CanFestival: drivers/can_peak_linux/can_peak

00001 /*
nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@215: 00003 
nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@215: 00005 
nico@215: 00006 See COPYING file for copyrights details.
nico@215: 00007 
nico@215: 00008 This library is free software; you can redistribute it and/or
nico@215: 00009 modify it under the terms of the GNU Lesser General Public
nico@215: 00010 License as published by the Free Software Foundation; either
nico@215: 00011 version 2.1 of the License, or (at your option) any later version.
nico@215: 00012 
nico@215: 00013 This library is distributed in the hope that it will be useful,
nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@215: 00016 Lesser General Public License for more details.
nico@215: 00017 
nico@215: 00018 You should have received a copy of the GNU Lesser General Public
nico@215: 00019 License along with this library; if not, write to the Free Software
nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@215: 00021 */
nico@215: 00022 
nico@215: 00023 #include <stdio.h>
nico@215: 00024 #include <string.h>
nico@215: 00025 #include <errno.h>
nico@215: 00026 #include <fcntl.h>
nico@215: 00027 
nico@215: 00028 /* driver pcan pci for Peak board */
nico@215: 00029 //#include "libpcan.h"
nico@215: 00030 //#include "pcan.h"
nico@215: 00031 
nico@215: 00032 #include "libpcan.h" // for CAN_HANDLE
nico@215: 00033 
nico@215: 00034 #include "can_driver.h"
nico@215: 00035 
nico@215: 00036 // Define for rtr CAN message
etisserant@240: 00037 #define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 
nico@215: 00038 
nico@215: 00039 /*********functions which permit to communicate with the board****************/
etisserant@240: 00040 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
nico@215: 00041 {
etisserant@240: 00042   UNS8 data; 
nico@215: 00043   TPCANMsg peakMsg;
nico@215: 00044   if ((errno = CAN_Read(fd0, & peakMsg))) {             // Blocks until no new message or error.
nico@215: 00045     if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading" 
nico@215: 00046     {
nico@215: 00047         perror("canReceive_driver (Peak_Linux) : error of reading.\n");
nico@215: 00048     }
nico@215: 00049     return 1;
nico@215: 00050   }
etisserant@240: 00051   m->cob_id.w = peakMsg.ID;   
nico@215: 00052   if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)              /* bits of MSGTYPE_*/
etisserant@240: 00053     m->rtr = 0;
nico@215: 00054   else 
etisserant@240: 00055     m->rtr = 1;
etisserant@240: 00056   m->len = peakMsg.LEN;                                 /* count of data bytes (0..8) */
nico@215: 00057   for(data = 0  ; data < peakMsg.LEN ; data++)                                  
etisserant@240: 00058     m->data[data] = peakMsg.DATA[data];                 /* data bytes, up to 8 */
nico@215: 00059   
nico@215: 00060   return 0;
nico@215: 00061 }
nico@215: 00062 
nico@215: 00063 /***************************************************************************/
etisserant@240: 00064 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
nico@215: 00065 {
etisserant@240: 00066   UNS8 data;
nico@215: 00067   TPCANMsg peakMsg;
nico@215: 00068   peakMsg.ID=m -> cob_id.w;                                     /* 11/29 bit code */
etisserant@240: 00069   if(m->rtr == 0)       
nico@215: 00070     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/
nico@215: 00071   else {
etisserant@240: 00072     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/
nico@215: 00073   }
etisserant@240: 00074   peakMsg.LEN = m->len;   
nico@215: 00075                                 /* count of data bytes (0..8) */
etisserant@240: 00076   for(data = 0 ; data <  m->len; data ++)
etisserant@240: 00077         peakMsg.DATA[data] = m->data[data];             /* data bytes, up to 8 */
nico@215: 00078   
nico@215: 00079   if((errno = CAN_Write(fd0, & peakMsg))) {
nico@215: 00080     perror("canSend_driver (Peak_Linux) : error of writing.\n");
nico@215: 00081     return 1;
nico@215: 00082   }
nico@215: 00083   return 0;
nico@215: 00084 
nico@215: 00085 }
nico@215: 00086 
nico@215: 00087 
nico@215: 00088 /***************************************************************************/
etisserant@240: 00089 int TranslateBaudeRate(char* optarg){
nico@215: 00090         if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
nico@215: 00091         if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
nico@215: 00092         if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
nico@215: 00093         if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
nico@215: 00094         if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
nico@215: 00095         if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
nico@215: 00096         if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
nico@215: 00097         if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
nico@215: 00098         if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
nico@215: 00099         if(!strcmp( optarg, "none")) return 0;
nico@215: 00100         return 0x0000;
nico@215: 00101 }
nico@215: 00102 
nico@215: 00103 /***************************************************************************/
etisserant@240: 00104 CAN_HANDLE canOpen_driver(s_BOARD *board)
nico@215: 00105 {
nico@215: 00106   HANDLE fd0 = NULL;
nico@215: 00107   char busname[64];
nico@215: 00108   char* pEnd;
nico@215: 00109   int i;  
nico@215: 00110   int baudrate;
nico@215: 00111   
etisserant@240: 00112   if(strtol(board->busname, &pEnd,0) >= 0)
nico@215: 00113   {
etisserant@240: 00114     sprintf(busname,"/dev/pcan%s",board->busname);
nico@215: 00115     fd0 = LINUX_CAN_Open(busname, O_RDWR);
nico@215: 00116   }
nico@215: 00117 
etisserant@240: 00118   if(fd0 && (baudrate = TranslateBaudeRate(board->baudrate)))
nico@215: 00119   {
nico@215: 00120         CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
nico@215: 00121   }else{
nico@215: 00122         fprintf(stderr, "canOpen_driver (Peak_Linux) : error opening %s\n", busname);
nico@215: 00123   }
nico@215: 00124 
etisserant@240: 00125    return (CAN_HANDLE)fd0;
nico@215: 00126 }
nico@215: 00127 
nico@215: 00128 /***************************************************************************/
etisserant@240: 00129 int canClose_driver(CAN_HANDLE fd0)
nico@215: 00130 {
nico@215: 00131   CAN_Close(fd0);
nico@215: 00132   return 0;
nico@215: 00133 }
etisserant@240:
can_peak_linux.c
