CanFestival: drivers/can_peak_linux/can_peak

00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00023 #include <stdio.h>
-00024 #include <string.h>
-00025 #include <errno.h>
-00026 #include <fcntl.h>
-00027 
-00028 /* driver pcan pci for Peak board */
-00029 //#include "libpcan.h"
-00030 //#include "pcan.h"
-00031 
-00032 #include "libpcan.h" // for CAN_HANDLE
-00033 
-00034 #include "can_driver.h"
-00035 
-00036 // Define for rtr CAN message
-00037 #define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 
-00038 
-00039 /*********functions which permit to communicate with the board****************/
-00040 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
-00041 {
-00042   UNS8 data; 
-00043   TPCANMsg peakMsg;
-00044   if ((errno = CAN_Read(fd0, & peakMsg))) {             // Blocks until no new message or error.
-00045     if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading" 
-00046     {
-00047         perror("canReceive_driver (Peak_Linux) : error of reading.\n");
-00048     }
-00049     return 1;
-00050   }
-00051   m->cob_id.w = peakMsg.ID;   
-00052   if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)              /* bits of MSGTYPE_*/
-00053     m->rtr = 0;
-00054   else 
-00055     m->rtr = 1;
-00056   m->len = peakMsg.LEN;                                 /* count of data bytes (0..8) */
-00057   for(data = 0  ; data < peakMsg.LEN ; data++)                                  
-00058     m->data[data] = peakMsg.DATA[data];                 /* data bytes, up to 8 */
-00059   
-00060   return 0;
-00061 }
-00062 
-00063 /***************************************************************************/
-00064 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
-00065 {
-00066   UNS8 data;
-00067   TPCANMsg peakMsg;
-00068   peakMsg.ID=m -> cob_id.w;                                     /* 11/29 bit code */
-00069   if(m->rtr == 0)       
-00070     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/
-00071   else {
-00072     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/
-00073   }
-00074   peakMsg.LEN = m->len;   
-00075                                 /* count of data bytes (0..8) */
-00076   for(data = 0 ; data <  m->len; data ++)
-00077         peakMsg.DATA[data] = m->data[data];             /* data bytes, up to 8 */
-00078   
-00079   if((errno = CAN_Write(fd0, & peakMsg))) {
-00080     perror("canSend_driver (Peak_Linux) : error of writing.\n");
-00081     return 1;
-00082   }
-00083   return 0;
-00084 
-00085 }
-00086 
-00087 
-00088 /***************************************************************************/
-00089 int TranslateBaudeRate(char* optarg){
-00090         if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
-00091         if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
-00092         if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
-00093         if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
-00094         if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
-00095         if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
-00096         if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
-00097         if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
-00098         if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
-00099         if(!strcmp( optarg, "none")) return 0;
-00100         return 0x0000;
-00101 }
-00102 
-00103 /***************************************************************************/
-00104 CAN_HANDLE canOpen_driver(s_BOARD *board)
-00105 {
-00106   HANDLE fd0 = NULL;
-00107   char busname[64];
-00108   char* pEnd;
-00109   int i;  
-00110   int baudrate;
-00111   
-00112   if(strtol(board->busname, &pEnd,0) >= 0)
-00113   {
-00114     sprintf(busname,"/dev/pcan%s",board->busname);
-00115     fd0 = LINUX_CAN_Open(busname, O_RDWR);
-00116   }
-00117 
-00118   if(fd0 && (baudrate = TranslateBaudeRate(board->baudrate)))
-00119   {
-00120         CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
-00121   }else{
-00122         fprintf(stderr, "canOpen_driver (Peak_Linux) : error opening %s\n", busname);
-00123   }
-00124 
-00125    return (CAN_HANDLE)fd0;
-00126 }
-00127 
-00128 /***************************************************************************/
-00129 int canClose_driver(CAN_HANDLE fd0)
-00130 {
-00131   CAN_Close(fd0);
-00132   return 0;
-00133 }
-
can_peak_linux.c
