ppavel@26: /* ppavel@26: This file is part of CanFestival, a library implementing CanOpen Stack. ppavel@26: ppavel@26: Copyright (C): Edouard TISSERANT and Francis DUPIN ppavel@26: ppavel@26: See COPYING file for copyrights details. ppavel@26: ppavel@26: This library is free software; you can redistribute it and/or ppavel@26: modify it under the terms of the GNU Lesser General Public ppavel@26: License as published by the Free Software Foundation; either ppavel@26: version 2.1 of the License, or (at your option) any later version. ppavel@26: ppavel@26: This library is distributed in the hope that it will be useful, ppavel@26: but WITHOUT ANY WARRANTY; without even the implied warranty of ppavel@26: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU ppavel@26: Lesser General Public License for more details. ppavel@26: ppavel@26: You should have received a copy of the GNU Lesser General Public ppavel@26: License along with this library; if not, write to the Free Software ppavel@26: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA ppavel@26: */ ppavel@26: ppavel@26: #include ppavel@26: #include ppavel@26: #include ppavel@26: #include ppavel@26: ppavel@26: #include "canmsg.h" ppavel@26: #include "lincan.h" ppavel@26: ppavel@26: #include "can_driver.h" ppavel@26: ppavel@26: /*********functions which permit to communicate with the board****************/ etisserant@145: UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) ppavel@26: { ppavel@26: int res; ppavel@26: struct canmsg_t canmsg; ppavel@26: ppavel@26: canmsg.flags = 0; /* Ensure standard receive, not required for LinCAN>=0.3.1 */ ppavel@26: do{ etisserant@145: res = read(fd0,&canmsg,sizeof(canmsg_t)); ppavel@26: if((res<0)&&(errno == -EAGAIN)) res = 0; ppavel@26: }while(res==0); ppavel@26: ppavel@26: if(res != sizeof(canmsg_t)) // No new message ppavel@26: return 1; ppavel@26: ppavel@26: if(canmsg.flags&MSG_EXT){ ppavel@26: /* There is no mark for extended messages in CanFestival */; ppavel@26: } ppavel@26: etisserant@365: m->cob_id = canmsg.id; ppavel@26: m->len = canmsg.length; ppavel@26: if(canmsg.flags&MSG_RTR){ ppavel@26: m->rtr = 1; ppavel@26: }else{ ppavel@26: m->rtr = 0; ppavel@26: memcpy(m->data,canmsg.data,8); ppavel@26: } ppavel@26: ppavel@26: return 0; ppavel@26: } ppavel@26: ppavel@26: /***************************************************************************/ edouard@631: UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m) ppavel@26: { ppavel@26: int res; ppavel@26: struct canmsg_t canmsg; ppavel@26: ppavel@26: ppavel@26: canmsg.flags = 0; etisserant@365: canmsg.id = m->cob_id; ppavel@26: canmsg.length = m->len; ppavel@26: if(m->rtr){ ppavel@26: canmsg.flags |= MSG_RTR; ppavel@26: }else{ ppavel@26: memcpy(canmsg.data,m->data,8); ppavel@26: } ppavel@26: ppavel@26: if(canmsg.id >= 0x800){ ppavel@26: canmsg.flags |= MSG_EXT; ppavel@26: } ppavel@26: etisserant@145: res = write(fd0,&canmsg,sizeof(canmsg_t)); ppavel@26: if(res!=sizeof(canmsg_t)) ppavel@26: return 1; ppavel@26: ppavel@26: return 0; ppavel@26: } ppavel@26: ppavel@26: /***************************************************************************/ greg@477: int TranslateBaudeRate(char* optarg){ greg@477: if(!strcmp( optarg, "1M")) return 1000000; greg@477: if(!strcmp( optarg, "500K")) return 500000; greg@477: if(!strcmp( optarg, "250K")) return 250000; greg@477: if(!strcmp( optarg, "125K")) return 125000; greg@477: if(!strcmp( optarg, "100K")) return 100000; greg@477: if(!strcmp( optarg, "50K")) return 50000; greg@477: if(!strcmp( optarg, "20K")) return 20000; greg@477: if(!strcmp( optarg, "none")) return 0; greg@477: return 0x0000; greg@477: } greg@477: greg@477: /***************************************************************************/ greg@477: UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud) groke6@384: { greg@477: struct can_baudparams_t params; greg@477: greg@477: params.baudrate = TranslateBaudeRate(baud); greg@477: if(params.baudrate == 0) greg@477: return 0; greg@477: params.flags = -1; // use driver defaults greg@477: params.sjw = -1; // use driver defaults greg@477: params.sample_pt = -1; // use driver defaults greg@477: if(ioctl((int)fd0, CONF_BAUDPARAMS, ¶ms) < 0) greg@477: { greg@477: fprintf(stderr, "canOpen_driver (lincan): IOCTL set speed failed\n"); greg@477: return 0; greg@477: } greg@477: return 1; groke6@384: } groke6@384: groke6@384: /***************************************************************************/ ppavel@26: static const char lnx_can_dev_prefix[] = "/dev/can"; ppavel@26: etisserant@145: CAN_HANDLE canOpen_driver(s_BOARD *board) ppavel@26: { greg@477: int name_len = strlen(board->busname); greg@477: int prefix_len = strlen(lnx_can_dev_prefix); greg@477: char dev_name[prefix_len+name_len+1]; greg@477: struct can_baudparams_t params; greg@477: int o_flags = 0; greg@477: int fd; ppavel@26: greg@477: /*o_flags = O_NONBLOCK;*/ ppavel@26: greg@477: memcpy(dev_name,lnx_can_dev_prefix,prefix_len); greg@477: memcpy(dev_name+prefix_len,board->busname,name_len); greg@477: dev_name[prefix_len+name_len] = 0; greg@477: printf("dev_name %s\n", dev_name); ppavel@26: greg@477: fd = open(dev_name, O_RDWR|o_flags); greg@477: if(fd < 0) greg@477: { greg@477: fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname); greg@477: goto error_ret; greg@477: } greg@477: printf("fd = %d\n", fd); ppavel@26: greg@477: // set baudrate greg@477: params.baudrate = TranslateBaudeRate(board->baudrate); greg@477: if(params.baudrate == 0) greg@477: goto error_ret; greg@477: params.flags = -1; // use driver defaults greg@477: params.sjw = -1; // use driver defaults greg@477: params.sample_pt = -1; // use driver defaults greg@477: if(ioctl(fd, CONF_BAUDPARAMS, ¶ms) < 0) greg@477: { greg@477: fprintf(stderr, "canOpen_driver (lincan): IOCTL set speed failed\n"); greg@477: goto error_ret; greg@477: } ppavel@26: greg@477: return (CAN_HANDLE)fd; ppavel@26: greg@477: error_ret: greg@477: return NULL; ppavel@26: } ppavel@26: ppavel@26: /***************************************************************************/ etisserant@145: int canClose_driver(CAN_HANDLE fd0) ppavel@26: { ppavel@26: if(!fd0) ppavel@26: return 0; etisserant@145: close(fd0); ppavel@26: return 0; ppavel@26: }