etisserant@47: /*
etisserant@47: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@47: 
etisserant@47: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@47: 
etisserant@47: See COPYING file for copyrights details.
etisserant@47: 
etisserant@47: This library is free software; you can redistribute it and/or
etisserant@47: modify it under the terms of the GNU Lesser General Public
etisserant@47: License as published by the Free Software Foundation; either
etisserant@47: version 2.1 of the License, or (at your option) any later version.
etisserant@47: 
etisserant@47: This library is distributed in the hope that it will be useful,
etisserant@47: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@47: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@47: Lesser General Public License for more details.
etisserant@47: 
etisserant@47: You should have received a copy of the GNU Lesser General Public
etisserant@47: License along with this library; if not, write to the Free Software
etisserant@47: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@47: */
etisserant@47: 
etisserant@47: #include <stdio.h>
etisserant@47: #include <string.h>
etisserant@47: #include <stdlib.h>
etisserant@47: #include <stddef.h> /* for NULL */
etisserant@47: 
etisserant@47: #include "config.h"
etisserant@47: 
etisserant@47: #ifdef RTCAN_SOCKET
etisserant@47: #include "rtdm/rtcan.h"
etisserant@47: #define CAN_IFNAME     "rtcan%s"
etisserant@47: #define CAN_SOCKET     rt_dev_socket
etisserant@47: #define CAN_CLOSE      rt_dev_close
etisserant@47: #define CAN_RECV       rt_dev_recv
etisserant@47: #define CAN_SEND       rt_dev_send
etisserant@47: #define CAN_BIND       rt_dev_bind
etisserant@47: #define CAN_IOCTL      rt_dev_ioctl
etisserant@47: #else
etisserant@47: #include "af_can.h"
etisserant@47: #define CAN_IFNAME     "can%s"
etisserant@47: #define CAN_SOCKET     socket
etisserant@47: #define CAN_CLOSE      close
etisserant@47: #define CAN_RECV       recv
etisserant@47: #define CAN_SEND       send
etisserant@47: #define CAN_BIND       bind
etisserant@47: #define CAN_IOCTL      ioctl
etisserant@47: #endif
etisserant@47: 
etisserant@47: struct CANPort;
etisserant@47: #define CAN_HANDLE struct CANPort *
etisserant@47: 
etisserant@47: #include <applicfg.h>
etisserant@47: 
etisserant@47: #include "timer.h"
etisserant@47: #include "can_driver.h"
etisserant@47: #include "timers_driver.h"
etisserant@47: 
etisserant@47: typedef struct CANPort {
etisserant@47:        int fd;
etisserant@47:        TASK_HANDLE receiveTask;
etisserant@47:        CO_Data* d;
etisserant@47: } CANPort;
etisserant@47: 
etisserant@47: /*********functions which permit to communicate with the board****************/
etisserant@47: UNS8 canReceive(CAN_HANDLE fd0, Message *m)
etisserant@47: {
etisserant@47:        int res;
etisserant@47:        struct can_frame frame;
etisserant@47: 
etisserant@47:        res = CAN_RECV(fd0->fd, &frame, sizeof(frame), 0);
etisserant@47:        if (res < 0)
etisserant@47:                return 1;
etisserant@47: 
etisserant@47:        m->cob_id.w = frame.can_id & CAN_EFF_MASK;
etisserant@47:        m->len      = frame.can_dlc;
etisserant@47:        if (frame.can_id & CAN_RTR_FLAG)
etisserant@47:                m->rtr = 1;
etisserant@47:        else
etisserant@47:                m->rtr = 0;
etisserant@47:        memcpy(m->data, frame.data, 8);
etisserant@47: 
etisserant@47:        return 0;
etisserant@47: }
etisserant@47: 
etisserant@47: void canReceiveLoop(CAN_HANDLE fd0)
etisserant@47: {
etisserant@47:        CO_Data* d = fd0->d;
etisserant@47:        Message m;
etisserant@47: 
etisserant@47:        while (1) {
etisserant@47:                if (canReceive(fd0, &m) != 0)
etisserant@47:                        break;
etisserant@47: 
etisserant@47:                EnterMutex();
etisserant@47:                canDispatch(d, &m);
etisserant@47:                LeaveMutex();
etisserant@47:        }
etisserant@47: }
etisserant@47: 
etisserant@47: /***************************************************************************/
etisserant@47: UNS8 canSend(CAN_HANDLE fd0, Message *m)
etisserant@47: {
etisserant@47:        int res;
etisserant@47:        struct can_frame frame;
etisserant@47: 
etisserant@47:        frame.can_id = m->cob_id.w;
etisserant@47:        if (frame.can_id >= 0x800)
etisserant@47:                frame.can_id |= CAN_EFF_FLAG;
etisserant@47:        frame.can_dlc = m->len;
etisserant@47:        if (m->rtr)
etisserant@47:                frame.can_id |= CAN_RTR_FLAG;
etisserant@47:        else
etisserant@47:                memcpy(frame.data, m->data, 8);
etisserant@47: 
etisserant@47:        res = CAN_SEND(fd0->fd, &frame, sizeof(frame), 0);
etisserant@47:        if (res < 0)
etisserant@47:                return 1;
etisserant@47: 
etisserant@47:        return 0;
etisserant@47: }
etisserant@47: 
etisserant@47: /***************************************************************************/
etisserant@47: CAN_HANDLE canOpen(s_BOARD *board)
etisserant@47: {
etisserant@47:        CAN_HANDLE fd0;
etisserant@47:        struct ifreq ifr;
etisserant@47:        struct sockaddr_can addr;
etisserant@47:        int err;
etisserant@47: 
etisserant@47:        fd0 = malloc(sizeof(*fd0));
etisserant@47:        if (!fd0)
etisserant@47:                return NULL;
etisserant@47: 
etisserant@47:        fd0->fd = CAN_SOCKET(PF_CAN, SOCK_RAW, 0);
etisserant@47:        if(fd0->fd < 0){
etisserant@47:                fprintf(stderr,"Socket creation failed.\n");
etisserant@47:                goto error_ret;
etisserant@47:        }
etisserant@47: 
etisserant@47:        snprintf(ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
etisserant@47:        err = CAN_IOCTL(fd0->fd, SIOCGIFINDEX, &ifr);
etisserant@47:        if (err) {
etisserant@47:                fprintf(stderr, "Unknown device: %s\n", ifr.ifr_name);
etisserant@47:                goto error_close;
etisserant@47:        }
etisserant@47: 
etisserant@47:        addr.can_family  = AF_CAN;
etisserant@47:        addr.can_ifindex = ifr.ifr_ifindex;
etisserant@47:        err = CAN_BIND(fd0->fd, (struct sockaddr *)&addr,
etisserant@47:                              sizeof(addr));
etisserant@47:        if (err) {
etisserant@47:                fprintf(stderr, "Binding failed.\n");
etisserant@47:                goto error_close;
etisserant@47:        }
etisserant@47: 
etisserant@47:        fd0->d = board->d;
etisserant@47:        CreateReceiveTask(fd0, &fd0->receiveTask);
etisserant@47:        return fd0;
etisserant@47: 
etisserant@47:  error_close:
etisserant@47:        CAN_CLOSE(fd0->fd);
etisserant@47: 
etisserant@47:  error_ret:
etisserant@47:        free(fd0);
etisserant@47:        return NULL;
etisserant@47: }
etisserant@47: 
etisserant@47: /***************************************************************************/
etisserant@47: int canClose(CAN_HANDLE fd0)
etisserant@47: {
etisserant@47:        if (fd0) {
etisserant@47:                WaitReceiveTaskEnd(&fd0->receiveTask);
etisserant@47:                CAN_CLOSE(fd0->fd);
etisserant@47:                free(fd0);
etisserant@47:        }
etisserant@47:        return 0;
etisserant@47: }