ free (pAnaGatePort);
+ }
+
+ return 0;
+}