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: 	CAN driver interface for CO-PCICAN card.
edouard@629: */
edouard@629: 
edouard@629: #include <stdio.h>
edouard@629: #include <unistd.h>
edouard@629: #include <fcntl.h>
edouard@629: 
edouard@629: #define NEED_PRINT_MESSAGE
edouard@629: #include "can_driver.h"
edouard@629: #include "def.h"
edouard@629: #include "co_pcicanops.h"
edouard@629: 
edouard@629: /* at the moment not threadsafe :-( */
edouard@629: static unsigned char selectedChannelRx = 0, selectedChannelTx = 0;
edouard@629: 
edouard@629: static int TranslateBaudRate( char* optarg )
edouard@629: {
edouard@629:   /* values see documentation of CO-PCICAN */
edouard@629:   if( !strcmp( optarg, "1M"    ) ) return 0;
edouard@629:   if( !strcmp( optarg, "800K"  ) ) return 1;
edouard@629:   if( !strcmp( optarg, "500K"  ) ) return 2;
edouard@629:   if( !strcmp( optarg, "250K"  ) ) return 3;
edouard@629:   if( !strcmp( optarg, "125K"  ) ) return 4;
edouard@629:   if( !strcmp( optarg, "100K"  ) ) return 5;
edouard@629:   if( !strcmp( optarg, "83.3K" ) ) return 6;
edouard@629:   if( !strcmp( optarg, "10K"   ) ) return 7;
edouard@629: 
edouard@629:   return -1;
edouard@629: }
edouard@629: 
edouard@629: /*********CO-PCICAN specific functions to communicate with the board**********/
edouard@629: typedef struct
edouard@629: {
edouard@629:   char used;
edouard@629:   CAN_HANDLE fd;
edouard@629:   void* receiveTask;
edouard@629:   void* d;
edouard@629: } CANPort; /* taken from drivers/unix.c */
edouard@629: 
edouard@629: int get_fd_of_port( CAN_PORT port )
edouard@629: {
edouard@629:   CANPort *thisPort = (CANPort*)port;
edouard@629:   CAN_HANDLE thisHandle;
edouard@629:   int *pfd;
edouard@629: 
edouard@629:   if( thisPort == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: get_fd_of_port(): thisPort is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   thisHandle = thisPort->fd;
edouard@629: 
edouard@629:   if( thisHandle == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: get_fd_of_port(): thisHandle is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   pfd = (int*)thisHandle;
edouard@629: 
edouard@629:   /*MSG("can_copcican_linux: get_fd_of_port(): handle is %d\n", *pfd);*/
edouard@629: 
edouard@629:   return *pfd;
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_enter_run_mode( const int fd )
edouard@629: {
edouard@629:   co_pcican_config_t board_config;
edouard@629: 
edouard@629:   if( fd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_enter_run_mode(): invalid file descriptor\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &board_config, 0x00, sizeof(co_pcican_config_t) );
edouard@629:   board_config.opcode = CMDQ_OPC_ENTER_RUN_MODE;
edouard@629: 
edouard@629:   return ioctl( fd, CAN_CONFIG, &board_config );
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_enter_config_mode( const int fd )
edouard@629: {
edouard@629:   co_pcican_config_t board_config;
edouard@629: 
edouard@629:   if( fd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_enter_config_mode(): invalid file descriptor\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &board_config, 0x00, sizeof(co_pcican_config_t) );
edouard@629:   board_config.opcode = CMDQ_OPC_ENTER_CONFIG_MODE;
edouard@629: 
edouard@629:   return ioctl( fd, CAN_CONFIG, &board_config );
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_select_channel( const unsigned char channel, const unsigned int direction )
edouard@629: {
edouard@629:   if( channel >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_select_channel(): invalid channel\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   /* at the moment not threadsafe :-( */
edouard@629:   switch( direction )
edouard@629:   {
edouard@629:     case RX: selectedChannelRx = channel;
edouard@629:              break;
edouard@629:     case TX: selectedChannelTx = channel;
edouard@629:              break;
edouard@629:     default: return -1;
edouard@629:   }
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_configure_selected_channel( const int fd, s_BOARD *board, const unsigned int direction )
edouard@629: {
edouard@629:   co_pcican_config_t board_config;
edouard@629:   unsigned int selectedChannel;
edouard@629: 
edouard@629:   if( fd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid file descriptor\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   if( board == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): board is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   if( board->baudrate == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): baudrate is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   switch( direction )
edouard@629:   {
edouard@629:     case RX: selectedChannel = selectedChannelRx;
edouard@629:              break;
edouard@629:     case TX: selectedChannel = selectedChannelTx;
edouard@629:              break;
edouard@629:     default: selectedChannel = 0xff;
edouard@629:   }
edouard@629: 
edouard@629:   if( selectedChannel >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid channel selected\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &board_config, 0x00, sizeof(co_pcican_config_t) );
edouard@629:   board_config.opcode   = CMDQ_OPC_SET_CONFIG_CHANNEL;
edouard@629:   board_config.param[0] = selectedChannel;
edouard@629:   board_config.param[1] = TranslateBaudRate( board->baudrate );
edouard@629: 
edouard@629:   return ioctl( fd, CAN_CONFIG, &board_config );
edouard@629: }
edouard@629: 
edouard@629: /*********functions which permit to communicate with the board****************/
edouard@629: UNS8 canReceive_driver( CAN_HANDLE fd0, Message *m )
edouard@629: {
edouard@629:   co_pcican_message_t canmsg;
edouard@629:   UNS8 ret = 0;
edouard@629:   int *pfd = (int*)fd0;
edouard@629: 
edouard@629:   if( pfd == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canReceive_driver(): file descriptor is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( *pfd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canReceive_driver(): invalid file descriptor\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( selectedChannelRx >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canReceive_driver(): invalid channel selected\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( m == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canReceive_driver(): message is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &canmsg, 0x00, sizeof(co_pcican_message_t) );
edouard@629:   canmsg.channelnum = selectedChannelRx;
edouard@629: 
edouard@629:   ioctl( *pfd, CAN_READ, &canmsg );
edouard@629: 
edouard@629:   if( canmsg.timestamp_lo == 0 )
edouard@629:   {
edouard@629:     memset( m, 0x00, sizeof(Message) );
edouard@629: 
edouard@629:     m->cob_id = 0xffff; /* set to invalid so nothing happens */
edouard@629:   }
edouard@629:   else
edouard@629:   {
edouard@629:     m->len = canmsg.size;
edouard@629:     m->cob_id = canmsg.id;
edouard@629:     m->rtr = canmsg.type & MSG_RTR;
edouard@629: 
edouard@629:     if( !m->rtr )
edouard@629:     {
edouard@629:       /* this is for safety */
edouard@629:       if( m->len > 8 )
edouard@629:         m->len = 8;
edouard@629: 
edouard@629:       memcpy( m->data, canmsg.data, m->len);
edouard@629:     }
edouard@629:   }
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: UNS8 canSend_driver( CAN_HANDLE fd0, Message *m )
edouard@629: {
edouard@629:   co_pcican_message_t canmsg;
edouard@629:   UNS8 ret = 0;
edouard@629:   int *pfd = (int*)fd0;
edouard@629: 
edouard@629:   if( pfd == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canSend_driver(): file descriptor is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( *pfd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canSend_driver(): invalid file descriptor\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( selectedChannelTx >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canSend_driver(): invalid channel selected\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( m == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canSend_driver(): message is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &canmsg, 0x00, sizeof(co_pcican_message_t) );
edouard@629:   canmsg.channelnum = selectedChannelTx;
edouard@629:   canmsg.size = m->len;
edouard@629:   canmsg.id = m->cob_id;
edouard@629: 
edouard@629:   if( canmsg.id >= 0x800 )
edouard@629:     canmsg.type |= MSG_EXT;
edouard@629: 
edouard@629:   if( m->rtr )
edouard@629:   {
edouard@629:     canmsg.type |= MSG_RTR;
edouard@629:   }
edouard@629:   else
edouard@629:   {
edouard@629:     /* this is for safety */
edouard@629:     if( canmsg.size > 8 )
edouard@629:       canmsg.size = 8;
edouard@629: 
edouard@629:     memcpy( canmsg.data, m->data, canmsg.size);
edouard@629:   }
edouard@629: 
edouard@629:   if( ioctl( *pfd, CAN_WRITE, &canmsg ) < 0 )
edouard@629:     ret = 1;
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: CAN_HANDLE canOpen_driver( s_BOARD *board )
edouard@629: {
edouard@629:   int *pfd;
edouard@629: 
edouard@629:   if( board == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canOpen_driver(): board is NULL\n");
edouard@629:     return NULL;
edouard@629:   }
edouard@629: 
edouard@629:   if( board->busname == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canOpen_driver(): busname is NULL\n");
edouard@629:     return NULL;
edouard@629:   }
edouard@629: 
edouard@629:   /* create dynamically to avoid global variable */
edouard@629:   pfd = (int*)malloc( sizeof(int) );
edouard@629: 
edouard@629:   if( pfd == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canOpen_driver(): file descriptor is NULL\n");
edouard@629:     return NULL;
edouard@629:   }
edouard@629: 
edouard@629:   *pfd = open( board->busname, O_RDWR, 0 );
edouard@629: 
edouard@629:   if( *pfd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canOpen_driver(): invalid file descriptor\n");
edouard@629: 
edouard@629:     /* clear resources if open failed */
edouard@629:     free( pfd );
edouard@629:     pfd = NULL;
edouard@629:   }
edouard@629: 
edouard@629:   /*MSG("can_copcican_linux: canOpen_driver(): handle is %d\n", *pfd);*/
edouard@629: 
edouard@629:   return (CAN_HANDLE)pfd;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: int canClose_driver( CAN_HANDLE fd0 )
edouard@629: {
edouard@629:   int *pfd = (int*)fd0;
edouard@629: 
edouard@629:   if( pfd == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canClose_driver(): file descriptor is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   if( *pfd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canClose_driver(): invalid file descriptor\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   close( *pfd );
edouard@629:   free( pfd );
edouard@629:   pfd = NULL;
edouard@629: 
edouard@629:   selectedChannelRx = 0;
edouard@629:   selectedChannelTx = 0;
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud )
edouard@629: {
edouard@629:   s_BOARD board;
edouard@629:   UNS8 ret = 0;
edouard@629:   int *pfd = (int*)fd0;
edouard@629: 
edouard@629:   if( pfd == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canChangeBaudRate_driver(): file descriptor is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( *pfd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canChangeBaudRate_driver(): invalid file descriptor\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( baud == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: canChangeBaudRate_driver(): baud is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &board, 0x00, sizeof(s_BOARD) );
edouard@629:   board.baudrate = baud;
edouard@629: 
edouard@629:   if( co_pcican_configure_selected_channel( *pfd, &board, RX ) < 0 )
edouard@629:     ret = 1;
edouard@629: 
edouard@629:   if( co_pcican_configure_selected_channel( *pfd, &board, TX ) < 0 )
edouard@629:     ret = 1;
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: