etisserant@38: /*
etisserant@38: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@38: 
etisserant@38: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@38: 
etisserant@38: See COPYING file for copyrights details.
etisserant@38: 
etisserant@38: This library is free software; you can redistribute it and/or
etisserant@38: modify it under the terms of the GNU Lesser General Public
etisserant@38: License as published by the Free Software Foundation; either
etisserant@38: version 2.1 of the License, or (at your option) any later version.
etisserant@38: 
etisserant@38: This library is distributed in the hope that it will be useful,
etisserant@38: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@38: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@38: Lesser General Public License for more details.
etisserant@38: 
etisserant@38: You should have received a copy of the GNU Lesser General Public
etisserant@38: License along with this library; if not, write to the Free Software
etisserant@38: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@38: */
etisserant@38: 
etisserant@38: #include <stdio.h>
etisserant@38: #include <string.h>
etisserant@38: #include <stdlib.h>
etisserant@38: #include <errno.h>
etisserant@38: #include <stddef.h> /* for NULL */
etisserant@38: #include <sys/ioctl.h>
etisserant@38: #include <fcntl.h>
etisserant@38: #include <signal.h>
etisserant@38: #include <sys/time.h>
etisserant@38: #include <unistd.h>
etisserant@38: 
etisserant@38: /* driver pcan pci for Peak board */
etisserant@38: //#include "libpcan.h"
etisserant@38: //#include "pcan.h"
etisserant@38: 
etisserant@38: #include <applicfg.h>
etisserant@38: #include "timer.h"
etisserant@38: #include "can_driver.h"
etisserant@38: #include "timers_driver.h"
etisserant@38: 
etisserant@38: #define MAX_NB_CAN_PORTS 1
etisserant@38: 
etisserant@38: typedef struct {
etisserant@38:   char used;
etisserant@38:   TASK_HANDLE receiveTask;
etisserant@38:   CO_Data* d;
etisserant@38: } CANPort;
etisserant@38: 
etisserant@38: CANPort canports[MAX_NB_CAN_PORTS] = {{0,},};
etisserant@38: 
etisserant@38: // Define for rtr CAN message
etisserant@38: #define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 
etisserant@38: 
etisserant@38: /*********functions which permit to communicate with the board****************/
etisserant@38: UNS8 canReceive(CAN_HANDLE fd0, Message *m)
etisserant@38: {
etisserant@38:   UNS8 data; 
etisserant@38:   TPCANMsg peakMsg;
etisserant@38:   if ((errno = CAN_Read(& peakMsg))) {		// Blocks until no new message or error.
etisserant@38:     perror("!!! Peak board : error of reading. (from f_can_receive function) \n");
etisserant@38:     return 1;
etisserant@38:   }
etisserant@38:   m->cob_id.w = peakMsg.ID;   
etisserant@38:   if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)         	/* bits of MSGTYPE_*/
etisserant@38:     m->rtr = 0;
etisserant@38:   else 
etisserant@38:     m->rtr = 1;
etisserant@38:   m->len = peakMsg.LEN;					/* count of data bytes (0..8) */
etisserant@38:   for(data = 0  ; data < peakMsg.LEN ; data++)             			
etisserant@38:     m->data[data] = peakMsg.DATA[data];         	/* data bytes, up to 8 */
etisserant@38:   
etisserant@38:   return 0;
etisserant@38: }
etisserant@38: 
etisserant@38: void canReceiveLoop(CAN_HANDLE fd0)
etisserant@38: {
etisserant@38: 	CO_Data* d = ((CANPort*)fd0)->d;
etisserant@38: 	Message m;
etisserant@38: 	while (1) {
etisserant@38: 		if(!canReceive(fd0, &m))
etisserant@38: 		{
etisserant@38: 			EnterMutex();
etisserant@38: 			canDispatch(d, &m);
etisserant@38: 			LeaveMutex();
etisserant@38: 		}else{
etisserant@38: //			printf("canReceive returned error\n");
etisserant@38: 			break;
etisserant@38: 		}
etisserant@38: 	}
etisserant@38: }
etisserant@38: 
etisserant@38: /***************************************************************************/
etisserant@38: UNS8 canSend(CAN_HANDLE fd0, Message *m)
etisserant@38: {
etisserant@38:   UNS8 data;
etisserant@38:   TPCANMsg peakMsg;
etisserant@38:   peakMsg.ID=m -> cob_id.w;              			/* 11/29 bit code */
etisserant@38:   if(m->rtr == 0)	
etisserant@38:     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/
etisserant@38:   else {
etisserant@38:     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/
etisserant@38:   }
etisserant@38:   peakMsg.LEN = m->len;   
etisserant@38:           			/* count of data bytes (0..8) */
etisserant@38:   for(data = 0 ; data <  m->len; data ++)
etisserant@38:   	peakMsg.DATA[data] = m->data[data];         	/* data bytes, up to 8 */
etisserant@38:   
etisserant@38:   if((errno = CAN_Write(& peakMsg))) {
etisserant@38:     perror("!!! Peak board : error of writing. (from canSend function) \n");
etisserant@38:     return 1;
etisserant@38:   }
etisserant@38:   return 0;
etisserant@38: 
etisserant@38: }
etisserant@38: 
etisserant@38: /***************************************************************************/
etisserant@38: CAN_HANDLE canOpen(s_BOARD *board)
etisserant@38: {
etisserant@38:   HANDLE fd0 = NULL;
etisserant@38:   char busname[64];
etisserant@38:   char* pEnd;
etisserant@38:   int i;  
etisserant@38:   
etisserant@38:   for(i=0; i < MAX_NB_CAN_PORTS; i++)
etisserant@38:   {
etisserant@38:   	if(!canports[i].used)
etisserant@38: 	  	break;
etisserant@38:   }
etisserant@38:   if(canports[i].used)
etisserant@38:   {
etisserant@38:   	perror("can_peak_win32.c: no more can port available with this pcan library\n");
etisserant@38:   	perror("can_peak_win32.c: please link another executable with another pcan lib\n");
etisserant@38:   	return NULL;
etisserant@38:   }
etisserant@38: //  if(strtol(board->busname, &pEnd,0) >= 0)
etisserant@38: //  {
etisserant@38: //    sprintf(busname,"/dev/pcan%s",board->busname);
etisserant@38: //    fd0 = LINUX_CAN_Open(busname, O_RDWR);
etisserant@38: //  }
etisserant@38: 
etisserant@38:   if (i==MAX_NB_CAN_PORTS || fd0 == NULL)
etisserant@38:     {
etisserant@38:       fprintf (stderr, "Open failed.\n");
etisserant@38:       return (CAN_HANDLE)NULL;
etisserant@38:     }
etisserant@38: 
etisserant@38:    CAN_Init(board->baudrate, CAN_INIT_TYPE_ST);
etisserant@38: 
etisserant@38:    canports[i].used = 1;
etisserant@38: 
etisserant@38:    canports[i].d = board->d;
etisserant@38:    CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask);
etisserant@38: 
etisserant@38:    return (CANPort*) &canports[i];
etisserant@38: }
etisserant@38: 
etisserant@38: /***************************************************************************/
etisserant@38: int canClose(CAN_HANDLE fd0)
etisserant@38: {
etisserant@38:   CAN_Close();
etisserant@38:   ((CANPort*)fd0)->used = 0;
etisserant@38:   WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask);
etisserant@38:   return 0;
etisserant@38: }