Fixed timer problem on late Heartbeat. Thanks to Jorge.
/*
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("canReceive_driver (Peak_Linux) : error of reading.\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("canSend_driver (Peak_Linux) : error of writing.\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(fd0 && (baudrate = TranslateBaudeRate(board->baudrate)))
{
CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
}else{
fprintf(stderr, "canOpen_driver (Peak_Linux) : error opening %s\n", busname);
}
return (CAN_HANDLE)fd0;
}
/***************************************************************************/
int canClose_driver(CAN_HANDLE fd0)
{
CAN_Close(fd0);
return 0;
}