# HG changeset patch # User etisserant # Date 1157012933 -7200 # Node ID 8a1047ab51f4f50af11a89543b00da9826560dd0 # Parent a3b1693243687c4be53745c852a80a919ab46ac7 SOCKET-CAN support added. Many thanks to Jan Kiszka ! diff -r a3b169324368 -r 8a1047ab51f4 configure --- a/configure Thu Aug 10 17:57:33 2006 +0200 +++ b/configure Thu Aug 31 10:28:53 2006 +0200 @@ -479,9 +479,10 @@ fi if [ "$SUB_TIMERS_DRIVER" = "xeno" ]; then - SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lnative\ + SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lnative\ -lrtdm\ \ -L`$XENO_CONFIG --library-dir` SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ `$XENO_CONFIG --xeno-cflags` + RTCAN_SOCKET=1 fi if [ "$SUB_TIMERS_DRIVER" = "none" ]; then @@ -624,7 +625,8 @@ CANOPEN_LITTLE_ENDIAN\ US_TO_TIMEVAL_FACTOR\ TIMEVAL\ - TIMEVAL_MAX; do + TIMEVAL_MAX\ + RTCAN_SOCKET; do if [ "${!i}" = "" ]; then echo "// $i is not defined" >> include/config.h else diff -r a3b169324368 -r 8a1047ab51f4 drivers/can_socket/Makefile.in --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/drivers/can_socket/Makefile.in Thu Aug 31 10:28:53 2006 +0200 @@ -0,0 +1,58 @@ +#! gmake + +# +# Copyright (C) 2006 Laurent Bessard +# +# This file is part of canfestival, a library implementing the canopen +# stack +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License, or (at your option) any later version. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License along with this library; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +# + +CC = SUB_CC +OPT_CFLAGS = -O2 +CFLAGS = SUB_OPT_CFLAGS +PROG_CFLAGS = SUB_PROG_CFLAGS +PREFIX = SUB_PREFIX +TARGET = SUB_TARGET +CAN_DRIVER = SUB_CAN_DRIVER +TIMERS_DRIVER = SUB_TIMERS_DRIVER + +INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER) -I../../include/$(TIMERS_DRIVER) + +OBJS = $(CAN_DRIVER).o + +SRC_HFILES = ../../include/$(CAN_DRIVER)/cancfg.h + +TARGET_HFILES = $(PREFIX)/include/canfestival/cancfg.h + +all: driver + +driver: $(OBJS) + +%o: %c + $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $< + +install: + mkdir -p $(PREFIX)/include/canfestival + cp $(SRC_HFILES) $(PREFIX)/include/canfestival + +uninstall: + rm -f $(TARGET_HFILES) + +clean: + -\rm $(OBJS) + +mrproper: clean diff -r a3b169324368 -r 8a1047ab51f4 drivers/can_socket/can_socket.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/drivers/can_socket/can_socket.c Thu Aug 31 10:28:53 2006 +0200 @@ -0,0 +1,178 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +#include +#include +#include +#include /* for NULL */ + +#include "config.h" + +#ifdef RTCAN_SOCKET +#include "rtdm/rtcan.h" +#define CAN_IFNAME "rtcan%s" +#define CAN_SOCKET rt_dev_socket +#define CAN_CLOSE rt_dev_close +#define CAN_RECV rt_dev_recv +#define CAN_SEND rt_dev_send +#define CAN_BIND rt_dev_bind +#define CAN_IOCTL rt_dev_ioctl +#else +#include "af_can.h" +#define CAN_IFNAME "can%s" +#define CAN_SOCKET socket +#define CAN_CLOSE close +#define CAN_RECV recv +#define CAN_SEND send +#define CAN_BIND bind +#define CAN_IOCTL ioctl +#endif + +struct CANPort; +#define CAN_HANDLE struct CANPort * + +#include + +#include "timer.h" +#include "can_driver.h" +#include "timers_driver.h" + +typedef struct CANPort { + int fd; + TASK_HANDLE receiveTask; + CO_Data* d; +} CANPort; + +/*********functions which permit to communicate with the board****************/ +UNS8 canReceive(CAN_HANDLE fd0, Message *m) +{ + int res; + struct can_frame frame; + + res = CAN_RECV(fd0->fd, &frame, sizeof(frame), 0); + if (res < 0) + return 1; + + m->cob_id.w = frame.can_id & CAN_EFF_MASK; + m->len = frame.can_dlc; + if (frame.can_id & CAN_RTR_FLAG) + m->rtr = 1; + else + m->rtr = 0; + memcpy(m->data, frame.data, 8); + + return 0; +} + +void canReceiveLoop(CAN_HANDLE fd0) +{ + CO_Data* d = fd0->d; + Message m; + + while (1) { + if (canReceive(fd0, &m) != 0) + break; + + EnterMutex(); + canDispatch(d, &m); + LeaveMutex(); + } +} + +/***************************************************************************/ +UNS8 canSend(CAN_HANDLE fd0, Message *m) +{ + int res; + struct can_frame frame; + + frame.can_id = m->cob_id.w; + if (frame.can_id >= 0x800) + frame.can_id |= CAN_EFF_FLAG; + frame.can_dlc = m->len; + if (m->rtr) + frame.can_id |= CAN_RTR_FLAG; + else + memcpy(frame.data, m->data, 8); + + res = CAN_SEND(fd0->fd, &frame, sizeof(frame), 0); + if (res < 0) + return 1; + + return 0; +} + +/***************************************************************************/ +CAN_HANDLE canOpen(s_BOARD *board) +{ + CAN_HANDLE fd0; + struct ifreq ifr; + struct sockaddr_can addr; + int err; + + fd0 = malloc(sizeof(*fd0)); + if (!fd0) + return NULL; + + fd0->fd = CAN_SOCKET(PF_CAN, SOCK_RAW, 0); + if(fd0->fd < 0){ + fprintf(stderr,"Socket creation failed.\n"); + goto error_ret; + } + + snprintf(ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname); + err = CAN_IOCTL(fd0->fd, SIOCGIFINDEX, &ifr); + if (err) { + fprintf(stderr, "Unknown device: %s\n", ifr.ifr_name); + goto error_close; + } + + addr.can_family = AF_CAN; + addr.can_ifindex = ifr.ifr_ifindex; + err = CAN_BIND(fd0->fd, (struct sockaddr *)&addr, + sizeof(addr)); + if (err) { + fprintf(stderr, "Binding failed.\n"); + goto error_close; + } + + fd0->d = board->d; + CreateReceiveTask(fd0, &fd0->receiveTask); + return fd0; + + error_close: + CAN_CLOSE(fd0->fd); + + error_ret: + free(fd0); + return NULL; +} + +/***************************************************************************/ +int canClose(CAN_HANDLE fd0) +{ + if (fd0) { + WaitReceiveTaskEnd(&fd0->receiveTask); + CAN_CLOSE(fd0->fd); + free(fd0); + } + return 0; +} diff -r a3b169324368 -r 8a1047ab51f4 drivers/timers_xeno/timers_xeno.c --- a/drivers/timers_xeno/timers_xeno.c Thu Aug 10 17:57:33 2006 +0200 +++ b/drivers/timers_xeno/timers_xeno.c Thu Aug 31 10:28:53 2006 +0200 @@ -1,5 +1,6 @@ #include -#include +#include +#include #include #include @@ -14,7 +15,6 @@ RT_MUTEX CanFestival_mutex; RT_TASK timerloop_task; -RT_ALARM timerloop_alarm; RTIME last_time_read; RTIME last_occured_alarm; RTIME last_alarm_set; @@ -24,7 +24,6 @@ void cleanup_all(void) { rt_task_delete(&timerloop_task); - rt_alarm_delete(&timerloop_alarm); } void StopTimerLoop(void) { @@ -62,15 +61,13 @@ { int ret; stop_timer = 0; + char taskname[32]; + snprintf(taskname, sizeof(taskname), "timerloop-%d", getpid()); - ret = rt_alarm_create( &timerloop_alarm, NULL); - if (ret) { - printf("Failed to create timerloop_alarm, code %d\n",errno); - goto error; - } - + mlockall(MCL_CURRENT | MCL_FUTURE); + //create timerloop_task - ret = rt_task_create(&timerloop_task,"timerloop",0,50,0); + ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0); if (ret) { printf("Failed to create timerloop_task, code %d\n",errno); return; @@ -102,10 +99,12 @@ { int ret; static int id = 0; - char taskname[64]; - sprintf(taskname,"canloop%d",id); + char taskname[32]; + snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, getpid()); id++; + mlockall(MCL_CURRENT | MCL_FUTURE); + //create timerloop_task ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0); if (ret) { @@ -125,9 +124,8 @@ rt_task_delete(Thread); } -//#define max(a,b) a>b?a:b void setTimer(TIMEVAL value) -{ +{ last_alarm_set = (value == TIMEVAL_MAX) ? TIMEVAL_MAX : last_time_read + value; rt_task_unblock(&timerloop_task); } diff -r a3b169324368 -r 8a1047ab51f4 include/can_socket/cancfg.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/include/can_socket/cancfg.h Thu Aug 31 10:28:53 2006 +0200 @@ -0,0 +1,30 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +#ifndef __CANCFG_H__ +#define __CANCFG_H__ + +#ifndef CAN_HANDLE +#define CAN_HANDLE void * +#endif + +#endif