/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Jorge BERZOSA
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
*/
/*
* can4linux driver
*/
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>
#include "can4linux.h"
#include "can_driver.h"
//struct timeval init_time,current_time;
/*********functions which permit to communicate with the board****************/
UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
{
int res,i;
canmsg_t canmsg;
//long int time_period;
canmsg.flags = 0;
do{
res = read(fd0,&canmsg,1);
if((res<0)&&(errno == -EAGAIN)) res = 0;
}while(res==0);
if(res !=1) // No new message
return 1;
if(canmsg.flags&MSG_EXT){
/* There is no mark for extended messages in CanFestival */;
}
m->cob_id = canmsg.id;
m->len = canmsg.length;
if(canmsg.flags&MSG_RTR){
m->rtr = 1;
}else{
m->rtr = 0;
memcpy(m->data,canmsg.data,8);
}
/*gettimeofday(¤t_time,NULL);
time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec;
printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id);
printf("Receive ID: %lx ->",m->cob_id);
for(i=0; i<canmsg.length;i++)printf("%x, ", m->data[i]);
printf("\n");*/
return 0;
}
/***************************************************************************/
UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)
{
int res;
canmsg_t canmsg;
canmsg.flags = 0;
canmsg.id = m->cob_id;
canmsg.length = m->len;
if(m->rtr){
canmsg.flags |= MSG_RTR;
}else{
memcpy(canmsg.data,m->data,8);
}
/*printf("Send ID: %lx ->",canmsg.id);
for(i=0; i<canmsg.length;i++)printf("%x, ", canmsg.data[i]);
printf("\n");*/
if(canmsg.id >= 0x800){
canmsg.flags |= MSG_EXT;
}
res = write(fd0,&canmsg,1);
if(res!=1)
return 1;
return 0;
}
/***************************************************************************/
int TranslateBaudRate(char* optarg){
if(!strcmp( optarg, "1M")) return (int)1000;
if(!strcmp( optarg, "500K")) return (int)500;
if(!strcmp( optarg, "250K")) return (int)250;
if(!strcmp( optarg, "125K")) return (int)125;
if(!strcmp( optarg, "100K")) return (int)100;
if(!strcmp( optarg, "50K")) return (int)50;
if(!strcmp( optarg, "20K")) return (int)20;
if(!strcmp( optarg, "10K")) return (int)10;
if(!strcmp( optarg, "5K")) return (int)5;
return 0;
}
UNS8 _canChangeBaudRate( CAN_HANDLE fd, int baud)
{
Config_par_t cfg;
volatile Command_par_t cmd;
cmd.cmd = CMD_STOP;
ioctl(fd, COMMAND, &cmd);
cfg.target = CONF_TIMING;
cfg.val1 = baud;
ioctl(fd, CONFIG, &cfg);
cmd.cmd = CMD_START;
ioctl(fd, COMMAND, &cmd);
return 0;
}
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
{
int temp=TranslateBaudRate(baud);
if(temp==0)return 1;
_canChangeBaudRate(fd, temp);
printf("Baudrate changed to=>%s\n", baud);
return 0;
}
/***************************************************************************/
static const char lnx_can_dev_prefix[] = "/dev/can";
CAN_HANDLE canOpen_driver(s_BOARD *board)
{
int name_len = strlen(board->busname);
int prefix_len = strlen(lnx_can_dev_prefix);
char dev_name[prefix_len+name_len+1];
int o_flags = 0;
//int baud = TranslateBaudeRate(board->baudrate);
int fd0;
int res;
/*o_flags = O_NONBLOCK;*/
memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
memcpy(dev_name+prefix_len,board->busname,name_len);
dev_name[prefix_len+name_len] = 0;
fd0 = open(dev_name, O_RDWR|o_flags);
if(fd0 == -1){
fprintf(stderr,"!!! %s is unknown. See can4linux.c\n", dev_name);
goto error_ret;
}
res=TranslateBaudRate(board->baudrate);
if(res == 0){
fprintf(stderr,"!!! %s baudrate not supported. See can4linux.c\n", board->baudrate);
goto error_ret;
}
_canChangeBaudRate( (CAN_HANDLE)fd0, res);
printf("CAN device dev/can%s opened. Baudrate=>%s\n",board->busname, board->baudrate);
return (CAN_HANDLE)fd0;
error_ret:
return NULL;
}
/***************************************************************************/
int canClose_driver(CAN_HANDLE fd0)
{
if((int)fd0 != -1) {
return close((int)fd0);
}
return -1;
}
int canfd_driver(CAN_HANDLE fd0)
{
return ((int)fd0);
}