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<h1>/home/epimerde/documents/tc11/CanFestival-3/drivers/can_peak_linux/can_peak_linux.c</h1><a href="can__peak__linux_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span>
<a name="l00024"></a>00024 <span class="preprocessor">#include <string.h></span>
<a name="l00025"></a>00025 <span class="preprocessor">#include <errno.h></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include <fcntl.h></span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="comment">/* driver pcan pci for Peak board */</span>
<a name="l00029"></a>00029 <span class="comment">//#include "libpcan.h"</span>
<a name="l00030"></a>00030 <span class="comment">//#include "pcan.h"</span>
<a name="l00031"></a>00031
<a name="l00032"></a>00032 <span class="preprocessor">#include "libpcan.h"</span> <span class="comment">// for CAN_HANDLE</span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="comment">// Define for rtr CAN message</span>
<a name="l00037"></a><a class="code" href="can__peak__linux_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">00037</a> <span class="preprocessor">#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR </span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
<a name="l00040"></a><a class="code" href="can__peak__linux_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">00040</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">canReceive_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data;
<a name="l00043"></a>00043 TPCANMsg peakMsg;
<a name="l00044"></a>00044 <span class="keywordflow">if</span> ((errno = CAN_Read(fd0, & peakMsg))) { <span class="comment">// Blocks until no new message or error.</span>
<a name="l00045"></a>00045 <span class="keywordflow">if</span>(errno != -EIDRM && errno != -EPERM) <span class="comment">// error is not "Can Port closed while reading" </span>
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 perror(<span class="stringliteral">"canReceive_driver (Peak_Linux) : error of reading.\n"</span>);
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049 <span class="keywordflow">return</span> 1;
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051 m-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = peakMsg.ID;
<a name="l00052"></a>00052 <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) <span class="comment">/* bits of MSGTYPE_*/</span>
<a name="l00053"></a>00053 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0;
<a name="l00054"></a>00054 <span class="keywordflow">else</span>
<a name="l00055"></a>00055 m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1;
<a name="l00056"></a>00056 m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = peakMsg.LEN; <span class="comment">/* count of data bytes (0..8) */</span>
<a name="l00057"></a>00057 <span class="keywordflow">for</span>(data = 0 ; data < peakMsg.LEN ; data++)
<a name="l00058"></a>00058 m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data] = peakMsg.DATA[data]; <span class="comment">/* data bytes, up to 8 */</span>
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keywordflow">return</span> 0;
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">/***************************************************************************/</span>
<a name="l00064"></a><a class="code" href="can__peak__linux_8c.html#def95aee49efa13dd047d0b3b5507ad3">00064</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#def95aee49efa13dd047d0b3b5507ad3">canSend_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data;
<a name="l00067"></a>00067 TPCANMsg peakMsg;
<a name="l00068"></a>00068 peakMsg.ID=m -> cob_id.w; <span class="comment">/* 11/29 bit code */</span>
<a name="l00069"></a>00069 <span class="keywordflow">if</span>(m-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> == 0)
<a name="l00070"></a>00070 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; <span class="comment">/* bits of MSGTYPE_*/</span>
<a name="l00071"></a>00071 <span class="keywordflow">else</span> {
<a name="l00072"></a>00072 peakMsg.MSGTYPE = <a class="code" href="can__peak__linux_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">CAN_INIT_TYPE_ST_RTR</a>; <span class="comment">/* bits of MSGTYPE_*/</span>
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 peakMsg.LEN = m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>;
<a name="l00075"></a>00075 <span class="comment">/* count of data bytes (0..8) */</span>
<a name="l00076"></a>00076 <span class="keywordflow">for</span>(data = 0 ; data < m-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; data ++)
<a name="l00077"></a>00077 peakMsg.DATA[data] = m-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data]; <span class="comment">/* data bytes, up to 8 */</span>
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keywordflow">if</span>((errno = CAN_Write(fd0, & peakMsg))) {
<a name="l00080"></a>00080 perror(<span class="stringliteral">"canSend_driver (Peak_Linux) : error of writing.\n"</span>);
<a name="l00081"></a>00081 <span class="keywordflow">return</span> 1;
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083 <span class="keywordflow">return</span> 0;
<a name="l00084"></a>00084
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment">/***************************************************************************/</span>
<a name="l00089"></a><a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">00089</a> <span class="keywordtype">int</span> <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(<span class="keywordtype">char</span>* optarg){
<a name="l00090"></a>00090 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"1M"</span>)) <span class="keywordflow">return</span> CAN_BAUD_1M;
<a name="l00091"></a>00091 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"500K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_500K;
<a name="l00092"></a>00092 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"250K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_250K;
<a name="l00093"></a>00093 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"125K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_125K;
<a name="l00094"></a>00094 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"100K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_100K;
<a name="l00095"></a>00095 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"50K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_50K;
<a name="l00096"></a>00096 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"20K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_20K;
<a name="l00097"></a>00097 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"10K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_10K;
<a name="l00098"></a>00098 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"5K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_5K;
<a name="l00099"></a>00099 <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0;
<a name="l00100"></a>00100 <span class="keywordflow">return</span> 0x0000;
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">/***************************************************************************/</span>
<a name="l00104"></a><a class="code" href="can__peak__linux_8c.html#945403aba7f36acbd2e7160ade361bab">00104</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> <a class="code" href="can__lincan_8c.html#945403aba7f36acbd2e7160ade361bab">canOpen_driver</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board)
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106 HANDLE fd0 = NULL;
<a name="l00107"></a>00107 <span class="keywordtype">char</span> busname[64];
<a name="l00108"></a>00108 <span class="keywordtype">char</span>* pEnd;
<a name="l00109"></a>00109 <span class="keywordtype">int</span> i;
<a name="l00110"></a>00110 <span class="keywordtype">int</span> baudrate;
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="keywordflow">if</span>(strtol(board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, &pEnd,0) >= 0)
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 sprintf(busname,<span class="stringliteral">"/dev/pcan%s"</span>,board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>);
<a name="l00115"></a>00115 fd0 = LINUX_CAN_Open(busname, O_RDWR);
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keywordflow">if</span>(fd0 && (baudrate = <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(board-><a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>)))
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120 CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
<a name="l00121"></a>00121 }<span class="keywordflow">else</span>{
<a name="l00122"></a>00122 fprintf(stderr, <span class="stringliteral">"canOpen_driver (Peak_Linux) : error opening %s\n"</span>, busname);
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a>)fd0;
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span>
<a name="l00129"></a><a class="code" href="can__peak__linux_8c.html#76e6a915d0e40a23b863198b2aaa5545">00129</a> <span class="keywordtype">int</span> <a class="code" href="can__lincan_8c.html#76e6a915d0e40a23b863198b2aaa5545">canClose_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0)
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131 CAN_Close(fd0);
<a name="l00132"></a>00132 <span class="keywordflow">return</span> 0;
<a name="l00133"></a>00133 }
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