Commit some Fix from Francis on sdo.c and abjacces.c. Fix endianisation problems while accessing OD. Also fix SDO abord handling bug.
/*
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
*/
/*
Virtual CAN driver.
*/
#include <stdlib.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>
#include <applicfg.h>
#include "timer.h"
#include "can_driver.h"
#include "timers_driver.h"
#define MAX_NB_CAN_PIPES 10
typedef struct {
char used;
int pipe[2];
TASK_HANDLE receiveTask;
CO_Data* d;
} CANPipe;
CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,{0,0},},};
/*********functions which permit to communicate with the board****************/
UNS8 canReceive(CAN_HANDLE fd0, Message *m)
{
if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) < sizeof(Message))
{
return 1;
}
return 0;
}
void canReceiveLoop(CAN_HANDLE fd0)
{
CO_Data* d = ((CANPipe*)fd0)->d;
Message m;
while (1) {
if(!canReceive(fd0, &m))
{
EnterMutex();
canDispatch(d, &m);
LeaveMutex();
}else{
break;
}
}
}
/***************************************************************************/
UNS8 canSend(CAN_HANDLE fd0, Message *m)
{
int i;
// Send to all readers, except myself
for(i=0; i < MAX_NB_CAN_PIPES; i++)
{
if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
{
write(canpipes[i].pipe[1], m, sizeof(Message));
}
}
return 0;
}
/***************************************************************************/
CAN_HANDLE canOpen(s_BOARD *board)
{
int i;
for(i=0; i < MAX_NB_CAN_PIPES; i++)
{
if(!canpipes[i].used)
break;
}
/* Create the pipe. */
if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))
{
fprintf (stderr, "Open failed.\n");
return (CAN_HANDLE)NULL;
}
canpipes[i].used = 1;
canpipes[i].d = board->d;
CreateReceiveTask((CAN_HANDLE) &canpipes[i], &canpipes[i].receiveTask);
return (CAN_HANDLE) &canpipes[i];
}
/***************************************************************************/
int canClose(CAN_HANDLE fd0)
{
close(((CANPipe*)fd0)->pipe[0]);
close(((CANPipe*)fd0)->pipe[1]);
((CANPipe*)fd0)->used = 0;
WaitReceiveTaskEnd(&((CANPipe*)fd0)->receiveTask);
}