edouard@629: /*
edouard@629: This file is part of CanFestival, a library implementing CanOpen Stack.
edouard@629: 
edouard@629: Copyright (C): Cosateq GmbH & Co.KG
edouard@629:                http://www.cosateq.com/
edouard@629:                http://www.scale-rt.com/
edouard@629: 
edouard@629: See COPYING file for copyrights details.
edouard@629: 
edouard@629: This library is free software; you can redistribute it and/or
edouard@629: modify it under the terms of the GNU Lesser General Public
edouard@629: License as published by the Free Software Foundation; either
edouard@629: version 2.1 of the License, or (at your option) any later version.
edouard@629: 
edouard@629: This library is distributed in the hope that it will be useful,
edouard@629: but WITHOUT ANY WARRANTY; without even the implied warranty of
edouard@629: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
edouard@629: Lesser General Public License for more details.
edouard@629: 
edouard@629: You should have received a copy of the GNU Lesser General Public
edouard@629: License along with this library; if not, write to the Free Software
edouard@629: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
edouard@629: */
edouard@629: 
edouard@629: /*
edouard@629: 	example for application with CO-PCICAN card.
edouard@629: */
edouard@629: 
edouard@629: #include <linux/module.h>
edouard@629: #include <linux/comedi.h>
edouard@629: #include <linux/comedilib.h>
edouard@629: #include "canfestival.h"
edouard@629: 
edouard@629: /* only for mdelay() */
edouard@629: #include <linux/delay.h>
edouard@629: 
edouard@629: MODULE_LICENSE("GPL");
edouard@629: 
edouard@629: #define CHTX 2 /* channel number of the CO-PCICAN */
edouard@629: #define CHRX 0 /* channel number of the CO-PCICAN */
edouard@629: 
edouard@629: void mySyncHandler( CO_Data* d )
edouard@629: {
edouard@629:   printk( "test_copcican_comedi:   got a SYNC message...\n" );
edouard@629: }
edouard@629: 
edouard@629: static int main( void )
edouard@629: {
edouard@629:   s_BOARD  bd;
edouard@629:   CO_Data  myData;
edouard@629:   CAN_PORT port;
edouard@629:   Message myMessage;
edouard@629:   const char busname[]  = "/dev/comedi0";
edouard@629:   const char baudrate[] = "1M";
edouard@629:   comedi_t *dev;
edouard@629: 
edouard@629:   memset( &myData, 0x00, sizeof(CO_Data) );
edouard@629:   myData.CurrentCommunicationState.csSYNC = 1;
edouard@629:   myData.post_sync = mySyncHandler;
edouard@629:   bd.busname  = (char*)busname;
edouard@629:   bd.baudrate = (char*)baudrate;
edouard@629: 
edouard@629:   printk( "test_copcican_comedi: This example sends three SYNCs from port#%u to port#%u with a CO-PCICAN card\n", CHTX, CHRX );
edouard@629: 
edouard@629:   /* direction: 0=RX, 1=TX */
edouard@629:   co_pcican_select_channel( CHRX, 0 );
edouard@629:   co_pcican_select_channel( CHTX, 1 );
edouard@629: 
edouard@629:   port = canOpen( &bd, &myData );
edouard@629: 
edouard@629:   if( port == NULL )
edouard@629:   {
edouard@629:     /* something strange happenend */
edouard@629:     return 0;
edouard@629:   }
edouard@629: 
edouard@629:   /* get device pointer to control the opened device */
edouard@629:   dev = get_dev_of_port( port );
edouard@629: 
edouard@629:   co_pcican_enter_config_mode( dev );
edouard@629:   co_pcican_configure_selected_channel( dev, &bd, 0 );
edouard@629:   co_pcican_configure_selected_channel( dev, &bd, 1 );
edouard@629:   co_pcican_enter_run_mode( dev );
edouard@629: 
edouard@629:   memset( &myMessage, 0x00, sizeof(Message) );
edouard@629:   myMessage.cob_id = 0x80; /* SYNC message */
edouard@629:   myMessage.len = 1;
edouard@629:   myMessage.data[0] = 0xA5;
edouard@629: 
edouard@629:   /* SEND HERE */
edouard@629:   canSend( port, &myMessage );
edouard@629: 
edouard@629:   myMessage.data[0] = 0x5A;
edouard@629:   canSend( port, &myMessage );
edouard@629: 
edouard@629:   myMessage.data[0] = 0xA5;
edouard@629:   canSend( port, &myMessage );
edouard@629: 
edouard@629:   /* mySyncHandler() is called by the receive thread and shows a received SYNC message in the kernel log */
edouard@629:   mdelay( 1*1000 ); /* 1s */
edouard@629: 
edouard@629:   canClose( &myData );
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: static int init(void)
edouard@629: {
edouard@629:   printk("test_copcican_comedi for CanFestival loaded\n");
edouard@629: 
edouard@629:   return main();
edouard@629: }
edouard@629: 
edouard@629: static void exit(void)
edouard@629: {
edouard@629:   printk("test_copcican_comedi unloaded\n");
edouard@629: }
edouard@629: 
edouard@629: module_init(init);
edouard@629: module_exit(exit);