etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include <stdio.h>
etisserant@0: #include <string.h>
etisserant@0: #include <stdlib.h>
etisserant@0: #include <errno.h>
etisserant@0: #include <stddef.h> /* for NULL */
etisserant@0: #include <sys/ioctl.h>
etisserant@0: #include <fcntl.h>
etisserant@0: #include <signal.h>
etisserant@0: #include <sys/time.h>
etisserant@0: #include <unistd.h>
etisserant@0: 
etisserant@0: /* driver pcan pci for Peak board */
etisserant@0: //#include "libpcan.h"
etisserant@0: //#include "pcan.h"
etisserant@0: 
etisserant@0: #include "libpcan.h" // for CAN_HANDLE
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: #include "timer.h"
etisserant@0: #include "can_driver.h"
etisserant@0: #include "timers_driver.h"
etisserant@0: 
etisserant@0: #define MAX_NB_CAN_PORTS 16
etisserant@0: 
etisserant@0: typedef struct {
etisserant@0:   char used;
etisserant@0:   HANDLE fd;
etisserant@0:   TASK_HANDLE receiveTask;
etisserant@0:   CO_Data* d;
etisserant@0: } CANPort;
etisserant@0: 
etisserant@0: CANPort canports[MAX_NB_CAN_PORTS] = {{0,},};
etisserant@0: 
etisserant@0: // Define for rtr CAN message
etisserant@0: #define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 
etisserant@0: 
etisserant@0: /*********functions which permit to communicate with the board****************/
etisserant@0: UNS8 canReceive(CAN_HANDLE fd0, Message *m)
etisserant@0: {
etisserant@0:   UNS8 data; 
etisserant@0:   TPCANMsg peakMsg;
etisserant@0:   if ((errno = CAN_Read(((CANPort*)fd0)->fd, & peakMsg))) {		// Blocks until no new message or error.
etisserant@33:     if(errno != -EIDRM) // error is not "Can Port closed while reading" 
etisserant@33:     {
etisserant@33:     	perror("!!! Peak board : error of reading. (from f_can_receive function) \n");
etisserant@33:     }
etisserant@0:     return 1;
etisserant@0:   }
etisserant@0:   m->cob_id.w = peakMsg.ID;   
etisserant@0:   if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)         	/* bits of MSGTYPE_*/
etisserant@0:     m->rtr = 0;
etisserant@0:   else 
etisserant@0:     m->rtr = 1;
etisserant@0:   m->len = peakMsg.LEN;					/* count of data bytes (0..8) */
etisserant@0:   for(data = 0  ; data < peakMsg.LEN ; data++)             			
etisserant@0:     m->data[data] = peakMsg.DATA[data];         	/* data bytes, up to 8 */
etisserant@0:   
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: void canReceiveLoop(CAN_HANDLE fd0)
etisserant@0: {
etisserant@0: 	CO_Data* d = ((CANPort*)fd0)->d;
etisserant@0: 	Message m;
etisserant@0: 	while (1) {
etisserant@0: 		if(!canReceive(fd0, &m))
etisserant@0: 		{
etisserant@0: 			EnterMutex();
etisserant@0: 			canDispatch(d, &m);
etisserant@0: 			LeaveMutex();
etisserant@0: 		}else{
etisserant@0: //			printf("canReceive returned error\n");
etisserant@0: 			break;
etisserant@0: 		}
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 canSend(CAN_HANDLE fd0, Message *m)
etisserant@0: {
etisserant@0:   UNS8 data;
etisserant@0:   TPCANMsg peakMsg;
etisserant@0:   peakMsg.ID=m -> cob_id.w;              			/* 11/29 bit code */
etisserant@0:   if(m->rtr == 0)	
etisserant@0:     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/
etisserant@0:   else {
etisserant@0:     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/
etisserant@0:   }
etisserant@0:   peakMsg.LEN = m->len;   
etisserant@0:           			/* count of data bytes (0..8) */
etisserant@0:   for(data = 0 ; data <  m->len; data ++)
etisserant@0:   	peakMsg.DATA[data] = m->data[data];         	/* data bytes, up to 8 */
etisserant@0:   
etisserant@0:   if((errno = CAN_Write(((CANPort*)fd0)->fd, & peakMsg))) {
etisserant@0:     perror("!!! Peak board : error of writing. (from canSend function) \n");
etisserant@0:     return 1;
etisserant@0:   }
etisserant@0:   return 0;
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: CAN_HANDLE canOpen(s_BOARD *board)
etisserant@0: {
etisserant@0:   HANDLE fd0 = NULL;
etisserant@0:   char busname[64];
etisserant@0:   char* pEnd;
etisserant@0:   int i;  
etisserant@0:   
etisserant@0:   for(i=0; i < MAX_NB_CAN_PORTS; i++)
etisserant@0:   {
etisserant@0:   	if(!canports[i].used)
etisserant@0: 	  	break;
etisserant@0:   }
etisserant@0: 
etisserant@0:   if(strtol(board->busname, &pEnd,0) >= 0)
etisserant@0:   {
etisserant@0:     sprintf(busname,"/dev/pcan%s",board->busname);
etisserant@0:     fd0 = LINUX_CAN_Open(busname, O_RDWR);
etisserant@0:   }
etisserant@0: 
etisserant@0:   if (i==MAX_NB_CAN_PORTS || fd0 == NULL)
etisserant@0:     {
etisserant@0:       fprintf (stderr, "Open failed.\n");
etisserant@0:       return (CAN_HANDLE)NULL;
etisserant@0:     }
etisserant@0: 
etisserant@0:    CAN_Init(fd0, board->baudrate, CAN_INIT_TYPE_ST);
etisserant@0: 
etisserant@0:    canports[i].used = 1;
etisserant@0:    canports[i].fd = fd0;
etisserant@0: 
etisserant@0:    canports[i].d = board->d;
etisserant@0:    CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask);
etisserant@0: 
etisserant@0:    return (CANPort*) &canports[i];
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: int canClose(CAN_HANDLE fd0)
etisserant@0: {
etisserant@0:   CAN_Close(((CANPort*)fd0)->fd);
etisserant@33:   WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask);
etisserant@0:   ((CANPort*)fd0)->used = 0;
etisserant@0:   return 0;
etisserant@0: }