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 <stdio.h>
edouard@629: #include "canfestival.h"
edouard@629: 
edouard@629: /* only for usleep() */
edouard@629: #include <linux/delay.h>
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:   printf( "  got a SYNC message...\n" );
edouard@629: }
edouard@629: 
edouard@629: int main()
edouard@629: {
edouard@629:   LIB_HANDLE driver;
edouard@629: 
edouard@629:   /* handles for additional CO-PCICAN functions */
edouard@629:   int (*get_fd_of_port)( CAN_PORT port );
edouard@629:   int (*co_pcican_enter_run_mode)( const int fd );
edouard@629:   int (*co_pcican_enter_config_mode)( const int fd );
edouard@629:   int (*co_pcican_select_channel)( const unsigned char channel, const unsigned int direction );
edouard@629:   int (*co_pcican_configure_selected_channel)( const int fd, s_BOARD *board, const unsigned int direction );
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/co_pcican-0";
edouard@629:   const char baudrate[] = "1M";
edouard@629:   int fd;
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:   printf( "This example sends three SYNCs from port#%u to port#%u with a CO-PCICAN card\n", CHTX, CHRX );
edouard@629: 
edouard@629:   driver = LoadCanDriver( "/usr/local/lib/libcanfestival_can_copcican_linux.so" );
edouard@629: 
edouard@629:   if( driver == NULL )
edouard@629:   {
edouard@629:     /* something strange happenend */
edouard@629:     return 0;
edouard@629:   }
edouard@629: 
edouard@629:   /* dynamic load of additional library functions */
edouard@629:   get_fd_of_port = dlsym( driver, "get_fd_of_port" );
edouard@629:   co_pcican_enter_run_mode = dlsym( driver, "co_pcican_enter_run_mode" );
edouard@629:   co_pcican_enter_config_mode = dlsym( driver, "co_pcican_enter_config_mode" );
edouard@629:   co_pcican_select_channel = dlsym( driver, "co_pcican_select_channel" );
edouard@629:   co_pcican_configure_selected_channel = dlsym( driver, "co_pcican_configure_selected_channel" );
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:     UnLoadCanDriver( driver );
edouard@629: 
edouard@629:     /* something strange happenend */
edouard@629:     return 0;
edouard@629:   }
edouard@629: 
edouard@629:   /* get file descriptor to control the opened device */
edouard@629:   fd = get_fd_of_port( port );
edouard@629: 
edouard@629:   co_pcican_enter_config_mode( fd );
edouard@629:   co_pcican_configure_selected_channel( fd, &bd, 0 );
edouard@629:   co_pcican_configure_selected_channel( fd, &bd, 1 );
edouard@629:   co_pcican_enter_run_mode( fd );
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 on console */
edouard@629:   usleep( 1*1000*1000 ); /* 1s */
edouard@629: 
edouard@629:   canClose( &myData );
edouard@629: 
edouard@629:   UnLoadCanDriver( driver );
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: