etisserant@448: /*
etisserant@448: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@448: 
etisserant@448: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@448: 
etisserant@448: Ruthlessly butchered by James Steward to produce a serial (tty) port
etisserant@448: driver.
etisserant@448: 
etisserant@448: See COPYING file for copyrights details.
etisserant@448: 
etisserant@448: This library is free software; you can redistribute it and/or
etisserant@448: modify it under the terms of the GNU Lesser General Public
etisserant@448: License as published by the Free Software Foundation; either
etisserant@448: version 2.1 of the License, or (at your option) any later version.
etisserant@448: 
etisserant@448: This library is distributed in the hope that it will be useful,
etisserant@448: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@448: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@448: Lesser General Public License for more details.
etisserant@448: 
etisserant@448: You should have received a copy of the GNU Lesser General Public
etisserant@448: License along with this library; if not, write to the Free Software
etisserant@448: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@448: */
etisserant@448: 
etisserant@448: /*
etisserant@448: 	Single serial port CAN driver.
etisserant@448: */
etisserant@448: 
etisserant@448: #include <stdio.h>
etisserant@448: #include <unistd.h>
etisserant@448: #include <fcntl.h>
etisserant@448: #include <errno.h>
etisserant@448: #include <string.h>
etisserant@448: #include <termios.h>
etisserant@448: #include <stdlib.h>
etisserant@448: 
etisserant@448: #define NEED_PRINT_MESSAGE
etisserant@448: #include "can_driver.h"
etisserant@448: #include "def.h"
etisserant@448: 
etisserant@448: typedef struct {
etisserant@448: 	int fd;
etisserant@448: 	struct termios old_termio, new_termio;
etisserant@448: } CANPort;
etisserant@448: 
etisserant@448: /*********functions which permit to communicate with the board****************/
etisserant@448: UNS8 canReceive_driver(CAN_HANDLE fd0, Message * m)
etisserant@448: {
etisserant@448: 	int rv, N, n = 0;
etisserant@448: 	fd_set rfds;
etisserant@448: 	struct timeval tv;
etisserant@448: 
etisserant@448: 	N = 4; //initially try to read 4 bytes, including the length byte
etisserant@448: 	
etisserant@448: retry:
etisserant@448: 	rv = read(((CANPort *) fd0)->fd, &((char *)m)[n], N - n);
etisserant@448: 
etisserant@448: 	if (rv == -1) {
etisserant@448: 		fprintf(stderr, "read: %s\n", strerror(errno));
etisserant@448: 		return 1;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	n += rv;
etisserant@448: 
etisserant@448: 	if (n == 4) {
etisserant@448: 		N = (4 + m->len);
etisserant@448: 		
etisserant@448: 		if (m->len > 8) {
etisserant@448: 			fprintf(stderr, "Warning: invalid message length %d\n", 
etisserant@448: 					m->len);
etisserant@448: 			
etisserant@448: 			//try to resync
etisserant@448: 			n = 0;
etisserant@448: 			N = 4;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	if (n < N) {
etisserant@448: 
etisserant@448: 		FD_ZERO(&rfds);
etisserant@448: 		FD_SET(((CANPort *) fd0)->fd, &rfds);
etisserant@448: 
etisserant@448: 		tv.tv_sec = 0;
etisserant@448: 		tv.tv_usec=100000;
etisserant@448: 		
etisserant@448: 		rv = select(((CANPort *) fd0)->fd + 1, &rfds, NULL, NULL, &tv);
etisserant@448: 		if (rv == -1) {
etisserant@448: 			fprintf(stderr, "select: %s\n", strerror(errno));
etisserant@448: 			return 1;
etisserant@448: 		} else if (rv == 0) {
etisserant@448: 			n = 0;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 		goto retry;	
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	print_message(m);
etisserant@448: 
etisserant@448: 	return 0;
etisserant@448: }
etisserant@448: 
etisserant@448: /***************************************************************************/
edouard@631: UNS8 canSend_driver(CAN_HANDLE fd0, Message const * m)
etisserant@448: {
etisserant@448: 	int rv;
etisserant@448: 
etisserant@448: 	print_message(m);
etisserant@448: 
etisserant@448: 	// Send to serial port 
etisserant@448: 	rv = write(((CANPort *) fd0)->fd, m, 4 + m->len);
etisserant@448: 
etisserant@448: 	if (rv != 4 + m->len) {
etisserant@448: 		return 1;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	return 0;
etisserant@448: }
etisserant@448: 
etisserant@448: /***************************************************************************/
etisserant@448: int TranslateBaudRate(char *optarg)
etisserant@448: {
etisserant@448: 	if (!strcmp(optarg, "1M"))
etisserant@448: 		return (int) 1000;
etisserant@448: 	if (!strcmp(optarg, "500K"))
etisserant@448: 		return (int) 500;
etisserant@448: 	if (!strcmp(optarg, "250K"))
etisserant@448: 		return (int) 250;
etisserant@448: 	if (!strcmp(optarg, "125K"))
etisserant@448: 		return (int) 125;
etisserant@448: 	if (!strcmp(optarg, "100K"))
etisserant@448: 		return (int) 100;
etisserant@448: 	if (!strcmp(optarg, "50K"))
etisserant@448: 		return (int) 50;
etisserant@448: 	if (!strcmp(optarg, "20K"))
etisserant@448: 		return (int) 20;
etisserant@448: 	if (!strcmp(optarg, "10K"))
etisserant@448: 		return (int) 10;
etisserant@448: 	if (!strcmp(optarg, "5K"))
etisserant@448: 		return (int) 5;
etisserant@448: 	if (!strcmp(optarg, "none"))
etisserant@448: 		return 0;
etisserant@448: 	return 0x0000;
etisserant@448: }
etisserant@448: 
etisserant@448: UNS8 canChangeBaudRate_driver(CAN_HANDLE fd0, char *baud)
etisserant@448: {
etisserant@448: 	printf("Faked changing to baud rate %s[%d]\n", 
etisserant@448: 			baud, TranslateBaudRate(baud));
etisserant@448: 	return 0;
etisserant@448: }
etisserant@448: 
etisserant@448: /***************************************************************************/
etisserant@448: CAN_HANDLE canOpen_driver(s_BOARD * board)
etisserant@448: {
etisserant@448: 	int rv;
etisserant@448: 
etisserant@448: 	CANPort *p;
etisserant@448: 
etisserant@448: 	p = (CANPort *)calloc(1, sizeof(CANPort));
etisserant@448: 	
etisserant@448: 	if (p == NULL) {
etisserant@448: 		fprintf(stderr, "calloc: %s\n", strerror(errno));
etisserant@448: 		return (CAN_HANDLE) NULL;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	p->fd = open(board->busname, O_RDWR);
etisserant@448: 	
etisserant@448: 	if (p->fd < 0) {
etisserant@448: 		fprintf(stderr, "open: %s, %s\n", 
etisserant@448: 				board->busname, strerror(errno));
etisserant@448: 		free(p);
etisserant@448: 		return (CAN_HANDLE) NULL;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	if (tcgetattr(p->fd, &p->old_termio) != 0) {
etisserant@448: 		fprintf(stderr, "tcgetattr: %s, %s\n", 
etisserant@448: 				board->busname, strerror(errno));
etisserant@448: 		close(p->fd);
etisserant@448: 		free(p);
etisserant@448: 		return (CAN_HANDLE) NULL;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	memcpy(&p->new_termio, &p->old_termio, 
etisserant@448: 					sizeof(p->old_termio));
etisserant@448: 	cfmakeraw(&p->new_termio);
etisserant@448: 	cfsetispeed(&p->new_termio, B115200);
etisserant@448: 	cfsetospeed(&p->new_termio, B115200);
etisserant@448: 	tcsetattr(p->fd, TCSANOW, &p->new_termio);
etisserant@448: 
etisserant@448: 	return (CAN_HANDLE) p;
etisserant@448: }
etisserant@448: 
etisserant@448: /***************************************************************************/
etisserant@448: int canClose_driver(CAN_HANDLE fd0)
etisserant@448: {
etisserant@448: 	if ((CANPort *) fd0 && ((CANPort *) fd0)->fd >= 0) {
etisserant@448: 		tcsetattr(((CANPort *) fd0)->fd, TCSANOW, 
etisserant@448: 					&((CANPort *) fd0)->old_termio);
etisserant@448: 		close(((CANPort *) fd0)->fd);
etisserant@448: 		free((CANPort *) fd0);
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	return 0;
etisserant@448: }
etisserant@448: 
etisserant@448: int canfd_driver(CAN_HANDLE fd0)
etisserant@448: {
etisserant@448: 	if ((CANPort *) fd0) {
etisserant@448: 		return ((CANPort *) fd0)->fd;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	return -1;
etisserant@448: }
etisserant@448: