--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_linux/can_peak_linux.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,129 @@
+/*
+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>
+
+/* driver pcan pci for Peak board */
+//#include "libpcan.h"
+//#include "pcan.h"
+
+#include "libpcan.h" // for CAN_HANDLE
+
+#include "can_driver.h"
+
+// 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_driver(CAN_HANDLE fd0, Message *m)
+{
+ UNS8 data;
+ TPCANMsg peakMsg;
+ if ((errno = CAN_Read(fd0, & peakMsg))) { // Blocks until no new message or error.
+ if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading"
+ {
+ 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;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(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(fd0, & peakMsg))) {
+ perror("!!! Peak board : error of writing. (from canSend function) \n");
+ return 1;
+ }
+ return 0;
+
+}
+
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
+ if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
+ if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
+ if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
+ if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
+ if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
+ if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
+ if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
+ if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
+ if(!strcmp( optarg, "none")) return 0;
+ return 0x0000;
+}
+
+/***************************************************************************/
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+ HANDLE fd0 = NULL;
+ char busname[64];
+ char* pEnd;
+ int i;
+ int baudrate;
+
+ if(strtol(board->busname, &pEnd,0) >= 0)
+ {
+ sprintf(busname,"/dev/pcan%s",board->busname);
+ fd0 = LINUX_CAN_Open(busname, O_RDWR);
+ }
+
+ if(baudrate = TranslateBaudeRate(board->baudrate))
+ CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
+
+ return (CAN_HANDLE)fd0;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+ CAN_Close(fd0);
+ return 0;
+}