groke6@364: /* groke6@364: This file is part of CanFestival, a library implementing CanOpen Stack. groke6@364: groke6@364: Copyright (C): Jorge BERZOSA groke6@364: groke6@364: See COPYING file for copyrights details. groke6@364: groke6@364: This library is free software; you can redistribute it and/or groke6@364: modify it under the terms of the GNU Lesser General Public groke6@364: License as published by the Free Software Foundation; either groke6@364: version 2.1 of the License, or (at your option) any later version. groke6@364: groke6@364: This library is distributed in the hope that it will be useful, groke6@364: but WITHOUT ANY WARRANTY; without even the implied warranty of groke6@364: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU groke6@364: Lesser General Public License for more details. groke6@364: groke6@364: You should have received a copy of the GNU Lesser General Public groke6@364: License along with this library; if not, write to the Free Software groke6@364: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA groke6@364: */ groke6@364: groke6@364: /* groke6@364: * can4linux driver groke6@364: */ groke6@364: groke6@364: #include groke6@364: #include groke6@364: #include groke6@364: #include groke6@364: groke6@364: #include "can4linux.h" groke6@364: #include "can_driver.h" groke6@364: groke6@364: struct timeval init_time,current_time; groke6@364: groke6@364: /*********functions which permit to communicate with the board****************/ groke6@364: UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) groke6@364: { groke6@364: int res,i; groke6@364: canmsg_t canmsg; groke6@364: long int time_period; groke6@364: groke6@364: canmsg.flags = 0; groke6@364: do{ groke6@364: res = read(fd0,&canmsg,1); groke6@364: if((res<0)&&(errno == -EAGAIN)) res = 0; groke6@364: }while(res==0); groke6@364: groke6@364: if(res !=1) // No new message groke6@364: return 1; groke6@364: groke6@364: if(canmsg.flags&MSG_EXT){ groke6@364: /* There is no mark for extended messages in CanFestival */; groke6@364: } groke6@364: etisserant@365: m->cob_id = canmsg.id; groke6@364: m->len = canmsg.length; groke6@364: if(canmsg.flags&MSG_RTR){ groke6@364: m->rtr = 1; groke6@364: }else{ groke6@364: m->rtr = 0; groke6@364: memcpy(m->data,canmsg.data,8); groke6@364: } groke6@364: groke6@364: groke6@364: /*gettimeofday(¤t_time,NULL); groke6@364: time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec; etisserant@365: printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id); etisserant@365: printf("Receive ID: %lx ->",m->cob_id); groke6@364: for(i=0; idata[i]); groke6@364: printf("\n");*/ groke6@364: groke6@364: return 0; groke6@364: } groke6@364: groke6@364: /***************************************************************************/ groke6@364: UNS8 canSend_driver(CAN_HANDLE fd0, Message *m) groke6@364: { groke6@364: int res; groke6@364: canmsg_t canmsg; groke6@364: groke6@364: canmsg.flags = 0; etisserant@365: canmsg.id = m->cob_id; groke6@364: canmsg.length = m->len; groke6@364: if(m->rtr){ groke6@364: canmsg.flags |= MSG_RTR; groke6@364: }else{ groke6@364: memcpy(canmsg.data,m->data,8); groke6@364: } groke6@364: groke6@364: /*printf("Send ID: %lx ->",canmsg.id); groke6@364: for(i=0; i= 0x800){ groke6@364: canmsg.flags |= MSG_EXT; groke6@364: } groke6@364: groke6@364: res = write(fd0,&canmsg,1); groke6@364: if(res!=1) groke6@364: return 1; groke6@364: groke6@364: return 0; groke6@364: } groke6@364: groke6@364: /***************************************************************************/ groke6@364: int set_bitrate( CAN_HANDLE fd, int baud) groke6@364: { groke6@364: Config_par_t cfg; groke6@364: volatile Command_par_t cmd; groke6@364: groke6@364: cmd.cmd = CMD_STOP; groke6@364: ioctl(fd, COMMAND, &cmd); groke6@364: groke6@364: cfg.target = CONF_TIMING; groke6@364: cfg.val1 = baud; groke6@364: ioctl(fd, CONFIG, &cfg); groke6@364: groke6@364: cmd.cmd = CMD_START; groke6@364: ioctl(fd, COMMAND, &cmd); groke6@364: return 0; groke6@364: } groke6@364: groke6@364: /***************************************************************************/ groke6@364: int TranslateBaudeRate(char* optarg){ groke6@364: if(!strcmp( optarg, "1M")) return (int)1000; groke6@364: if(!strcmp( optarg, "500K")) return (int)500; groke6@364: if(!strcmp( optarg, "250K")) return (int)250; groke6@364: if(!strcmp( optarg, "125K")) return (int)125; groke6@364: if(!strcmp( optarg, "100K")) return (int)100; groke6@364: if(!strcmp( optarg, "50K")) return (int)50; groke6@364: if(!strcmp( optarg, "20K")) return (int)20; groke6@364: if(!strcmp( optarg, "10K")) return (int)10; groke6@364: if(!strcmp( optarg, "5K")) return (int)5; groke6@364: if(!strcmp( optarg, "none")) return 0; groke6@364: return 0x0000; groke6@364: } groke6@364: groke6@364: /***************************************************************************/ groke6@364: static const char lnx_can_dev_prefix[] = "/dev/can"; groke6@364: groke6@364: CAN_HANDLE canOpen_driver(s_BOARD *board) groke6@364: { groke6@364: int name_len = strlen(board->busname); groke6@364: int prefix_len = strlen(lnx_can_dev_prefix); groke6@364: char dev_name[prefix_len+name_len+1]; groke6@364: int o_flags = 0; groke6@364: int baud = TranslateBaudeRate(board->baudrate); groke6@364: int fd0; groke6@364: groke6@364: groke6@364: /*o_flags = O_NONBLOCK;*/ groke6@364: groke6@364: memcpy(dev_name,lnx_can_dev_prefix,prefix_len); groke6@364: memcpy(dev_name+prefix_len,board->busname,name_len); groke6@364: dev_name[prefix_len+name_len] = 0; groke6@364: groke6@364: fd0 = open(dev_name, O_RDWR|o_flags); groke6@364: if(fd0 <= 0){ groke6@364: fprintf(stderr,"!!! %s is unknown. See can4linux.c\n", dev_name); groke6@364: goto error_ret; groke6@364: } groke6@364: groke6@364: set_bitrate((CAN_HANDLE)fd0, baud); groke6@364: groke6@364: printf("CAN device dev/can%s opened. Baudrate=>%s\n",board->busname, board->baudrate); groke6@364: groke6@364: return (CAN_HANDLE)fd0; groke6@364: groke6@364: error_ret: groke6@364: return NULL; groke6@364: } groke6@364: groke6@364: /***************************************************************************/ groke6@364: int canClose_driver(CAN_HANDLE fd0) groke6@364: { groke6@364: if((int)fd0<=0) groke6@364: return -1; groke6@364: close(fd0); groke6@364: return 0; groke6@364: }