file unix.c was initially added on branch BRANCH_WIN32PORT.
/*
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 "libpcan.h" // for CAN_HANDLE
#include <applicfg.h>
#include "timer.h"
#include "can_driver.h"
#include "timers_driver.h"
#define MAX_NB_CAN_PORTS 16
typedef struct {
char used;
HANDLE fd;
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(((CANPort*)fd0)->fd, & 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;
}
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(((CANPort*)fd0)->fd, & 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(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(fd0, board->baudrate, CAN_INIT_TYPE_ST);
canports[i].used = 1;
canports[i].fd = fd0;
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)->fd);
WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask);
((CANPort*)fd0)->used = 0;
return 0;
}