CanFestival: /home/epimerde/documents/tc11/CanFestival-3/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 }
+
/home/epimerde/documents/tc11/CanFestival-3/drivers/can_peak_linux/can_peak_linux.c
