# HG changeset patch
# User etisserant
# Date 1175684671 -7200
# Node ID e747d2e26af0e6f0bd3a1e50f62988d9f0ec96cc
# Parent 3ebf16150b2e41325dc59bcb12b5e89dbcd05e6c
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
diff -r 3ebf16150b2e -r e747d2e26af0 .cvsignore
--- a/.cvsignore Tue Apr 03 20:20:27 2007 +0200
+++ b/.cvsignore Wed Apr 04 13:04:31 2007 +0200
@@ -3,3 +3,15 @@
.settings
.externalToolBuilders
Makefile
+_UpgradeReport_Files
+debug
+Debug UNICODE
+UpgradeLog3.XML
+CanFestival-3.vc8.vcproj.KONG.edouard.user
+UpgradeLog.XML
+CanFestival-3.vc8.suo
+UpgradeLog2.XML
+CanFestival-3.vc8.ncb
+Pcan_2pcc.dll
+Pcan_pcc.dll
+Release
diff -r 3ebf16150b2e -r e747d2e26af0 CanFestival-3.vc8.sln
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CanFestival-3.vc8.sln Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,66 @@
+
+Microsoft Visual Studio Solution File, Format Version 9.00
+# Visual C++ Express 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CanFestival-3", "CanFestival-3.vc8.vcproj", "{50EF2507-9B87-4525-8B19-80EB42E67079}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "can_uvccm_win32", "drivers\can_uvccm_win32\can_uvccm_win32.vcproj", "{39E3300A-29B4-4AA7-AF62-3B181FC26155}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "win32test", "examples\win32test\win32test.vcproj", "{BD8B1FE1-89CD-4F89-8275-0F553FA71059}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "can_peak_win32", "drivers\can_peak_win32\can_peak_win32.vcproj", "{732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TestMasterSlave", "examples\TestMasterSlave\TestMasterSalve.vcproj", "{B51A176D-5320-4534-913B-3025CED5B27E}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug UNICODE|Win32 = Debug UNICODE|Win32
+ Debug|Win32 = Debug|Win32
+ Release UNICODE|Win32 = Release UNICODE|Win32
+ Release|Win32 = Release|Win32
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Debug UNICODE|Win32.ActiveCfg = Debug UNICODE|Win32
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Debug UNICODE|Win32.Build.0 = Debug UNICODE|Win32
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Debug|Win32.ActiveCfg = Debug|Win32
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Debug|Win32.Build.0 = Debug|Win32
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Release UNICODE|Win32.ActiveCfg = Release UNICODE|Win32
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Release UNICODE|Win32.Build.0 = Release UNICODE|Win32
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Release|Win32.ActiveCfg = Release|Win32
+ {50EF2507-9B87-4525-8B19-80EB42E67079}.Release|Win32.Build.0 = Release|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Debug UNICODE|Win32.ActiveCfg = Debug UNICODE|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Debug UNICODE|Win32.Build.0 = Debug UNICODE|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Debug|Win32.ActiveCfg = Debug|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Debug|Win32.Build.0 = Debug|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Release UNICODE|Win32.ActiveCfg = Release UNICODE|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Release UNICODE|Win32.Build.0 = Release UNICODE|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Release|Win32.ActiveCfg = Release|Win32
+ {39E3300A-29B4-4AA7-AF62-3B181FC26155}.Release|Win32.Build.0 = Release|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Debug UNICODE|Win32.ActiveCfg = Debug|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Debug UNICODE|Win32.Build.0 = Debug|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Debug|Win32.ActiveCfg = Debug|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Debug|Win32.Build.0 = Debug|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Release UNICODE|Win32.ActiveCfg = Release|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Release UNICODE|Win32.Build.0 = Release|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Release|Win32.ActiveCfg = Release|Win32
+ {BD8B1FE1-89CD-4F89-8275-0F553FA71059}.Release|Win32.Build.0 = Release|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Debug UNICODE|Win32.ActiveCfg = Debug UNICODE|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Debug UNICODE|Win32.Build.0 = Debug UNICODE|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Debug|Win32.ActiveCfg = Debug|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Debug|Win32.Build.0 = Debug|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Release UNICODE|Win32.ActiveCfg = Release UNICODE|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Release UNICODE|Win32.Build.0 = Release UNICODE|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Release|Win32.ActiveCfg = Release|Win32
+ {732EC5B6-C6F1-4783-9BC8-924FFF67BF5A}.Release|Win32.Build.0 = Release|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Debug UNICODE|Win32.ActiveCfg = Debug|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Debug UNICODE|Win32.Build.0 = Debug|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Debug|Win32.ActiveCfg = Debug|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Debug|Win32.Build.0 = Debug|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Release UNICODE|Win32.ActiveCfg = Release|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Release UNICODE|Win32.Build.0 = Release|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Release|Win32.ActiveCfg = Release|Win32
+ {B51A176D-5320-4534-913B-3025CED5B27E}.Release|Win32.Build.0 = Release|Win32
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff -r 3ebf16150b2e -r e747d2e26af0 CanFestival-3.vc8.vcproj
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CanFestival-3.vc8.vcproj Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,532 @@
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diff -r 3ebf16150b2e -r e747d2e26af0 configure
--- a/configure Tue Apr 03 20:20:27 2007 +0200
+++ b/configure Wed Apr 04 13:04:31 2007 +0200
@@ -74,8 +74,6 @@
# Install prefix
SUB_PREFIX=
-SUB_TIMERS_ENABLE=YES
-
# Used for C compiler test/detection
CFLAGS=
test=conftest
@@ -99,12 +97,12 @@
--timers=*) SUB_TIMERS_DRIVER=$optarg;;
--disable-Ox) DISABLE_OPT=1;
echo "On user request: Won't optimize with \"-Ox\"";;
+ --disable-dll) DISABLE_DLL=1;
+ echo "On user request: Won't create and link to dll";;
--debug) DEBUG=1;
echo "Debug messages enabled !!";;
--debugPDO) DEBUG=PDO;
echo "Debug messages (PDO) enabled !!";;
- --desable-timers) SUB_TIMERS_ENABLE=NO;
- echo "On user request: Will enable built-in timer dispatch Feature";;
--MAX_CAN_BUS_ID=*) MAX_CAN_BUS_ID=$1;;
--SDO_MAX_LENGTH_TRANSFERT=*) SDO_MAX_LENGTH_TRANSFERT=$1;;
--SDO_MAX_SIMULTANEOUS_TRANSFERTS=*) SDO_MAX_SIMULTANEOUS_TRANSFERTS=$1;;
@@ -114,20 +112,31 @@
--MAX_NB_TIMER=*) MAX_NB_TIMER=$1;;
--help) echo "Usage: ./configure [options]"
echo "Options:"
- echo " --cc=foo Use compiler 'foo' instead of defaults ${CC1} or ${CC2}."
- echo " --arch=foo Use architecture 'foo' instead of trying to autodetect."
- echo " --os=foo Use operative system 'foo' instead of trying to autodetect."
- echo " --prefix=foo Use prefix 'foo' instead of default ${SUB_PREFIX}."
- echo " --target=foo Use 'foo' as build target."
- echo " \"generic\" for have independant CAN and TIMERS driver"
- echo " \"unix\" for unix-like systems"
- echo " \"win32\" for win32 systems"
- echo " \"hcs12\" for HCS12 micro-controller"
- echo " --can=foo Use 'foo' as CAN driver (can be either 'peak', 'lincan' or 'virtual')"
- echo " --timers=foo Use 'foo' as TIMERS driver (can be either 'unix' or 'xeno')"
- echo " --disable-Ox Disable gcc \"-Ox\" optimizations."
- echo " --debug Enable debug messages."
- echo " --debugPDO Enable debug messages, using PDO."
+ echo " --cc=foo Use compiler 'foo' instead of defaults ${CC1} or ${CC2}."
+ echo " --arch=foo Use architecture 'foo' instead of trying to autodetect."
+ echo " --os=foo Use operative system 'foo' instead of trying to autodetect."
+ echo " --prefix=foo Use prefix 'foo' instead of default ${SUB_PREFIX}."
+ echo " --target=foo Use 'foo' as build target."
+ echo " \"generic\" for have independant CAN and TIMERS driver"
+ echo " \"unix\" for unix-like systems"
+ echo " \"win32\" for win32 systems"
+ echo " \"hcs12\" for HCS12 micro-controller"
+ echo " \"ecos_lpc2138_sja1000\" for eCOS + Philips ARM LPC21381 + Philips SJA1000"
+ echo " --can=foo Use 'foo' as CAN driver"
+ echo " \"peak_linux\" use Linux build host installed Peak driver and library"
+ echo " please see http://www.peak-system.com/linux/"
+ echo " \"peak_win32\" use win32 PcanLight Peak driver and library with Cygwin"
+ echo " please see http://www.peak-system.com/themen/download_gb.html"
+ echo " \"virtual\" use unix pipe based virtual can driver"
+ echo " \"socket\" use socket-can "
+ echo " please see http://developer.berlios.de/projects/socketcan/"
+ echo " \"lincan\" for HCS12 micro-controller"
+ echo " please see http://www.ocera.org/download/components/WP7/lincan-0.3.3.html"
+ echo " --timers=foo Use 'foo' as TIMERS driver (can be either 'unix' or 'xeno')"
+ echo " --disable-dll Disable run-time dynamic linking of can, led and nvram drivers"
+ echo " --disable-Ox Disable gcc \"-Ox\" optimizations."
+ echo " --debug Enable debug messages."
+ echo " --debugPDO Enable debug messages, using PDO."
echo
echo "Stack compilation constants"
echo " --MAX_CAN_BUS_ID [=1] Number of can bus to use"
@@ -217,11 +226,6 @@
SUB_ARCH_NAME=sparc64
fi
-
-#
-# The following has not been verified
-#
-
# ppc
if [ "$A_NAME" = "powerpc" ]; then
SUB_ARCH_NAME=ppc
@@ -335,15 +339,15 @@
if [ "$SUB_TARGET" = "unix" ]; then
if [ -e /usr/lib/libpcan.so ]; then
echo "Choosing installed Peak driver as CAN driver."
- SUB_CAN_DRIVER=peak
+ SUB_CAN_DRIVER=peak_linux
+ elif [ "$SUB_OS_NAME" = "CYGWIN" -a "PCAN_LIB" != "" ]; then
+ echo "Choosing installed Peak driver as CAN driver."
+ SUB_CAN_DRIVER=peak_win32
else
echo "Choosing virtual CAN driver."
SUB_CAN_DRIVER=virtual
fi
fi
- if [ "$SUB_TARGET" = "win32" ]; then
- echo "CAN driver for windows --Not Implemented--"
- fi
fi
# If target is unix, default timers also
@@ -399,36 +403,34 @@
#### CAN_DRIVER ####
-if [ "$SUB_CAN_DRIVER" = "peak" ]; then
- if [ "$SUB_TIMERS_DRIVER" = "xeno" ]; then
- SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lrtdm
- fi
- SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpcan
-fi
-
+if [ "$SUB_CAN_DRIVER" = "peak_linux" ]; then
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lpcan
+fi
+
+PW32DIR=drivers/can_peak_win32
if [ "$SUB_CAN_DRIVER" = "peak_win32" ]; then
if [ "$PCAN_HEADER" = "" -o "PCAN_LIB" = "" ]; then
echo "!!! ERROR !!! Please set PCAN_LIB PCAN_HEADER [PCAN_INCLUDE] to appropriate paths ! "
fi
- SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -liberty\ \'$PCAN_LIB\'
- echo "Converting PcanLib header files for gcc -> /drivers/can_peak_win32/cancfg.h"
- cat include/can_peak_win32/cancfg.h.head $PCAN_INCLUDE/$PCAN_HEADER > include/can_peak_win32/cancfg.h
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -liberty\ \'$PCAN_LIB\'
+ echo "Converting PcanLib header files for gcc -> $PW32DIR/cancfg.h"
+ cat $PW32DIR/cancfg.h.head $PCAN_INCLUDE/$PCAN_HEADER > $PW32DIR/cancfg.h
# second port handling
if [ "$PCAN2_HEADER" != "" ]; then
echo "Stripping down second Pcan Light header "
- echo >> include/can_peak_win32/cancfg.h
- echo "// Stripped PcanLight header to prevent typedef conflicts ">> include/can_peak_win32/cancfg.h
- echo >> include/can_peak_win32/cancfg.h
- grep __stdcall $PCAN_INCLUDE/$PCAN2_HEADER >> include/can_peak_win32/cancfg.h
- SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ \'$PCAN2_LIB\'
- echo '#define PCAN2_HEADER_' >> include/can_peak_win32/cancfg.h
- fi
- if grep -q CANHwType include/can_peak_win32/cancfg.h ; then
+ echo >> $PW32DIR/cancfg.h
+ echo "// Stripped PcanLight header to prevent typedef conflicts ">> $PW32DIR/cancfg.h
+ echo >> $PW32DIR/cancfg.h
+ grep __stdcall $PCAN_INCLUDE/$PCAN2_HEADER >> $PW32DIR/cancfg.h
+ echo '#define PCAN2_HEADER_' >> $PW32DIR/cancfg.h
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ \'$PCAN2_LIB\'
+ fi
+ if grep -q CANHwType $PW32DIR/cancfg.h ; then
echo "Peak Init HwType, IO_Port and IRQ will be passed in environment :"
echo " PCANHwType PCANIO_Port PCANInterupt"
- echo '#define extra_PCAN_init_params' >> include/can_peak_win32/cancfg.h
- fi
- cat include/can_peak_win32/cancfg.h.tail >> include/can_peak_win32/cancfg.h
+ echo '#define extra_PCAN_init_params' >> $PW32DIR/cancfg.h
+ fi
+ cat $PW32DIR/cancfg.h.tail >> $PW32DIR/cancfg.h
fi
if [ "$SUB_CAN_DRIVER" = "none" ]; then
@@ -603,6 +605,19 @@
SUB_OPT_CFLAGS=\$\(OPT_CFLAGS\)
fi
+if [ "$DISABLE_DLL" = "1" ]; then
+ SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DNOT_USE_DYNAMIC_LOADING
+ SUB_ENABLE_DLL_DRIVERS=0
+else
+ SUB_ENABLE_DLL_DRIVERS=1
+ SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -ldl
+fi
+
+
+if [ "$DISABLE_DLL" = "1" ]; then
+ SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ $SUB_CAN_DLL_CFLAGS
+fi
+
###########################################################################
# CREATE MAKEFILES #
###########################################################################
@@ -650,9 +665,10 @@
s:SUB_OPT_CFLAGS:${SUB_OPT_CFLAGS}:
s:SUB_TARGET:${SUB_TARGET}:
s:SUB_BINUTILS_PREFIX:${SUB_BINUTILS_PREFIX}:
- s:SUB_TIMERS_ENABLE:${SUB_TIMERS_ENABLE}:
s:SUB_TIMERS_DRIVER:timers_${SUB_TIMERS_DRIVER}:
s:SUB_CAN_DRIVER:can_${SUB_CAN_DRIVER}:
+ s:SUB_CAN_DLL_CFLAGS:${SUB_CAN_DLL_CFLAGS}:
+ s:SUB_ENABLE_DLL_DRIVERS:${SUB_ENABLE_DLL_DRIVERS}:
" > $makefile
done
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_lincan/.cvsignore
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_lincan/.cvsignore Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,1 @@
+Makefile
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_lincan/Makefile.in
--- a/drivers/can_lincan/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_lincan/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -29,26 +29,35 @@
TARGET = SUB_TARGET
CAN_DRIVER = SUB_CAN_DRIVER
TIMERS_DRIVER = SUB_TIMERS_DRIVER
+ENABLE_DLL_DRIVERS=SUB_ENABLE_DLL_DRIVERS
-INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER) -I../../include/$(TIMERS_DRIVER)
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER)
OBJS = $(CAN_DRIVER).o
-SRC_HFILES = ../../include/$(CAN_DRIVER)/cancfg.h
+ifeq ($(ENABLE_DLL_DRIVERS),1)
+CFLAGS += -fPIC
+DRIVER = libcanfestival_$(CAN_DRIVER).so
+else
+DRIVER = $(OBJS)
+endif
-TARGET_HFILES = $(PREFIX)/include/canfestival/cancfg.h
+TARGET_SOFILES = $(PREFIX)/lib/$(DRIVER)
all: driver
-driver: $(OBJS)
+driver: $(DRIVER)
%o: %c
$(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
-install:
- mkdir -p $(PREFIX)/include/canfestival
- cp $(SRC_HFILES) $(PREFIX)/include/canfestival
+libcanfestival_$(CAN_DRIVER).so: $(OBJS)
+ gcc -shared -Wl,-soname,libcanfestival_$(CAN_DRIVER).so -o $@ $<
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $@ $(PREFIX)/lib/
+
uninstall:
rm -f $(TARGET_HFILES)
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_lincan/can_lincan.c
--- a/drivers/can_lincan/can_lincan.c Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_lincan/can_lincan.c Wed Apr 04 13:04:31 2007 +0200
@@ -22,36 +22,16 @@
#include
#include
-#include
#include
-#include /* for NULL */
-#include
#include
-#include
-#include
-#include
#include "canmsg.h"
#include "lincan.h"
-struct CANPort;
-#define CAN_HANDLE struct CANPort *
-
-#include
-
-#include "timer.h"
#include "can_driver.h"
-#include "timers_driver.h"
-
-typedef struct CANPort {
- char used;
- HANDLE fd;
- TASK_HANDLE receiveTask;
- CO_Data* d;
-} CANPort;
/*********functions which permit to communicate with the board****************/
-UNS8 canReceive(CAN_HANDLE fd0, Message *m)
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
{
int res;
struct canmsg_t canmsg;
@@ -59,7 +39,7 @@
canmsg.flags = 0; /* Ensure standard receive, not required for LinCAN>=0.3.1 */
do{
- res = read(fd0->fd,&canmsg,sizeof(canmsg_t));
+ res = read(fd0,&canmsg,sizeof(canmsg_t));
if((res<0)&&(errno == -EAGAIN)) res = 0;
}while(res==0);
@@ -82,25 +62,8 @@
return 0;
}
-void canReceiveLoop(CAN_HANDLE fd0)
-{
- CO_Data* d = fd0->d;
- Message m;
- while (fd0->used) {
- if(!canReceive(fd0, &m))
- {
- EnterMutex();
- canDispatch(d, &m);
- LeaveMutex();
- }else{
- printf("canReceive returned error\n");
- break;
- }
- }
-}
-
/***************************************************************************/
-UNS8 canSend(CAN_HANDLE fd0, Message *m)
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
{
int res;
struct canmsg_t canmsg;
@@ -119,7 +82,7 @@
canmsg.flags |= MSG_EXT;
}
- res = write(fd0->fd,&canmsg,sizeof(canmsg_t));
+ res = write(fd0,&canmsg,sizeof(canmsg_t));
if(res!=sizeof(canmsg_t))
return 1;
@@ -129,7 +92,7 @@
/***************************************************************************/
static const char lnx_can_dev_prefix[] = "/dev/can";
-CAN_HANDLE canOpen(s_BOARD *board)
+CAN_HANDLE canOpen_driver(s_BOARD *board)
{
int name_len = strlen(board->busname);
int prefix_len = strlen(lnx_can_dev_prefix);
@@ -147,15 +110,12 @@
memcpy(dev_name+prefix_len,board->busname,name_len);
dev_name[prefix_len+name_len] = 0;
- fd0->fd = open(dev_name, O_RDWR|o_flags);
- if(fd0->fd < 0){
+ fd0 = open(dev_name, O_RDWR|o_flags);
+ if(fd0 < 0){
fprintf(stderr,"!!! Board %s is unknown. See can_lincan.c\n", board->busname);
goto error_ret;
}
- fd0->d = board->d;
- fd0->used = 1;
- CreateReceiveTask(fd0, &fd0->receiveTask);
return fd0;
error_ret:
@@ -164,13 +124,10 @@
}
/***************************************************************************/
-int canClose(CAN_HANDLE fd0)
+int canClose_driver(CAN_HANDLE fd0)
{
if(!fd0)
return 0;
- fd0->used = 0;
- WaitReceiveTaskEnd(&fd0->receiveTask);
- close(fd0->fd);
- free(fd0);
+ close(fd0);
return 0;
}
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_lincan/canmsg.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_lincan/canmsg.h Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,136 @@
+/* canmsg.h - common kernel-space and user-space CAN message structure
+ * Linux CAN-bus device driver.
+ * Written by Pavel Pisa - OCERA team member
+ * email:pisa@cmp.felk.cvut.cz
+ * This software is released under the GPL-License.
+ * Version lincan-0.3 17 Jun 2004
+ */
+
+#ifndef _CANMSG_T_H
+#define _CANMSG_T_H
+
+#ifdef __KERNEL__
+
+#include
+#include
+
+#else /* __KERNEL__ */
+
+#include
+#include
+
+#endif /* __KERNEL__ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * CAN_MSG_VERSION_2 enables new canmsg_t layout compatible with
+ * can4linux project from http://www.port.de/
+ *
+ */
+#define CAN_MSG_VERSION_2
+
+/* Number of data bytes in one CAN message */
+#define CAN_MSG_LENGTH 8
+
+#ifdef CAN_MSG_VERSION_2
+
+typedef struct timeval canmsg_tstamp_t ;
+
+typedef unsigned long canmsg_id_t;
+
+/**
+ * struct canmsg_t - structure representing CAN message
+ * @flags: message flags
+ * %MSG_RTR .. message is Remote Transmission Request,
+ * %MSG_EXT .. message with extended ID,
+ * %MSG_OVR .. indication of queue overflow condition,
+ * %MSG_LOCAL .. message originates from this node.
+ * @cob: communication object number (not used)
+ * @id: ID of CAN message
+ * @timestamp: not used
+ * @length: length of used data
+ * @data: data bytes buffer
+ *
+ * Header: canmsg.h
+ */
+struct canmsg_t {
+ int flags;
+ int cob;
+ canmsg_id_t id;
+ canmsg_tstamp_t timestamp;
+ unsigned short length;
+ unsigned char data[CAN_MSG_LENGTH];
+};
+
+#else /*CAN_MSG_VERSION_2*/
+#ifndef PACKED
+#define PACKED __attribute__((packed))
+#endif
+/* Old, deprecated version of canmsg_t structure */
+struct canmsg_t {
+ short flags;
+ int cob;
+ canmsg_id_t id;
+ unsigned long timestamp;
+ unsigned int length;
+ unsigned char data[CAN_MSG_LENGTH];
+} PACKED;
+#endif /*CAN_MSG_VERSION_2*/
+
+typedef struct canmsg_t canmsg_t;
+
+/**
+ * struct canfilt_t - structure for acceptance filter setup
+ * @flags: message flags
+ * %MSG_RTR .. message is Remote Transmission Request,
+ * %MSG_EXT .. message with extended ID,
+ * %MSG_OVR .. indication of queue overflow condition,
+ * %MSG_LOCAL .. message originates from this node.
+ * there are corresponding mask bits
+ * %MSG_RTR_MASK, %MSG_EXT_MASK, %MSG_LOCAL_MASK.
+ * %MSG_PROCESSLOCAL enables local messages processing in the
+ * combination with global setting
+ * @queid: CAN queue identification in the case of the multiple
+ * queues per one user (open instance)
+ * @cob: communication object number (not used)
+ * @id: selected required value of cared ID id bits
+ * @mask: select bits significand for the comparation;
+ * 1 .. take care about corresponding ID bit, 0 .. don't care
+ *
+ * Header: canmsg.h
+ */
+struct canfilt_t {
+ int flags;
+ int queid;
+ int cob;
+ canmsg_id_t id;
+ canmsg_id_t mask;
+};
+
+typedef struct canfilt_t canfilt_t;
+
+/* Definitions to use for canmsg_t and canfilt_t flags */
+#define MSG_RTR (1<<0)
+#define MSG_OVR (1<<1)
+#define MSG_EXT (1<<2)
+#define MSG_LOCAL (1<<3)
+/* If you change above lines, check canque_filtid2internal function */
+
+/* Additional definitions used for canfilt_t only */
+#define MSG_FILT_MASK_SHIFT 8
+#define MSG_RTR_MASK (MSG_RTR<
+#include
+#include
+
+#else /* __KERNEL__ */
+
+#include
+#include
+#include
+
+#endif /* __KERNEL__ */
+
+#include "./canmsg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* CAN ioctl magic number */
+#define CAN_IOC_MAGIC 'd'
+
+typedef unsigned long bittiming_t;
+typedef unsigned short channel_t;
+
+/**
+ * struct can_baudparams_t - datatype for calling CONF_BAUDPARAMS IOCTL
+ * @flags: reserved for additional flags for chip configuration, should be written -1 or 0
+ * @baudrate: baud rate in Hz
+ * @sjw: synchronization jump width (0-3) prescaled clock cycles
+ * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
+ *
+ * The structure is used to configure new set of parameters into CAN controller chip.
+ * If default value of some field should be preserved, fill field by value -1.
+ */
+struct can_baudparams_t {
+ long flags;
+ long baudrate;
+ long sjw;
+ long sample_pt;
+};
+
+/* CAN ioctl functions */
+#define CAN_DRV_QUERY _IO(CAN_IOC_MAGIC, 0)
+#define CAN_DRV_QRY_BRANCH 0 /* returns driver branch value - "LINC" for LinCAN driver */
+#define CAN_DRV_QRY_VERSION 1 /* returns driver version as (major<<16) | (minor<<8) | patch */
+#define CAN_DRV_QRY_MSGFORMAT 2 /* format of canmsg_t structure */
+
+#define CMD_START _IOW(CAN_IOC_MAGIC, 1, channel_t)
+#define CMD_STOP _IOW(CAN_IOC_MAGIC, 2, channel_t)
+//#define CMD_RESET 3
+
+#define CONF_BAUD _IOW(CAN_IOC_MAGIC, 4, bittiming_t)
+//#define CONF_ACCM
+//#define CONF_XTDACCM
+//#define CONF_TIMING
+//#define CONF_OMODE
+#define CONF_FILTER _IOW(CAN_IOC_MAGIC, 8, unsigned char)
+
+//#define CONF_FENABLE
+//#define CONF_FDISABLE
+
+#define STAT _IO(CAN_IOC_MAGIC, 9)
+#define CANQUE_FILTER _IOW(CAN_IOC_MAGIC, 10, struct canfilt_t)
+#define CANQUE_FLUSH _IO(CAN_IOC_MAGIC, 11)
+#define CONF_BAUDPARAMS _IOW(CAN_IOC_MAGIC, 11, struct can_baudparams_t)
+#define CANRTR_READ _IOWR(CAN_IOC_MAGIC, 12, struct canmsg_t)
+
+#ifdef __cplusplus
+} /* extern "C"*/
+#endif
+
+#endif /*_CAN_DRVAPI_T_H*/
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_linux/.cvsignore
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_linux/.cvsignore Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,2 @@
+Makefile
+libcanfestival_can_peak_linux.so
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_linux/Makefile.in
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_linux/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,68 @@
+#! 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
+ENABLE_DLL_DRIVERS=SUB_ENABLE_DLL_DRIVERS
+CAN_DLL_CFLAGS=SUB_CAN_DLL_CFLAGS
+
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER)
+
+OBJS = $(CAN_DRIVER).o
+
+ifeq ($(ENABLE_DLL_DRIVERS),1)
+CFLAGS += -fPIC
+DRIVER = libcanfestival_$(CAN_DRIVER).so
+else
+DRIVER = $(OBJS)
+endif
+
+TARGET_SOFILES = $(PREFIX)/lib/$(DRIVER)
+
+all: driver
+
+driver: $(DRIVER)
+
+%o: %c
+ $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+
+libcanfestival_$(CAN_DRIVER).so: $(OBJS)
+ gcc -shared -Wl,-soname,libcanfestival_$(CAN_DRIVER).so $(CAN_DLL_CFLAGS) -o $@ $<
+
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $@ $(PREFIX)/lib/
+
+uninstall:
+ rm -f $(TARGET_HFILES)
+
+clean:
+ rm -f $(OBJS)
+
+mrproper: clean
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_linux/can_peak_linux.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_linux/can_peak_linux.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,129 @@
+/*
+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
+
+/* driver pcan pci for Peak board */
+//#include "libpcan.h"
+//#include "pcan.h"
+
+#include "libpcan.h" // for CAN_HANDLE
+
+#include "can_driver.h"
+
+// Define for rtr CAN message
+#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+{
+ UNS8 data;
+ TPCANMsg peakMsg;
+ if ((errno = CAN_Read(fd0, & peakMsg))) { // Blocks until no new message or error.
+ if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading"
+ {
+ perror("!!! Peak board : error of reading. (from f_can_receive function) \n");
+ }
+ return 1;
+ }
+ m->cob_id.w = peakMsg.ID;
+ if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_*/
+ m->rtr = 0;
+ else
+ m->rtr = 1;
+ m->len = peakMsg.LEN; /* count of data bytes (0..8) */
+ for(data = 0 ; data < peakMsg.LEN ; data++)
+ m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */
+
+ return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+{
+ UNS8 data;
+ TPCANMsg peakMsg;
+ peakMsg.ID=m -> cob_id.w; /* 11/29 bit code */
+ if(m->rtr == 0)
+ peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_*/
+ else {
+ peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_*/
+ }
+ peakMsg.LEN = m->len;
+ /* count of data bytes (0..8) */
+ for(data = 0 ; data < m->len; data ++)
+ peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */
+
+ if((errno = CAN_Write(fd0, & peakMsg))) {
+ perror("!!! Peak board : error of writing. (from canSend function) \n");
+ return 1;
+ }
+ return 0;
+
+}
+
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
+ if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
+ if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
+ if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
+ if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
+ if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
+ if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
+ if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
+ if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
+ if(!strcmp( optarg, "none")) return 0;
+ return 0x0000;
+}
+
+/***************************************************************************/
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+ HANDLE fd0 = NULL;
+ char busname[64];
+ char* pEnd;
+ int i;
+ int baudrate;
+
+ if(strtol(board->busname, &pEnd,0) >= 0)
+ {
+ sprintf(busname,"/dev/pcan%s",board->busname);
+ fd0 = LINUX_CAN_Open(busname, O_RDWR);
+ }
+
+ if(baudrate = TranslateBaudeRate(board->baudrate))
+ CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
+
+ return (CAN_HANDLE)fd0;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+ CAN_Close(fd0);
+ return 0;
+}
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_win32/.cvsignore
--- a/drivers/can_peak_win32/.cvsignore Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_peak_win32/.cvsignore Wed Apr 04 13:04:31 2007 +0200
@@ -1,2 +1,7 @@
Makefile
-obf
+cancfg.h
+Debug UNICODE
+cygcan_peak_win32.dll
+can_peak_win32.ncb
+can_peak_win32.vcproj.KONG.edouard.user
+Release
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_win32/Makefile.in
--- a/drivers/can_peak_win32/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_peak_win32/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -29,27 +29,41 @@
TARGET = SUB_TARGET
CAN_DRIVER = SUB_CAN_DRIVER
TIMERS_DRIVER = SUB_TIMERS_DRIVER
-BINUTILS_PREFIX = SUB_BINUTILS_PREFIX
+ENABLE_DLL_DRIVERS=SUB_ENABLE_DLL_DRIVERS
+CAN_DLL_CFLAGS=SUB_CAN_DLL_CFLAGS
-INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER) -I../../include/$(TIMERS_DRIVER)
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER)
OBJS = $(CAN_DRIVER).o
-SRC_HFILES = ../../include/$(CAN_DRIVER)/cancfg.h
+ifeq ($(ENABLE_DLL_DRIVERS),1)
+CFLAGS += -fPIC
+DRIVER = cyg$(CAN_DRIVER).dll
+else
+DRIVER = $(OBJS)
+endif
-TARGET_HFILES = $(PREFIX)/include/canfestival/cancfg.h
+TARGET_SOFILES = $(PREFIX)/lib/$(DRIVER)
all: driver
-driver: $(OBJS)
+driver: $(DRIVER)
%o: %c
$(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
-install:
- mkdir -p $(PREFIX)/include/canfestival
- cp $(SRC_HFILES) $(PREFIX)/include/canfestival
-
+cyg$(CAN_DRIVER).dll: $(OBJS)
+ gcc -shared -o $@ \
+ -Wl,--export-all-symbols \
+ -Wl,--enable-auto-import \
+ -Wl,--whole-archive $< \
+ -Wl,--no-whole-archive $(CAN_DLL_CFLAGS) \
+ -Wl,--exclude-libs,ALL
+
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $@ $(PREFIX)/lib/
+
uninstall:
rm -f $(TARGET_HFILES)
@@ -57,12 +71,3 @@
rm -f $(OBJS)
mrproper: clean
-
-#********** make obfuscated translation *************************************
-.PHONY : obfuscate
-obfuscate:
- cobf -p obf/pp_gnu -o obf -c can_peak_win32.c -t obf/tlist.tok -m obf/mlist.tok -x pcan_ obf/can_peak_win32_org.c;\
- cat obf/can_peak_win32.c.header obf/can_peak_win32.c > can_peak_win32.c;\
- cat obf/cobf.h.header obf/cobf.h > cobf.h;\
- rm -f obf/can_peak_win32.c obf/cobf.h obf/cobf.log obf/uncobf.h
-
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_win32/can_peak_win32.c
--- a/drivers/can_peak_win32/can_peak_win32.c Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_peak_win32/can_peak_win32.c Wed Apr 04 13:04:31 2007 +0200
@@ -1,119 +1,253 @@
/*
-
-This file is not part of CanFestival.
-This is third party contributed file.
-
-It is provided as-this and without any warranty
-
+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
*/
-//****************************************************************************
-// Copyright (C) 2006 PEAK System-Technik GmbH
-//
-// linux@peak-system.com
-// www.peak-system.com
-//
-// This part of software is proprietary. It is allowed to
-// distribute it with CanFestival.
-//
-// No warranty at all is given.
-//
-// Maintainer(s): Edouard TISSERANT (edouard.tisserant@lolitech.fr)
-//****************************************************************************
-
-/*
- Obfuscated by COBF (Version 1.06 2006-01-07 by BB) at Wed Aug 9 08:28:43 2006
-*/
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include"timer.h"
-#include"can_driver.h"
-#include"timers_driver.h"
-#include"cobf.h"
+#if defined(WIN32) && !defined(__CYGWIN__)
+#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
+#else
+#include
+#include
+#include
+#include
+#endif
+
+#include "cancfg.h"
+#include "can_driver.h"
+
#ifndef extra_PCAN_init_params
-#define extra_PCAN_init_params
-#else
-#define extra_PCAN_init_params , pcan_o("PCANHwType") ? pcan_6( \
-pcan_o("PCANHwType"), pcan_v,0):0 , pcan_o("PCANIO_Port") ? pcan_6( \
-pcan_o("PCANIO_Port"), pcan_v,0):0 , pcan_o("PCANInterupt") ? pcan_6( \
- pcan_o("PCANInterupt"), pcan_v,0):0
-#endif
-#ifdef PCAN2_HEADER_
-#define pcan_t 2
-#else
-#define pcan_t 1
-#endif
-pcan_37 pcan_53{pcan_11 pcan_r;pcan_41 pcan_5;pcan_26*pcan_s;pcan_27*
-pcan_l;}pcan_c;pcan_c pcan_h[pcan_t]={{0,},};pcan_48 pcan_k=pcan_40;
-pcan_14 pcan_0(pcan_m pcan_b){
-#ifdef PCAN2_HEADER_
-pcan_d(pcan_h!=((pcan_c* )pcan_b))pcan_55(((pcan_c* )pcan_b)->pcan_l
-->pcan_20,pcan_y extra_PCAN_init_params);pcan_j
-#endif
-pcan_57(((pcan_c* )pcan_b)->pcan_l->pcan_20,pcan_y
-extra_PCAN_init_params);}pcan_u pcan_17(pcan_m pcan_b,pcan_8*pcan_e){
-pcan_u pcan_f;pcan_24 pcan_a;pcan_13 pcan_i;pcan_19(&pcan_k);
-#ifdef PCAN2_HEADER_
-pcan_d(pcan_h!=((pcan_c* )pcan_b))pcan_i=pcan_31(&pcan_a);pcan_j
-#endif
-pcan_i=pcan_51(&pcan_a);pcan_d(pcan_i==pcan_w){pcan_d(pcan_a.pcan_n&~
-(pcan_28|pcan_15)){pcan_d(pcan_a.pcan_n==pcan_23){pcan_2("\x21\x21"
-"\x21\x20\x50\x65\x61\x6b\x20\x62\x6f\x61\x72\x64\x20\x72\x65\x61\x64"
-"\x20\x3a\x20\x72\x65\x2d\x69\x6e\x69\x74\n");pcan_0(pcan_b);pcan_x(
-10000);}pcan_z(&pcan_k);pcan_q pcan_a.pcan_n==pcan_32?pcan_a.pcan_12[
-2]:pcan_50;}pcan_e->pcan_16.pcan_25=pcan_a.pcan_18;pcan_d(pcan_a.
-pcan_n==pcan_y)pcan_e->pcan_9=0;pcan_j pcan_e->pcan_9=1;pcan_e->
-pcan_1=pcan_a.pcan_7;pcan_3(pcan_f=0;pcan_fpcan_f[pcan_f]=pcan_a.pcan_12[pcan_f];}pcan_z(&pcan_k);pcan_q pcan_i
-;}pcan_14 pcan_47(pcan_m pcan_b){pcan_26*pcan_s=((pcan_c* )pcan_b)->
-pcan_s;pcan_8 pcan_e;pcan_21(((pcan_c* )pcan_b)->pcan_r){pcan_13
-pcan_i;pcan_d((pcan_i=pcan_17(pcan_b,&pcan_e))==pcan_w){pcan_30();
-pcan_54(pcan_s,&pcan_e);pcan_35();}pcan_j{pcan_d(!(pcan_i&pcan_33||
-pcan_i&pcan_42||pcan_i&pcan_49)){pcan_2("\x63\x61\x6e\x52\x65\x63\x65"
-"\x69\x76\x65\x20\x72\x65\x74\x75\x72\x6e\x65\x64\x20\x65\x72\x72\x6f"
-"\x72\x20\x28\x25\x64\x29\n",pcan_i);}pcan_x(1000);}}}pcan_u pcan_43(
-pcan_m pcan_b,pcan_8*pcan_e){pcan_u pcan_f;pcan_24 pcan_a;pcan_a.
-pcan_18=pcan_e->pcan_16.pcan_25;pcan_d(pcan_e->pcan_9==0)pcan_a.
-pcan_n=pcan_y;pcan_j{pcan_a.pcan_n=pcan_28|pcan_15;}pcan_a.pcan_7=
-pcan_e->pcan_1;pcan_3(pcan_f=0;pcan_fpcan_1;pcan_f++)pcan_a.
-pcan_12[pcan_f]=pcan_e->pcan_f[pcan_f];pcan_p=pcan_w;pcan_36{pcan_19(
-&pcan_k);
-#ifdef PCAN2_HEADER_
-pcan_d(pcan_h!=((pcan_c* )pcan_b))pcan_p=pcan_56(&pcan_a);pcan_j
-#endif
-pcan_p=pcan_46(&pcan_a);pcan_d(pcan_p){pcan_d(pcan_p==pcan_23){pcan_2
-("\x21\x21\x21\x20\x50\x65\x61\x6b\x20\x62\x6f\x61\x72\x64\x20\x77"
-"\x72\x69\x74\x65\x20\x3a\x20\x72\x65\x2d\x69\x6e\x69\x74\n");pcan_0(
-pcan_b);pcan_x(10000);}pcan_z(&pcan_k);pcan_x(100);}pcan_j{pcan_z(&
-pcan_k);}}pcan_21(pcan_p!=pcan_w&&((pcan_c* )pcan_b)->pcan_r);pcan_q 0
-;}pcan_m pcan_44(pcan_27*pcan_l){pcan_11 pcan_58[64];pcan_11*pcan_39;
-pcan_22 pcan_g;pcan_3(pcan_g=0;pcan_gpcan_s;
-pcan_0((pcan_c* )&pcan_h[pcan_g]);pcan_34((pcan_c* )&pcan_h[pcan_g],&
-pcan_h[pcan_g].pcan_5);pcan_q(pcan_c* )&pcan_h[pcan_g];}pcan_22
-pcan_59(pcan_m pcan_b){((pcan_c* )pcan_b)->pcan_r=0;
-#ifdef PCAN2_HEADER_
-pcan_d(pcan_h!=((pcan_c* )pcan_b))pcan_52();pcan_j
-#endif
-pcan_38();pcan_29(&((pcan_c* )pcan_b)->pcan_5);pcan_q 0;}
+ #define extra_PCAN_init_params /**/
+#else
+ #define extra_PCAN_init_params\
+ ,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\
+ ,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\
+ ,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0
+#endif
+
+static s_BOARD *first_board = NULL;
+#ifdef PCAN2_HEADER_
+static s_BOARD *second_board = NULL;
+#endif
+
+//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+// Define for rtr CAN message
+#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
+ if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
+ if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
+ if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
+ if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
+ if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
+ if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
+ if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
+ if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
+ if(!strcmp( optarg, "none")) return 0;
+ return 0x0000;
+}
+
+void
+canInit (s_BOARD *board)
+{
+ int baudrate;
+
+#ifdef PCAN2_HEADER_
+ // if not the first handler
+ if(second_board == (s_BOARD *)board)
+ if(baudrate = TranslateBaudeRate(board->baudrate))
+ CAN2_Init (baudrate,
+ CAN_INIT_TYPE_ST extra_PCAN_init_params);
+#endif
+ if(first_board == (s_BOARD *)board)
+ if(baudrate = TranslateBaudeRate(board->baudrate))
+ CAN_Init (baudrate,
+ CAN_INIT_TYPE_ST extra_PCAN_init_params);
+}
+
+/*********functions which permit to communicate with the board****************/
+UNS8
+canReceive_driver (CAN_HANDLE fd0, Message * m)
+{
+ UNS8 data;
+ TPCANMsg peakMsg;
+
+ DWORD Res;
+
+ do{
+ // We read the queue looking for messages.
+ //
+ //pthread_mutex_lock (&PeakCan_mutex);
+#ifdef PCAN2_HEADER_
+ // if not the first handler
+ if(second_board == (s_BOARD *)fd0)
+ Res = CAN2_Read (&peakMsg);
+ else
+#endif
+ if(first_board == (s_BOARD *)fd0)
+ Res = CAN_Read (&peakMsg);
+ else
+ Res = CAN_ERR_BUSOFF;
+
+ // A message was received
+ // We process the message(s)
+ //
+ if (Res == CAN_ERR_OK)
+ {
+ // if something different that 11bit or rtr... problem
+ if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR))
+ {
+ if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
+ {
+ printf ("!!! Peak board read : re-init\n");
+ canInit((s_BOARD*) fd0);
+ usleep (10000);
+ }
+
+ // If status, return status if 29bit, return overrun
+ //pthread_mutex_unlock (&PeakCan_mutex);
+ return peakMsg.MSGTYPE ==
+ MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
+ }
+ m->cob_id.w = peakMsg.ID;
+ if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */
+ m->rtr = 0;
+ else
+ m->rtr = 1;
+ m->len = peakMsg.LEN; /* count of data bytes (0..8) */
+ for (data = 0; data < peakMsg.LEN; data++)
+ m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */
+
+ }else{
+ //pthread_mutex_unlock (&PeakCan_mutex);
+ //if (Res != CAN_ERR_OK)
+ //{
+ if (!
+ (Res & CAN_ERR_QRCVEMPTY || Res & CAN_ERR_BUSLIGHT
+ || Res & CAN_ERR_BUSHEAVY))
+ {
+ printf ("canReceive returned error (%d)\n", Res);
+ return 1;
+ }
+ usleep (1000);
+ }
+ }while(Res != CAN_ERR_OK);
+ return 0;
+}
+
+/***************************************************************************/
+UNS8
+canSend_driver (CAN_HANDLE fd0, Message * m)
+{
+ UNS8 data;
+ TPCANMsg peakMsg;
+ peakMsg.ID = m->cob_id.w; /* 11/29 bit code */
+ if (m->rtr == 0)
+ peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_ */
+ else
+ {
+ peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_ */
+ }
+ peakMsg.LEN = m->len;
+ /* count of data bytes (0..8) */
+ for (data = 0; data < m->len; data++)
+ peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */
+ do
+ {
+#ifdef PCAN2_HEADER_
+ // if not the first handler
+ if(second_board == (s_BOARD *)fd0)
+ errno = CAN2_Write (&peakMsg);
+ else
+#endif
+ if(first_board == (s_BOARD *)fd0)
+ errno = CAN_Write (&peakMsg);
+ else
+ goto fail;
+ if (errno)
+ {
+ if (errno == CAN_ERR_BUSOFF)
+ {
+ printf ("!!! Peak board write : re-init\n");
+ canInit((s_BOARD*)fd0);
+ usleep (10000);
+ }
+ usleep (1000);
+ }
+ }
+ while (errno != CAN_ERR_OK);
+ return 0;
+fail:
+ return 1;
+}
+
+/***************************************************************************/
+CAN_HANDLE
+canOpen_driver (s_BOARD * board)
+{
+#ifdef PCAN2_HEADER_
+ if(first_board != NULL && second_board != NULL)
+#else
+ if(first_board != NULL)
+#endif
+ {
+ fprintf (stderr, "Open failed.\n");
+ fprintf (stderr,
+ "can_peak_win32.c: no more can port available with this pcan library\n");
+ fprintf (stderr,
+ "can_peak_win32.c: please link another executable with another pcan lib\n");
+ return NULL;
+ }
+
+#ifdef PCAN2_HEADER_
+ if(first_board == NULL)
+ first_board = board;
+ else
+ second_board = board;
+#else
+ first_board = board;
+#endif
+
+ canInit(board);
+
+ return (CAN_HANDLE)board;
+}
+
+/***************************************************************************/
+int
+canClose_driver (CAN_HANDLE fd0)
+{
+#ifdef PCAN2_HEADER_
+ // if not the first handler
+ if(second_board == (s_BOARD *)fd0)
+ {
+ CAN2_Close ();
+ second_board = (s_BOARD *)NULL;
+ }else
+#endif
+ if(first_board == (s_BOARD *)fd0)
+ {
+ CAN_Close ();
+ first_board = (s_BOARD *)NULL;
+ }
+ return 0;
+}
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_win32/can_peak_win32.def
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/can_peak_win32.def Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,7 @@
+LIBRARY can_peak_win32
+
+EXPORTS
+ canReceive_driver
+ canSend_driver
+ canOpen_driver
+ canClose_driver
\ No newline at end of file
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_win32/can_peak_win32.vcproj
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/can_peak_win32.vcproj Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,386 @@
+
+
+
+
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+
+
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_win32/cancfg.h.head
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/cancfg.h.head Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,37 @@
+/*
+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__
+
+
+#if defined(__CYGWIN__)
+#include
+#else
+#include
+#endif
+
+// Following part of the file is copied by configure script
+// from choosen PcanLight header file
+//-------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_peak_win32/cancfg.h.tail
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/cancfg.h.tail Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,5 @@
+//-------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------
+
+#endif
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_socket/Makefile.in
--- a/drivers/can_socket/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_socket/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -30,29 +30,37 @@
CAN_DRIVER = SUB_CAN_DRIVER
TIMERS_DRIVER = SUB_TIMERS_DRIVER
-INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER) -I../../include/$(TIMERS_DRIVER)
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER)
OBJS = $(CAN_DRIVER).o
-SRC_HFILES = ../../include/$(CAN_DRIVER)/cancfg.h
+ifeq ($(ENABLE_DLL_DRIVERS),1)
+CFLAGS += -fPIC
+DRIVER = libcanfestival_$(CAN_DRIVER).so
+else
+DRIVER = $(OBJS)
+endif
-TARGET_HFILES = $(PREFIX)/include/canfestival/cancfg.h
+TARGET_SOFILES = $(PREFIX)/lib/$(DRIVER)
all: driver
-driver: $(OBJS)
+driver: $(DRIVER)
%o: %c
- $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+ $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
-install:
- mkdir -p $(PREFIX)/include/canfestival
- cp $(SRC_HFILES) $(PREFIX)/include/canfestival
+libcanfestival_$(CAN_DRIVER).so: $(OBJS)
+ gcc -shared -Wl,-soname,libcanfestival_$(CAN_DRIVER).so -o $@ $<
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $@ $(PREFIX)/lib/
+
uninstall:
- rm -f $(TARGET_HFILES)
+ rm -f $(TARGET_SOFILES)
clean:
- rm -f $(OBJS)
+ rm -f $(OBJS)
mrproper: clean
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_socket/can_socket.c
--- a/drivers/can_socket/can_socket.c Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_socket/can_socket.c Wed Apr 04 13:04:31 2007 +0200
@@ -47,28 +47,15 @@
#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)
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
{
int res;
struct can_frame frame;
- res = CAN_RECV(fd0->fd, &frame, sizeof(frame), 0);
+ res = CAN_RECV(fd0, &frame, sizeof(frame), 0);
if (res < 0)
return 1;
@@ -83,23 +70,9 @@
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)
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
{
int res;
struct can_frame frame;
@@ -113,7 +86,7 @@
else
memcpy(frame.data, m->data, 8);
- res = CAN_SEND(fd0->fd, &frame, sizeof(frame), 0);
+ res = CAN_SEND(fd0, &frame, sizeof(frame), 0);
if (res < 0)
return 1;
@@ -121,25 +94,21 @@
}
/***************************************************************************/
-CAN_HANDLE canOpen(s_BOARD *board)
+CAN_HANDLE canOpen_driver(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){
+ fd0 = CAN_SOCKET(PF_CAN, SOCK_RAW, 0);
+ if(fd0 < 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);
+ err = CAN_IOCTL(fd0, SIOCGIFINDEX, &ifr);
if (err) {
fprintf(stderr, "Unknown device: %s\n", ifr.ifr_name);
goto error_close;
@@ -147,32 +116,27 @@
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
- err = CAN_BIND(fd0->fd, (struct sockaddr *)&addr,
+ err = CAN_BIND(fd0, (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);
+ CAN_CLOSE(fd0);
error_ret:
- free(fd0);
return NULL;
}
/***************************************************************************/
-int canClose(CAN_HANDLE fd0)
+int canClose_driver(CAN_HANDLE fd0)
{
if (fd0) {
- WaitReceiveTaskEnd(&fd0->receiveTask);
- CAN_CLOSE(fd0->fd);
- free(fd0);
+ CAN_CLOSE(fd0);
}
return 0;
}
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_uvccm_win32/.cvsignore
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_uvccm_win32/.cvsignore Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,3 @@
+Debug UNICODE
+can_uvccm_win32.vcproj.KONG.edouard.user
+Release
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_uvccm_win32/can_uvccm_win32.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_uvccm_win32/can_uvccm_win32.cpp Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,331 @@
+// can_uvccm_win32 adapter (http://www.gridconnect.com)
+// driver for CanFestival-3 Win32 port
+// Copyright (C) 2007 Leonid Tochinski, ChattenAssociates, Inc.
+
+
+#include
+#include
+#if 0 // change to 1 if you use boost
+#include
+#else
+#include
+#endif
+
+extern "C" {
+#include "can_driver.h"
+}
+class can_uvccm_win32
+ {
+ public:
+ class error
+ {
+ };
+ can_uvccm_win32(s_BOARD *board);
+ ~can_uvccm_win32();
+ bool send(const Message *m);
+ bool receive(Message *m);
+ private:
+ bool open_rs232(int port = 1, int baud_rate = 57600);
+ bool close_rs232();
+ bool get_can_data(const char* can_cmd_buf, long& bufsize, Message* m);
+ bool set_can_data(const Message& m, std::string& can_cmd);
+ private:
+ HANDLE m_port;
+ HANDLE m_read_event;
+ HANDLE m_write_event;
+ std::string m_residual_buffer;
+ };
+
+can_uvccm_win32::can_uvccm_win32(s_BOARD *board) : m_port(INVALID_HANDLE_VALUE),
+ m_read_event(0),
+ m_write_event(0)
+ {
+ if (strcmp( board->baudrate, "125K") || !open_rs232(1))
+ throw error();
+ }
+
+can_uvccm_win32::~can_uvccm_win32()
+ {
+ close_rs232();
+ }
+
+bool can_uvccm_win32::send(const Message *m)
+ {
+ if (m_port == INVALID_HANDLE_VALUE)
+ return false;
+
+ // build can_uvccm_win32 command string
+ std::string can_cmd;
+ set_can_data(*m, can_cmd);
+
+ OVERLAPPED overlapped;
+ ::memset(&overlapped, 0, sizeof overlapped);
+ overlapped.hEvent = m_write_event;
+ ::ResetEvent(overlapped.hEvent);
+
+ unsigned long bytes_written = 0;
+ ::WriteFile(m_port, can_cmd.c_str(), (unsigned long)can_cmd.size(), &bytes_written, &overlapped);
+ // wait for write operation completion
+ enum { WRITE_TIMEOUT = 1000 };
+ ::WaitForSingleObject(overlapped.hEvent, WRITE_TIMEOUT);
+ // get number of bytes written
+ ::GetOverlappedResult(m_port, &overlapped, &bytes_written, FALSE);
+
+ bool result = (bytes_written == can_cmd.size());
+
+ return result;
+ }
+
+
+bool can_uvccm_win32::receive(Message *m)
+ {
+ if (m_port == INVALID_HANDLE_VALUE)
+ return false;
+
+ long res_buffer_size = (long)m_residual_buffer.size();
+ bool result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
+ if (result)
+ {
+ m_residual_buffer.erase(0, res_buffer_size);
+ return true;
+ }
+
+ enum { READ_TIMEOUT = 500 };
+
+ OVERLAPPED overlapped;
+ ::memset(&overlapped, 0, sizeof overlapped);
+ overlapped.hEvent = m_read_event;
+ ::ResetEvent(overlapped.hEvent);
+ unsigned long event_mask = 0;
+
+ if (FALSE == ::WaitCommEvent(m_port, &event_mask, &overlapped) && ERROR_IO_PENDING == ::GetLastError())
+ {
+ if (WAIT_TIMEOUT == ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT))
+ return false;
+ }
+
+ // get number of bytes in the input que
+ COMSTAT stat;
+ ::memset(&stat, 0, sizeof stat);
+ unsigned long errors = 0;
+ ::ClearCommError(m_port, &errors, &stat);
+ if (stat.cbInQue == 0)
+ return false;
+ char buffer[3000];
+
+ unsigned long bytes_to_read = min(stat.cbInQue, sizeof (buffer));
+
+ unsigned long bytes_read = 0;
+ ::ReadFile(m_port, buffer, bytes_to_read, &bytes_read, &overlapped);
+ // wait for read operation completion
+ ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT);
+ // get number of bytes read
+ ::GetOverlappedResult(m_port, &overlapped, &bytes_read, FALSE);
+ result = false;
+ if (bytes_read > 0)
+ {
+ m_residual_buffer.append(buffer, bytes_read);
+ res_buffer_size = (long)m_residual_buffer.size();
+ result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
+ if (result)
+ m_residual_buffer.erase(0, res_buffer_size);
+ }
+ return result;
+ }
+
+bool can_uvccm_win32::open_rs232(int port, int baud_rate)
+ {
+ if (m_port != INVALID_HANDLE_VALUE)
+ return true;
+
+ std::ostringstream device_name;
+ device_name << "COM" << port;
+
+ m_port = ::CreateFile(device_name.str().c_str(),
+ GENERIC_READ | GENERIC_WRITE,
+ 0, // exclusive access
+ NULL, // no security
+ OPEN_EXISTING,
+ FILE_FLAG_OVERLAPPED, // overlapped I/O
+ NULL); // null template
+
+ // Check the returned handle for INVALID_HANDLE_VALUE and then set the buffer sizes.
+ if (m_port == INVALID_HANDLE_VALUE)
+ return false;
+
+ // SetCommMask(m_hCom,EV_RXCHAR|EV_TXEMPTY|EV_CTS|EV_DSR|EV_RLSD|EV_BREAK|EV_ERR|EV_RING); //
+ ::SetCommMask(m_port, EV_RXFLAG);
+
+ COMMTIMEOUTS timeouts;
+ ::memset(&timeouts, 0, sizeof (timeouts));
+ timeouts.ReadIntervalTimeout = -1;
+ timeouts.ReadTotalTimeoutConstant = 0;
+ timeouts.ReadTotalTimeoutMultiplier = 0;
+ timeouts.WriteTotalTimeoutConstant = 5000;
+ timeouts.WriteTotalTimeoutMultiplier = 0;
+ SetCommTimeouts(m_port, &timeouts); //
+
+ ::SetupComm(m_port, 1024, 512); // set buffer sizes
+
+ // Port settings are specified in a Data Communication Block (DCB). The easiest way to initialize a DCB is to call GetCommState to fill in its default values, override the values that you want to change and then call SetCommState to set the values.
+ DCB dcb;
+ ::memset(&dcb, 0, sizeof (dcb));
+ ::GetCommState(m_port, &dcb);
+ dcb.BaudRate = baud_rate;
+ dcb.ByteSize = 8;
+ dcb.Parity = NOPARITY;
+ dcb.StopBits = ONESTOPBIT;
+ dcb.fAbortOnError = TRUE;
+ dcb.EvtChar = 0x0A; // '\n' character
+ ::SetCommState(m_port, &dcb);
+
+ ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
+
+ m_read_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_write_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+
+ return true;
+ }
+
+bool can_uvccm_win32::close_rs232()
+ {
+ if (m_port != INVALID_HANDLE_VALUE)
+ {
+ ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
+ ::CloseHandle(m_port);
+ m_port = INVALID_HANDLE_VALUE;
+ ::CloseHandle(m_read_event);
+ m_read_event = 0;
+ ::CloseHandle(m_write_event);
+ m_write_event = 0;
+ m_residual_buffer.clear();
+ }
+ return true;
+ }
+
+bool can_uvccm_win32::get_can_data(const char* can_cmd_buf, long& bufsize, Message* m)
+ {
+ if (bufsize < 5)
+ {
+ bufsize = 0;
+ return false;
+ }
+
+ Message msg;
+ ::memset(&msg, 0 , sizeof (msg));
+ char colon = 0, type = 0, request = 0;
+ std::istringstream buf(std::string(can_cmd_buf, bufsize));
+ buf >> colon >> type >> std::hex >> msg.cob_id.w >> request;
+ if (colon != ':' || (type != 'S' && type != 'X'))
+ {
+ bufsize = 0;
+ return false;
+ }
+ if (request == 'N')
+ {
+ msg.rtr = 0;
+ for (msg.len = 0; msg.len < 8; ++msg.len)
+ {
+ std::string data_byte_str;
+ buf >> std::setw(2) >> data_byte_str;
+ if (data_byte_str[0] == ';')
+ break;
+ long byte_val = -1;
+ std::istringstream(data_byte_str) >> std::hex >> byte_val;
+ if (byte_val == -1)
+ {
+ bufsize = 0;
+ return false;
+ }
+ msg.data[msg.len] = (UNS8)byte_val;
+ }
+ if (msg.len == 8)
+ {
+ char semicolon = 0;
+ buf >> semicolon;
+ if (semicolon != ';')
+ {
+ bufsize = 0;
+ return false;
+ }
+ }
+
+ }
+ else if (request == 'R')
+ {
+ msg.rtr = 1;
+ buf >> msg.len;
+ }
+ else
+ {
+ bufsize = 0;
+ return false;
+ }
+
+ bufsize = buf.tellg();
+
+ *m = msg;
+ return true;
+ }
+
+bool can_uvccm_win32::set_can_data(const Message& m, std::string& can_cmd)
+ {
+ // build can_uvccm_win32 command string
+ std::ostringstream can_cmd_str;
+ can_cmd_str << ":S" << std::hex << m.cob_id.w;
+ if (m.rtr == 1)
+ {
+ can_cmd_str << 'R' << (long)m.len;
+ }
+ else
+ {
+ can_cmd_str << 'N';
+ for (int i = 0; i < m.len; ++i)
+ can_cmd_str << std::hex << std::setfill('0') << std::setw(2) << (long)m.data[i];
+ }
+ can_cmd_str << ';';
+ can_cmd = can_cmd_str.str();
+#ifdef BOOST_VERSION
+ boost::to_upper(can_cmd);
+#else
+ std::transform(can_cmd.begin(),can_cmd.end(),can_cmd.begin(),::toupper);
+#endif
+ return true;
+ }
+
+
+//------------------------------------------------------------------------
+extern "C"
+ UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+ {
+ return (UNS8)(!(reinterpret_cast(fd0)->receive(m)));
+ }
+
+extern "C"
+ UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+ {
+ return (UNS8)reinterpret_cast(fd0)->send(m);
+ }
+
+extern "C"
+ CAN_HANDLE canOpen_driver(s_BOARD *board)
+ {
+ try
+ {
+ return (CAN_HANDLE) new can_uvccm_win32(board);
+ }
+ catch (can_uvccm_win32::error&)
+ {
+ return NULL;
+ }
+ }
+
+extern "C"
+ int canClose_driver(CAN_HANDLE inst)
+ {
+ delete reinterpret_cast(inst);
+ return 1;
+ }
+
+
+
\ No newline at end of file
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_uvccm_win32/can_uvccm_win32.def
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_uvccm_win32/can_uvccm_win32.def Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,7 @@
+LIBRARY can_uvccm_win32
+
+EXPORTS
+ canReceive_driver
+ canSend_driver
+ canOpen_driver
+ canClose_driver
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_uvccm_win32/can_uvccm_win32.vcproj
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_uvccm_win32/can_uvccm_win32.vcproj Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,374 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
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+
+
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+
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+
+
+
+
+
+
+
+
+
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+
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+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_virtual/Makefile.in
--- a/drivers/can_virtual/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_virtual/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -25,36 +25,40 @@
OPT_CFLAGS = -O2
CFLAGS = SUB_OPT_CFLAGS
PROG_CFLAGS = SUB_PROG_CFLAGS
-LIBS = -lm
-SHAREDLIBOPT = -shared
-OS_NAME = SUB_OS_NAME
-ARCH_NAME = SUB_ARCH_NAME
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)
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER)
OBJS = $(CAN_DRIVER).o
-SRC_HFILES = ../../include/$(CAN_DRIVER)/cancfg.h
+ifeq ($(ENABLE_DLL_DRIVERS),1)
+CFLAGS += -fPIC
+DRIVER = libcanfestival_$(CAN_DRIVER).so
+else
+DRIVER = $(OBJS)
+endif
-TARGET_HFILES = $(PREFIX)/include/canfestival/cancfg.h
+TARGET_SOFILES = $(PREFIX)/lib/$(DRIVER)
all: driver
-driver: $(OBJS)
+driver: $(DRIVER)
%o: %c
$(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
-install:
- mkdir -p $(PREFIX)/include/canfestival
- cp $(SRC_HFILES) $(PREFIX)/include/canfestival
+libcanfestival_$(CAN_DRIVER).so: $(OBJS)
+ gcc -shared -Wl,-soname,libcanfestival_$(CAN_DRIVER).so -o $@ $<
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $@ $(PREFIX)/lib/
+
uninstall:
- rm -f $(TARGET_HFILES)
+ rm -f $(TARGET_SOFILES)
clean:
rm -f $(OBJS)
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/can_virtual/can_virtual.c
--- a/drivers/can_virtual/can_virtual.c Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/can_virtual/can_virtual.c Wed Apr 04 13:04:31 2007 +0200
@@ -24,30 +24,22 @@
Virtual CAN driver.
*/
-#include
+#include
+#include
-#include
-#include
-#include
+#include "can_driver.h"
-#include
-#include "timer.h"
-#include "can_driver.h"
-#include "timers_driver.h"
-
-#define MAX_NB_CAN_PIPES 10
+#define MAX_NB_CAN_PIPES 16
typedef struct {
char used;
int pipe[2];
- TASK_HANDLE receiveTask;
- CO_Data* d;
} CANPipe;
-CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,{0,0},},};
+CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
/*********functions which permit to communicate with the board****************/
-UNS8 canReceive(CAN_HANDLE fd0, Message *m)
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
{
if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) < sizeof(Message))
{
@@ -56,24 +48,8 @@
return 0;
}
-void canReceiveLoop(CAN_HANDLE fd0)
-{
- CO_Data* d = ((CANPipe*)fd0)->d;
- Message m;
- while (1) {
- if(!canReceive(fd0, &m))
- {
- EnterMutex();
- canDispatch(d, &m);
- LeaveMutex();
- }else{
- break;
- }
- }
-}
-
/***************************************************************************/
-UNS8 canSend(CAN_HANDLE fd0, Message *m)
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
{
int i;
// Send to all readers, except myself
@@ -86,9 +62,22 @@
}
return 0;
}
-
+/*
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return 1000;
+ if(!strcmp( optarg, "500K")) return 500;
+ if(!strcmp( optarg, "250K")) return 250;
+ if(!strcmp( optarg, "125K")) return 125;
+ if(!strcmp( optarg, "100K")) return 100;
+ if(!strcmp( optarg, "50K")) return 50;
+ if(!strcmp( optarg, "20K")) return 20;
+ if(!strcmp( optarg, "10K")) return 10;
+ if(!strcmp( optarg, "5K")) return 5;
+ if(!strcmp( optarg, "none")) return 0;
+ return 0;
+}*/
/***************************************************************************/
-CAN_HANDLE canOpen(s_BOARD *board)
+CAN_HANDLE canOpen_driver(s_BOARD *board)
{
int i;
for(i=0; i < MAX_NB_CAN_PIPES; i++)
@@ -105,20 +94,16 @@
}
canpipes[i].used = 1;
-
- canpipes[i].d = board->d;
- CreateReceiveTask((CAN_HANDLE) &canpipes[i], &canpipes[i].receiveTask);
-
return (CAN_HANDLE) &canpipes[i];
}
/***************************************************************************/
-int canClose(CAN_HANDLE fd0)
+int canClose_driver(CAN_HANDLE fd0)
{
close(((CANPipe*)fd0)->pipe[0]);
close(((CANPipe*)fd0)->pipe[1]);
((CANPipe*)fd0)->used = 0;
- WaitReceiveTaskEnd(&((CANPipe*)fd0)->receiveTask);
+ return 0;
}
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/generic/Makefile.in
--- a/drivers/generic/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/generic/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -25,8 +25,6 @@
OPT_CFLAGS = -O2
CFLAGS = SUB_OPT_CFLAGS
PROG_CFLAGS = SUB_PROG_CFLAGS
-LIBS = -lm
-SHAREDLIBOPT = -shared
OS_NAME = SUB_OS_NAME
ARCH_NAME = SUB_ARCH_NAME
PREFIX = SUB_PREFIX
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/hcs12/Makefile.in
--- a/drivers/hcs12/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/hcs12/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -24,8 +24,6 @@
CC = SUB_CC
CFLAGS =
PROG_CFLAGS = SUB_PROG_CFLAGS
-LIBS = -lm
-SHAREDLIBOPT = -shared
OS_NAME = SUB_OS_NAME
ARCH_NAME = SUB_ARCH_NAME
PREFIX = SUB_PREFIX
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/timers_unix/Makefile.in
--- a/drivers/timers_unix/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/timers_unix/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -25,8 +25,6 @@
OPT_CFLAGS = -O2
CFLAGS = SUB_OPT_CFLAGS
PROG_CFLAGS = SUB_PROG_CFLAGS
-LIBS = -lm
-SHAREDLIBOPT = -shared
OS_NAME = SUB_OS_NAME
ARCH_NAME = SUB_ARCH_NAME
PREFIX = SUB_PREFIX
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/timers_unix/timers_unix.c
--- a/drivers/timers_unix/timers_unix.c Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/timers_unix/timers_unix.c Wed Apr 04 13:04:31 2007 +0200
@@ -5,7 +5,6 @@
#include
#include "applicfg.h"
-#include "can_driver.h"
#include "timer.h"
pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
@@ -28,7 +27,7 @@
pthread_mutex_unlock(&CanFestival_mutex);
}
-void timer_notify(int val)
+void timer_notify(sigval_t val)
{
gettimeofday(&last_sig,NULL);
EnterMutex();
@@ -65,20 +64,15 @@
SetAlarm(NULL, 0, init_callback, 0, 0);
}
-void ReceiveLoop(void* arg)
+void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)
{
- canReceiveLoop((CAN_HANDLE)arg);
+ pthread_create(Thread, NULL, ReceiveLoopPtr, (void*)port);
}
-void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)
+void WaitReceiveTaskEnd(TASK_HANDLE Thread)
{
- pthread_create(Thread, NULL, (void *)&ReceiveLoop, (void*)fd0);
-}
-
-void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
-{
- pthread_kill(*Thread, SIGTERM);
- pthread_join(*Thread, NULL);
+ pthread_kill(Thread, SIGTERM);
+ pthread_join(Thread, NULL);
}
#define maxval(a,b) ((a>b)?a:b)
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/timers_xeno/Makefile.in
--- a/drivers/timers_xeno/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/timers_xeno/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -25,8 +25,6 @@
OPT_CFLAGS = -O2
CFLAGS = SUB_OPT_CFLAGS
PROG_CFLAGS = SUB_PROG_CFLAGS
-LIBS = -lm
-SHAREDLIBOPT = -shared
OS_NAME = SUB_OS_NAME
ARCH_NAME = SUB_ARCH_NAME
PREFIX = SUB_PREFIX
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/timers_xeno/timers_xeno.c
--- a/drivers/timers_xeno/timers_xeno.c Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/timers_xeno/timers_xeno.c Wed Apr 04 13:04:31 2007 +0200
@@ -90,12 +90,7 @@
cleanup_all();
}
-void ReceiveLoop_task_proc(void* arg)
-{
- canReceiveLoop((CAN_HANDLE)arg);
-}
-
-void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE *ReceiveLoop_task)
+void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)
{
int ret;
static int id = 0;
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/unix/Makefile.in
--- a/drivers/unix/Makefile.in Tue Apr 03 20:20:27 2007 +0200
+++ b/drivers/unix/Makefile.in Wed Apr 04 13:04:31 2007 +0200
@@ -25,37 +25,35 @@
OPT_CFLAGS = -O2
CFLAGS = SUB_OPT_CFLAGS
PROG_CFLAGS = SUB_PROG_CFLAGS
-LIBS = -lm
-SHAREDLIBOPT = -shared
OS_NAME = SUB_OS_NAME
ARCH_NAME = SUB_ARCH_NAME
PREFIX = SUB_PREFIX
TARGET = SUB_TARGET
CAN_DRIVER = SUB_CAN_DRIVER
TIMERS_DRIVER = SUB_TIMERS_DRIVER
+ENABLE_DLL_DRIVERS = SUB_ENABLE_DLL_DRIVERS
-INCLUDES = -I../../include -I../../include/$(SUB_TARGET)
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(TIMERS_DRIVER)
-OBJS =
+OBJS = $(TARGET).o
# add timers driver if any
ifneq ($(TIMERS_DRIVER),timers_)
OBJS += ../$(TIMERS_DRIVER)/$(TIMERS_DRIVER).o
endif
-# add can driver if any
-ifneq ($(CAN_DRIVER),can_)
-OBJS += ../$(CAN_DRIVER)/$(CAN_DRIVER).o
-endif
+SRC_HFILES = ../../include/$(TARGET)/applicfg.h ../../include/$(TARGET)/canfestival.h
-SRC_HFILES = ../../include/$(TARGET)/applicfg.h
-
-TARGET_HFILES = $(PREFIX)/include/$(TARGET)/applicfg.h
+TARGET_HFILES = $(PREFIX)/include/$(TARGET)/applicfg.h $(PREFIX)/include/$(TARGET)/canfestival.h
all: driver
driver: $(OBJS)
+
+%o: %c
+ $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+
#../$(TIMERS_DRIVER)/$(TIMERS_DRIVER).o:
# $(MAKE) -C ../$(TIMERS_DRIVER) driver
@@ -78,6 +76,7 @@
rm -f $(TARGET_HFILES)
clean:
+ rm -f $(OBJS)
rm -f libcanfestival_$(TARGET).a
mrproper: clean
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/unix/unix.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/unix/unix.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,200 @@
+/*
+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
+
+#ifndef NOT_USE_DYNAMIC_LOADING
+#define DLL_CALL(funcname) (* funcname##_driver)
+#define FCT_PTR_INIT =NULL
+
+#ifdef WIN32
+#define DLSYM(name)\
+ *(void **) (&_##name) = GetProcAddress(handle, TEXT(#name"_driver"));\
+ if (name##_driver == NULL) {\
+ fprintf (stderr, "Error loading symbol %s\n",#name"_driver");\
+ UnLoadCanDriver(handle);\
+ return NULL;\
+ }
+
+#else
+#define DLSYM(name)\
+ *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
+ if ((error = dlerror()) != NULL) {\
+ fprintf (stderr, "%s\n", error);\
+ UnLoadCanDriver(handle);\
+ return NULL;\
+ }
+#endif
+
+#else /*NOT_USE_DYNAMIC_LOADING*/
+
+/*Function call is direct*/
+#define DLL_CALL(funcname) funcname##_driver
+
+#endif /*NOT_USE_DYNAMIC_LOADING*/
+
+#include "data.h"
+#include "canfestival.h"
+#include "timers_driver.h"
+
+#define MAX_NB_CAN_PORTS 16
+
+typedef struct {
+ char used;
+ CAN_HANDLE fd;
+ TASK_HANDLE receiveTask;
+ CO_Data* d;
+} CANPort;
+
+#include "can_driver.h"
+
+/*Declares the funtion pointers for dll binding or simple protos*/
+/*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);
+UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);
+CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);
+int DLL_CALL(canClose)(CAN_HANDLE);
+*/
+CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
+
+#ifndef NOT_USE_DYNAMIC_LOADING
+
+/*UnLoads the dll*/
+UNS8 UnLoadCanDriver(LIB_HANDLE handle)
+{
+ if(handle!=NULL)
+ {
+#ifdef WIN32
+ FreeLibrary(handle);
+#else
+ dlclose(handle);
+#endif
+ handle=NULL;
+ return 0;
+ }
+ return -1;
+}
+
+/*Loads the dll and get funcs ptr*/
+LIB_HANDLE LoadCanDriver(char* driver_name)
+{
+ LIB_HANDLE handle = NULL;
+ char *error;
+
+#ifdef WIN32
+
+ if(handle==NULL)
+ {
+ handle = LoadLibrary(driver_name);
+ }
+
+ if (handle == NULL) {
+ fprintf(stderr,"Error loading Can Driver dll \n");
+ return -1;
+ }
+
+#else
+ if(handle==NULL)
+ {
+ handle = dlopen(driver_name, RTLD_LAZY);
+ }
+
+ if (!handle) {
+ fprintf (stderr, "%s\n", dlerror());
+ return NULL;
+ }
+#endif
+
+ /*Get function ptr*/
+ DLSYM(canReceive)
+ DLSYM(canSend)
+ DLSYM(canOpen)
+ DLSYM(canClose)
+
+ return 0;
+}
+
+#endif
+
+
+
+/*Not needed -- canReceiveLoop calls _canReceive directly *//*
+UNS8 canReceive(CAN_PORT port, Message *m)
+{
+ return DLL_CALL(canReceive)(port->fd, Message *m);
+}
+*/
+
+UNS8 canSend(CAN_PORT port, Message *m)
+{
+ return DLL_CALL(canSend)(((CANPort*)port)->fd, m);
+}
+
+void canReceiveLoop(CAN_PORT port)
+{
+ Message m;
+
+ while (1) {
+ if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
+ break;
+
+ EnterMutex();
+ canDispatch(((CANPort*)port)->d, &m);
+ LeaveMutex();
+ }
+}
+CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
+{
+ int i;
+ for(i=0; i < MAX_NB_CAN_PORTS; i++)
+ {
+ if(!canports[i].used)
+ break;
+ }
+
+#ifndef NOT_USE_DYNAMIC_LOADING
+ if (&DLL_CALL(canOpen)==NULL) {
+ fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
+ return NULL;
+ }
+#endif
+ CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
+
+ canports[i].used = 1;
+ canports[i].fd = fd0;
+ canports[i].d = d;
+
+ CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
+
+ return (CAN_PORT)&canports[i];
+}
+
+int canClose(CAN_PORT port)
+{
+ ((CANPort*)port)->used = 0;
+ int res = DLL_CALL(canClose)(((CANPort*)port)->fd);
+
+ WaitReceiveTaskEnd(((CANPort*)port)->receiveTask);
+ return res;
+}
+
+
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/win32/drivers_win32.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/win32/drivers_win32.cpp Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,290 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+Copyright (C) Win32 Port Leonid Tochinski
+
+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
+*/
+
+/*
+ CAN driver interface.
+*/
+
+#include
+
+extern "C"
+ {
+#define DLL_CALL(funcname) (*_##funcname)
+#define FCT_PTR_INIT =NULL
+#include "canfestival.h"
+#include "timer.h"
+
+#include "nvram_driver.h"
+#include "lss_driver.h"
+#include "timers_driver.h"
+ };
+
+typedef UNS8 (*CANRECEIVE_DRIVER_PROC)(void* inst, Message *m);
+typedef UNS8 (*CANSEND_DRIVER_PROC)(void* inst, const Message *m);
+typedef void* (*CANOPEN_DRIVER_PROC)(s_BOARD *board);
+typedef int (*CANCLOSE_DRIVER_PROC)(void* inst);
+
+typedef int (*NVRAM_OPEN_PROC)(void);
+typedef void (*NVRAM_CLOSE_PROC)(void);
+typedef char (*NVRAM_WRITE_PROC)(int type, int access_attr, void *data);
+typedef char (*NVRAM_READ_PROC)(int type, int access_attr, void *data);
+
+typedef void (*LED_SET_REDGREEN_PROC)(CO_Data *d, unsigned char bits);
+
+typedef UNS8 (*BAUDRATE_VALID_PROC)(UNS32 table_index);
+typedef void (*BAUDRATE_SET_PROC)(UNS8 table_index);
+
+class driver_procs
+ {
+ public:
+ driver_procs();
+ ~driver_procs();
+
+ HMODULE load_canfestival_driver(LPCTSTR driver_name);
+ bool can_driver_valid() const;
+
+ public:
+ // can driver
+ CANRECEIVE_DRIVER_PROC m_canReceive;
+ CANSEND_DRIVER_PROC m_canSend;
+ CANOPEN_DRIVER_PROC m_canOpen;
+ CANCLOSE_DRIVER_PROC m_canClose;
+
+ // nvram driver
+ NVRAM_OPEN_PROC m_nvram_open;
+ NVRAM_CLOSE_PROC m_nvram_close;
+ NVRAM_WRITE_PROC m_nvram_write;
+ NVRAM_READ_PROC m_nvram_read;
+ // led driver
+ LED_SET_REDGREEN_PROC m_led_set_redgreen;
+ // lss driver
+ BAUDRATE_VALID_PROC m_baudrate_valid;
+ BAUDRATE_SET_PROC m_baudrate_set;
+
+ // driver module habndle
+ HMODULE m_driver_handle;
+ };
+
+driver_procs::driver_procs() : m_canReceive(0),
+ m_canSend(0),
+ m_canOpen(0),
+ m_canClose(0),
+ m_nvram_open(0),
+ m_nvram_close(0),
+ m_nvram_write(0),
+ m_nvram_read(0),
+ m_led_set_redgreen(),
+ m_baudrate_valid(0),
+ m_baudrate_set(0),
+ m_driver_handle(0)
+ {}
+
+driver_procs::~driver_procs()
+ {
+ if (m_driver_handle)
+ ::FreeLibrary(m_driver_handle);
+ }
+
+bool driver_procs::can_driver_valid() const
+ {
+ return ((m_canReceive != NULL) &&
+ (m_canSend != NULL) &&
+ (m_canOpen != NULL) &&
+ (m_canClose != NULL));
+ }
+
+// GetProcAddress doesn't have an UNICODE version for NT
+#ifdef UNDER_CE
+ #define myTEXT(str) TEXT(str)
+#else
+ #define myTEXT(str) str
+#endif
+
+HMODULE driver_procs::load_canfestival_driver(LPCTSTR driver_name)
+ {
+ if (can_driver_valid())
+ return m_driver_handle;
+ m_driver_handle = ::LoadLibrary(driver_name);
+ if (m_driver_handle == NULL)
+ return NULL;
+
+ m_canReceive = (CANRECEIVE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canReceive_driver"));
+ m_canSend = (CANSEND_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canSend_driver"));
+ m_canOpen = (CANOPEN_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canOpen_driver"));
+ m_canClose = (CANCLOSE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canClose_driver"));
+
+ m_nvram_open = (NVRAM_OPEN_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_open_driver"));
+ m_nvram_close = (NVRAM_CLOSE_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_close_driver"));
+ m_nvram_write = (NVRAM_WRITE_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_write_driver"));
+ m_nvram_read = (NVRAM_READ_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_read_driver"));
+
+ m_led_set_redgreen = (LED_SET_REDGREEN_PROC)::GetProcAddress(m_driver_handle, myTEXT("led_set_redgreen_driver"));
+
+ m_baudrate_valid = (BAUDRATE_VALID_PROC)::GetProcAddress(m_driver_handle, myTEXT("baudrate_valid_driver"));
+ m_baudrate_set = (BAUDRATE_SET_PROC)::GetProcAddress(m_driver_handle, myTEXT("baudrate_set_driver"));
+
+ return can_driver_valid()?m_driver_handle:NULL;
+ }
+
+struct driver_data
+ {
+ CO_Data * d;
+ HANDLE receive_thread;
+ void* inst;
+ volatile bool continue_receive_thread;
+ };
+
+driver_procs s_driver_procs;
+
+LIB_HANDLE LoadCanDriver(char* driver_name)
+ {
+ return s_driver_procs.load_canfestival_driver((LPCTSTR)driver_name);
+ }
+
+UNS8 canReceive(CAN_PORT fd0, Message *m)
+ {
+ if (fd0 != NULL && s_driver_procs.m_canReceive != NULL)
+ {
+ driver_data* data = (driver_data*)fd0;
+ return (*s_driver_procs.m_canReceive)(data->inst, m);
+ }
+ return 1;
+ }
+
+void* canReceiveLoop(CAN_PORT fd0)
+ {
+ driver_data* data = (driver_data*)fd0;
+ Message m;
+ while (data->continue_receive_thread)
+ {
+ if (!canReceive(fd0, &m))
+ {
+ EnterMutex();
+ canDispatch(data->d, &m);
+ LeaveMutex();
+ }
+ else
+ {
+ break;
+ ::Sleep(1);
+ }
+ }
+ return 0;
+ }
+
+/***************************************************************************/
+UNS8 canSend(CAN_PORT fd0, Message *m)
+ {
+ if (fd0 != NULL && s_driver_procs.m_canSend != NULL)
+ {
+ driver_data* data = (driver_data*)fd0;
+ if ((*s_driver_procs.m_canSend)(data->inst, m))
+ return 0;
+ }
+ return 1;
+ }
+
+/***************************************************************************/
+CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d)
+ {
+ if (board != NULL && s_driver_procs.m_canOpen != NULL)
+ {
+ void* inst = (*s_driver_procs.m_canOpen)(board);
+ if (inst != NULL)
+ {
+ driver_data* data = new driver_data;
+ data->d = d;
+ data->inst = inst;
+ data->continue_receive_thread = true;
+ CreateReceiveTask(data, &data->receive_thread, &canReceiveLoop);
+ return data;
+ }
+ }
+ return NULL;
+ }
+
+/***************************************************************************/
+int canClose(CAN_PORT fd0)
+ {
+ if (fd0 != NULL && s_driver_procs.m_canClose != NULL)
+ {
+ driver_data* data = (driver_data*)fd0;
+ data->continue_receive_thread = false;
+ WaitReceiveTaskEnd(&data->receive_thread);
+ (*s_driver_procs.m_canClose)(data->inst);
+ delete data;
+ return 0;
+ }
+ return 0;
+ }
+
+/***************************************************************************/
+int nvram_open(void)
+ {
+ if (s_driver_procs.m_nvram_read != NULL)
+ return (*s_driver_procs.m_nvram_open)();
+ return -1;
+ }
+
+void nvram_close(void)
+ {
+ if (s_driver_procs.m_nvram_close != NULL)
+ (*s_driver_procs.m_nvram_close)();
+ }
+
+char nvram_write(int type, int access_attr, void *data)
+ {
+ if (s_driver_procs.m_nvram_write != NULL)
+ return (*s_driver_procs.m_nvram_write)(type, access_attr, data);
+ return 0;
+ }
+
+char nvram_read(int type, int access_attr, void *data)
+ {
+ if (s_driver_procs.m_nvram_read != NULL)
+ return (*s_driver_procs.m_nvram_read)(type, access_attr, data);
+ return 0;
+ }
+
+/***************************************************************************/
+
+void led_set_redgreen(CO_Data *d, unsigned char bits)
+ {
+ if (s_driver_procs.m_led_set_redgreen != NULL)
+ (*s_driver_procs.m_led_set_redgreen)(d, bits);
+ }
+
+/***************************************************************************/
+
+UNS8 baudrate_valid(UNS32 table_index)
+ {
+ if (s_driver_procs.m_baudrate_valid != NULL)
+ return (*s_driver_procs.m_baudrate_valid)(table_index);
+ return 0;
+ }
+
+void baudrate_set(UNS8 table_index)
+ {
+ if (s_driver_procs.m_baudrate_set != NULL)
+ (*s_driver_procs.m_baudrate_set)(table_index);
+ }
diff -r 3ebf16150b2e -r e747d2e26af0 drivers/win32/timers_win32.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/win32/timers_win32.cpp Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,241 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+Copyright (C) Win32 Port Leonid Tochinski
+
+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
+
+extern "C"
+{
+#include "applicfg.h"
+#include "can_driver.h"
+#include "timer.h"
+#include "timers_driver.h"
+};
+
+// --------------- Synchronization Object Implementation ---------------
+class ccritical_section
+ {
+ public:
+ ccritical_section()
+ {
+ ::InitializeCriticalSection(&m_cs);
+ }
+ ~ccritical_section()
+ {
+ ::DeleteCriticalSection(&m_cs);
+ }
+ void enter()
+ {
+ ::EnterCriticalSection(&m_cs);
+ }
+ void leave()
+ {
+ ::LeaveCriticalSection(&m_cs);
+ }
+ private:
+ CRITICAL_SECTION m_cs;
+ };
+
+static ccritical_section g_cs;
+
+
+void EnterMutex(void)
+ {
+ g_cs.enter();
+ }
+
+void LeaveMutex(void)
+ {
+ g_cs.leave();
+ }
+// --------------- Synchronization Object Implementation ---------------
+
+
+// --------------- CAN Receive Thread Implementation ---------------
+
+void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread, void* ReceiveLoopPtr)
+ {
+ unsigned long thread_id = 0;
+ *Thread = ::CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)ReceiveLoopPtr, fd0, 0, &thread_id);
+ }
+
+void WaitReceiveTaskEnd(TASK_HANDLE Thread)
+ {
+ ::WaitForSingleObject(Thread, INFINITE);
+ ::CloseHandle(Thread);
+ //*Thread = NULL;
+ }
+// --------------- CAN Receive Thread Implementation ---------------
+
+
+// --------------- Timer Thread Implementation ---------------
+class class_timers
+ {
+ public:
+ class_timers();
+ ~class_timers();
+ void start_timer_thread();
+ void resume_timer_thread();
+ void stop_timer_thread();
+ void set_timer(TIMEVAL value);
+ TIMEVAL get_elapsed_time();
+ private:
+ TIMEVAL get_timer() const;
+ static DWORD WINAPI timer_loop_thread_proc(void* arg);
+ private:
+ TIMEVAL m_last_occured_alarm_time;
+ volatile TIMEVAL m_last_alarm_set_time;
+ HANDLE m_timer_thread;
+ volatile bool m_continue_timer_loop;
+ bool m_use_hi_res_timer;
+ double m_counts_per_usec;
+ };
+
+class_timers::class_timers() : m_last_occured_alarm_time(TIMEVAL_MAX),
+ m_last_alarm_set_time(TIMEVAL_MAX),
+ m_timer_thread(0),
+ m_continue_timer_loop(false),
+ m_use_hi_res_timer(false),
+ m_counts_per_usec(0.)
+ {
+ // initialize hi resolution timer
+ LARGE_INTEGER counts_per_sec = {0, 0};
+ if (::QueryPerformanceFrequency(&counts_per_sec) && counts_per_sec.QuadPart > 0)
+ {
+ m_use_hi_res_timer = true;
+ m_counts_per_usec = counts_per_sec.QuadPart / 1000000.;
+ }
+ m_use_hi_res_timer = true;
+ }
+
+class_timers::~class_timers()
+ {
+ stop_timer_thread();
+ }
+
+// time is in micro seconds
+TIMEVAL class_timers::get_timer() const
+ {
+ if (m_use_hi_res_timer)
+ {
+ LARGE_INTEGER performance_count = {0, 0};
+ ::QueryPerformanceCounter(&performance_count);
+ return (TIMEVAL)(performance_count.QuadPart / m_counts_per_usec);
+ }
+ // hi-res timer is unavailable
+ return 1000 * ::GetTickCount();
+ }
+
+DWORD WINAPI class_timers::timer_loop_thread_proc(void* arg)
+ {
+ class_timers* This = reinterpret_cast(arg);
+ while (This->m_continue_timer_loop)
+ {
+ TIMEVAL cur_time = This->get_timer();
+ if (cur_time >= This->m_last_alarm_set_time)
+ {
+ This->m_last_occured_alarm_time = cur_time;
+ This->m_last_alarm_set_time = TIMEVAL_MAX;
+ EnterMutex();
+ TimeDispatch();
+ LeaveMutex();
+ }
+ else
+ {
+ ::Sleep(1);
+ }
+ }
+ return 0;
+ }
+
+void class_timers::start_timer_thread()
+ {
+ if (m_timer_thread == 0)
+ {
+ unsigned long thread_id = 0;
+ m_timer_thread = ::CreateThread(NULL, 0, &timer_loop_thread_proc, this, CREATE_SUSPENDED, &thread_id);
+ m_last_alarm_set_time = TIMEVAL_MAX;
+ m_last_occured_alarm_time = get_timer();
+ }
+ }
+
+void class_timers::resume_timer_thread()
+ {
+ if (m_timer_thread)
+ {
+ m_continue_timer_loop = true;
+ ::ResumeThread(m_timer_thread);
+ }
+ }
+
+void class_timers::stop_timer_thread()
+ {
+ if (m_timer_thread)
+ {
+ m_continue_timer_loop = false;
+ ::WaitForSingleObject(m_timer_thread, INFINITE);
+ ::CloseHandle(m_timer_thread);
+ m_timer_thread = 0;
+ }
+ }
+
+void class_timers::set_timer(TIMEVAL value)
+ {
+ m_last_alarm_set_time = (value == TIMEVAL_MAX) ? TIMEVAL_MAX : get_timer() + value;
+ }
+
+// elapsed time since last occured alarm
+TIMEVAL class_timers::get_elapsed_time()
+ {
+ return get_timer() - m_last_occured_alarm_time;
+ }
+
+// ----------------------------------------------------------
+
+static class_timers s_timers;
+
+void StartTimerLoop(TimerCallback_t init_callback)
+ {
+ s_timers.start_timer_thread();
+ // At first, TimeDispatch will call init_callback.
+ if (init_callback != NULL)
+ SetAlarm(NULL, 0, init_callback, (TIMEVAL)0, (TIMEVAL)0);
+ s_timers.resume_timer_thread();
+ }
+
+void StopTimerLoop(void)
+ {
+ s_timers.stop_timer_thread();
+ }
+
+void setTimer(TIMEVAL value)
+ {
+ s_timers.set_timer(value);
+ }
+
+TIMEVAL getElapsedTime(void)
+ {
+ return s_timers.get_elapsed_time();
+ }
diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/.cvsignore
--- a/examples/TestMasterSlave/.cvsignore Tue Apr 03 20:20:27 2007 +0200
+++ b/examples/TestMasterSlave/.cvsignore Wed Apr 04 13:04:31 2007 +0200
@@ -2,3 +2,5 @@
TestMasterSlave
result.txt
TestMasterSlave.exe
+TestMasterSalve.vcproj.KONG.edouard.user
+Release
diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/TestMaster.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterSlave/TestMaster.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,339 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#include "TestMaster.h"
+
+/**************************************************************************/
+/* Declaration of the mapped variables */
+/**************************************************************************/
+UNS8 MasterMap1 = 0x0; /* Mapped at index 0x2000, subindex 0x00 */
+UNS8 MasterMap2 = 0x0; /* Mapped at index 0x2001, subindex 0x00 */
+UNS8 MasterMap3 = 0x0; /* Mapped at index 0x2002, subindex 0x00 */
+UNS8 MasterMap4 = 0x0; /* Mapped at index 0x2003, subindex 0x00 */
+
+/**************************************************************************/
+/* Declaration of the value range types */
+/**************************************************************************/
+
+UNS32 TestMaster_valueRangeTest (UNS8 typeValue, void * value)
+{
+ switch (typeValue) {
+ }
+ return 0;
+}
+
+/**************************************************************************/
+/* The node id */
+/**************************************************************************/
+/* node_id default value.*/
+UNS8 TestMaster_bDeviceNodeId = 0x00;
+
+/**************************************************************************/
+/* Array of message processing information */
+
+const UNS8 TestMaster_iam_a_slave = 0;
+
+TIMER_HANDLE TestMaster_heartBeatTimers[1] = {TIMER_NONE,};
+
+/*
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+
+ OBJECT DICTIONARY
+
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+*/
+
+/* index 0x1000 : Device Type. */
+ UNS32 TestMaster_obj1000 = 0x12D; /* 301 */
+ subindex TestMaster_Index1000[] =
+ {
+ { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1000 }
+ };
+
+/* index 0x1001 : Error Register. */
+ UNS8 TestMaster_obj1001 = 0x0; /* 0 */
+ subindex TestMaster_Index1001[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_obj1001 }
+ };
+
+/* index 0x1005 : SYNC COB ID. */
+ UNS32 TestMaster_obj1005 = 0x40000080; /* 1073741952 */
+ ODCallback_t TestMaster_Index1005_callbacks[] =
+ {
+ NULL,
+ };
+ subindex TestMaster_Index1005[] =
+ {
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1005 }
+ };
+
+/* index 0x1006 : Communication / Cycle Period. */
+ UNS32 TestMaster_obj1006 = 0xC350; /* 50000 */
+ ODCallback_t TestMaster_Index1006_callbacks[] =
+ {
+ NULL,
+ };
+ subindex TestMaster_Index1006[] =
+ {
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1006 }
+ };
+
+/* index 0x1010 : Store parameters. */
+ UNS8 TestMaster_highestSubIndex_obj1010 = 4; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1010_Save_All_Parameters = 0x0; /* 0 */
+ UNS32 TestMaster_obj1010_Save_Communication_Parameters = 0x0; /* 0 */
+ UNS32 TestMaster_obj1010_Save_Application_Parameters = 0x0; /* 0 */
+ UNS32 TestMaster_obj1010_Save_Manufacturer_Parameters = 0x0; /* 0 */
+ ODCallback_t TestMaster_Index1010_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestMaster_Index1010[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1010 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_All_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_Communication_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_Application_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1010_Save_Manufacturer_Parameters }
+ };
+
+/* index 0x1011 : Restore Default Parameters. */
+ UNS8 TestMaster_highestSubIndex_obj1011 = 4; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1011_Restore_All_Default_Parameters = 0x0; /* 0 */
+ UNS32 TestMaster_obj1011_Restore_Communication_Default_Parameters = 0x0; /* 0 */
+ UNS32 TestMaster_obj1011_Restore_Application_Default_Parameters = 0x0; /* 0 */
+ UNS32 TestMaster_obj1011_Restore_Manufacturer_Default_Parameters = 0x0; /* 0 */
+ ODCallback_t TestMaster_Index1011_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestMaster_Index1011[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1011 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_All_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_Communication_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_Application_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_Manufacturer_Default_Parameters }
+ };
+
+/* index 0x1016 : Consumer Heartbeat Time. */
+ UNS8 TestMaster_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1016[] =
+ {
+ 0x20802 /* 133122 */
+ };
+ subindex TestMaster_Index1016[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1016 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1016[0] }
+ };
+
+/* index 0x1017 : Producer Heartbeat Time */
+ UNS16 TestMaster_obj1017 = 0x0; /* 0 */
+
+/* index 0x1018 : Identity. */
+ UNS8 TestMaster_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1018_Vendor_ID = 0x0; /* 0 */
+ UNS32 TestMaster_obj1018_Product_Code = 0x0; /* 0 */
+ UNS32 TestMaster_obj1018_Revision_Number = 0x0; /* 0 */
+ UNS32 TestMaster_obj1018_Serial_Number = 0x0; /* 0 */
+ subindex TestMaster_Index1018[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1018 },
+ { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Vendor_ID },
+ { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Product_Code },
+ { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Revision_Number },
+ { RO, uint32, sizeof (UNS32), (void*)&TestMaster_obj1018_Serial_Number }
+ };
+
+/* index 0x1280 : Client SDO 1 Parameter. */
+ UNS8 TestMaster_highestSubIndex_obj1280 = 3; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x602; /* 1538 */
+ UNS32 TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x582; /* 1410 */
+ UNS32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x2; /* 2 */
+ subindex TestMaster_Index1280[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1280 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_Node_ID_of_the_SDO_Server }
+ };
+
+/* index 0x1400 : Receive PDO 1 Parameter. */
+ UNS8 TestMaster_highestSubIndex_obj1400 = 5; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x182; /* 386 */
+ UNS8 TestMaster_obj1400_Transmission_Type = 0x1; /* 1 */
+ UNS16 TestMaster_obj1400_Inhibit_Time = 0x0; /* 0 */
+ UNS16 TestMaster_obj1400_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestMaster_obj1400_Event_Timer = 0x0; /* 0 */
+ subindex TestMaster_Index1400[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1400 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1400_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1400_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Inhibit_Time },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Event_Timer }
+ };
+
+/* index 0x1401 : Receive PDO 2 Parameter. */
+ UNS8 TestMaster_highestSubIndex_obj1401 = 5; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x282; /* 642 */
+ UNS8 TestMaster_obj1401_Transmission_Type = 0x1; /* 1 */
+ UNS16 TestMaster_obj1401_Inhibit_Time = 0x0; /* 0 */
+ UNS16 TestMaster_obj1401_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestMaster_obj1401_Event_Timer = 0x0; /* 0 */
+ subindex TestMaster_Index1401[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1401 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1401_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1401_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Inhibit_Time },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Event_Timer }
+ };
+
+/* index 0x1600 : Receive PDO 1 Mapping. */
+ UNS8 TestMaster_highestSubIndex_obj1600 = 2; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1600[] =
+ {
+ 0x20000008, /* 536870920 */
+ 0x20010008 /* 536936456 */
+ };
+ subindex TestMaster_Index1600[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1600 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[0] },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[1] }
+ };
+
+/* index 0x1601 : Receive PDO 2 Mapping. */
+ UNS8 TestMaster_highestSubIndex_obj1601 = 2; /* number of subindex - 1*/
+ UNS32 TestMaster_obj1601[] =
+ {
+ 0x20020008, /* 537001992 */
+ 0x20030008 /* 537067528 */
+ };
+ subindex TestMaster_Index1601[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1601 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[0] },
+ { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[1] }
+ };
+
+/* index 0x2000 : Mapped variable MasterMap1 */
+ ODCallback_t MasterMap1_callbacks[] =
+ {
+ NULL,
+ };
+ subindex TestMaster_Index2000[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&MasterMap1 }
+ };
+
+/* index 0x2001 : Mapped variable MasterMap2 */
+ subindex TestMaster_Index2001[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&MasterMap2 }
+ };
+
+/* index 0x2002 : Mapped variable MasterMap3 */
+ subindex TestMaster_Index2002[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&MasterMap3 }
+ };
+
+/* index 0x2003 : Mapped variable MasterMap4 */
+ subindex TestMaster_Index2003[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&MasterMap4 }
+ };
+
+const indextable TestMaster_objdict[] =
+{
+ { (subindex*)TestMaster_Index1000,sizeof(TestMaster_Index1000)/sizeof(TestMaster_Index1000[0]), 0x1000},
+ { (subindex*)TestMaster_Index1001,sizeof(TestMaster_Index1001)/sizeof(TestMaster_Index1001[0]), 0x1001},
+ { (subindex*)TestMaster_Index1005,sizeof(TestMaster_Index1005)/sizeof(TestMaster_Index1005[0]), 0x1005},
+ { (subindex*)TestMaster_Index1006,sizeof(TestMaster_Index1006)/sizeof(TestMaster_Index1006[0]), 0x1006},
+ { (subindex*)TestMaster_Index1010,sizeof(TestMaster_Index1010)/sizeof(TestMaster_Index1010[0]), 0x1010},
+ { (subindex*)TestMaster_Index1011,sizeof(TestMaster_Index1011)/sizeof(TestMaster_Index1011[0]), 0x1011},
+ { (subindex*)TestMaster_Index1016,sizeof(TestMaster_Index1016)/sizeof(TestMaster_Index1016[0]), 0x1016},
+ { (subindex*)TestMaster_Index1018,sizeof(TestMaster_Index1018)/sizeof(TestMaster_Index1018[0]), 0x1018},
+ { (subindex*)TestMaster_Index1280,sizeof(TestMaster_Index1280)/sizeof(TestMaster_Index1280[0]), 0x1280},
+ { (subindex*)TestMaster_Index1400,sizeof(TestMaster_Index1400)/sizeof(TestMaster_Index1400[0]), 0x1400},
+ { (subindex*)TestMaster_Index1401,sizeof(TestMaster_Index1401)/sizeof(TestMaster_Index1401[0]), 0x1401},
+ { (subindex*)TestMaster_Index1600,sizeof(TestMaster_Index1600)/sizeof(TestMaster_Index1600[0]), 0x1600},
+ { (subindex*)TestMaster_Index1601,sizeof(TestMaster_Index1601)/sizeof(TestMaster_Index1601[0]), 0x1601},
+ { (subindex*)TestMaster_Index2000,sizeof(TestMaster_Index2000)/sizeof(TestMaster_Index2000[0]), 0x2000},
+ { (subindex*)TestMaster_Index2001,sizeof(TestMaster_Index2001)/sizeof(TestMaster_Index2001[0]), 0x2001},
+ { (subindex*)TestMaster_Index2002,sizeof(TestMaster_Index2002)/sizeof(TestMaster_Index2002[0]), 0x2002},
+ { (subindex*)TestMaster_Index2003,sizeof(TestMaster_Index2003)/sizeof(TestMaster_Index2003[0]), 0x2003},
+};
+
+const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
+{
+ int i;
+ *callbacks = NULL;
+ switch(wIndex){
+ case 0x1000: i = 0;break;
+ case 0x1001: i = 1;break;
+ case 0x1005: i = 2;*callbacks = TestMaster_Index1005_callbacks; break;
+ case 0x1006: i = 3;*callbacks = TestMaster_Index1006_callbacks; break;
+ case 0x1010: i = 4;*callbacks = TestMaster_Index1010_callbacks; break;
+ case 0x1011: i = 5;*callbacks = TestMaster_Index1011_callbacks; break;
+ case 0x1016: i = 6;break;
+ case 0x1018: i = 7;break;
+ case 0x1280: i = 8;break;
+ case 0x1400: i = 9;break;
+ case 0x1401: i = 10;break;
+ case 0x1600: i = 11;break;
+ case 0x1601: i = 12;break;
+ case 0x2000: i = 13;*callbacks = MasterMap1_callbacks; break;
+ case 0x2001: i = 14;break;
+ case 0x2002: i = 15;break;
+ case 0x2003: i = 16;break;
+ default:
+ *errorCode = OD_NO_SUCH_OBJECT;
+ return NULL;
+ }
+ *errorCode = OD_SUCCESSFUL;
+ return &TestMaster_objdict[i];
+}
+
+/* To count at which received SYNC a PDO must be sent.
+ * Even if no pdoTransmit are defined, at least one entry is computed
+ * for compilations issues.
+ */
+UNS8 TestMaster_count_sync[1] = {0,};
+
+quick_index TestMaster_firstIndex = {
+ 0, /* SDO_SVR */
+ 8, /* SDO_CLT */
+ 9, /* PDO_RCV */
+ 11, /* PDO_RCV_MAP */
+ 0, /* PDO_TRS */
+ 0 /* PDO_TRS_MAP */
+};
+
+quick_index TestMaster_lastIndex = {
+ 0, /* SDO_SVR */
+ 8, /* SDO_CLT */
+ 10, /* PDO_RCV */
+ 12, /* PDO_RCV_MAP */
+ 0, /* PDO_TRS */
+ 0 /* PDO_TRS_MAP */
+};
+
+UNS16 TestMaster_ObjdictSize = sizeof(TestMaster_objdict)/sizeof(TestMaster_objdict[0]);
+
+CO_Data TestMaster_Data = CANOPEN_NODE_DATA_INITIALIZER(TestMaster);
+
diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/TestMasterSalve.vcproj
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterSlave/TestMasterSalve.vcproj Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,252 @@
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diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/TestMasterSlave.c
--- a/examples/TestMasterSlave/TestMasterSlave.c Tue Apr 03 20:20:27 2007 +0200
+++ b/examples/TestMasterSlave/TestMasterSlave.c Wed Apr 04 13:04:31 2007 +0200
@@ -20,12 +20,21 @@
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+#if defined(WIN32) && !defined(__CYGWIN__)
+#include
+#include "getopt.h"
+void pause(void)
+{
+ system("PAUSE");
+}
+#else
#include
#include
-#include
-#include
+//#include
+//#include
#include
#include
+#endif
#include
#include
@@ -69,54 +78,20 @@
return 0;
}
-CAN_HANDLE SlaveCanHandle;
-CAN_HANDLE MasterCanHandle;
-
-// Baudrate values for Peak board :
-// CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K
-// CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K
-
-#ifdef CAN_BAUD_500K
-int TranslateBaudeRate(char* optarg){
- if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
- if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
- if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
- if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
- if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
- if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
- if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
- if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
- if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
- if(!strcmp( optarg, "none")) return 0;
- return 0x0000;
-}
-s_BOARD SlaveBoard = {"0", CAN_BAUD_500K, &TestSlave_Data};
-s_BOARD MasterBoard = {"1", CAN_BAUD_500K, &TestMaster_Data};
-#else
-int TranslateBaudeRate(char* optarg){
- if(!strcmp( optarg, "1M")) return 1000;
- if(!strcmp( optarg, "500K")) return 500;
- if(!strcmp( optarg, "250K")) return 250;
- if(!strcmp( optarg, "125K")) return 125;
- if(!strcmp( optarg, "100K")) return 100;
- if(!strcmp( optarg, "50K")) return 50;
- if(!strcmp( optarg, "20K")) return 20;
- if(!strcmp( optarg, "10K")) return 10;
- if(!strcmp( optarg, "5K")) return 5;
- if(!strcmp( optarg, "none")) return 0;
- return 0;
-}
-s_BOARD SlaveBoard = {"0", 500, &TestSlave_Data};
-s_BOARD MasterBoard = {"1", 500, &TestMaster_Data};
-#endif
-
-
+CAN_PORT SlaveCanHandle;
+CAN_PORT MasterCanHandle;
+
+s_BOARD SlaveBoard = {"0", "500K"};
+s_BOARD MasterBoard = {"1", "500K"};
+
+#if !defined(WIN32) || defined(__CYGWIN__)
void catch_signal(int sig)
{
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
eprintf("Got Signal %d\n",sig);
}
+#endif
void help()
{
@@ -132,6 +107,8 @@
printf("* ./TestMasterSlave [OPTIONS] *\n");
printf("* *\n");
printf("* OPTIONS: *\n");
+ printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n");
+ printf("* *\n");
printf("* Slave: *\n");
printf("* -s : bus name [\"0\"] *\n");
printf("* -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n");
@@ -181,8 +158,9 @@
char c;
extern char *optarg;
-
- while ((c = getopt(argc, argv, "-m:s:M:S:")) != EOF)
+ char* LibraryPath="libcanfestival_can_virtual.so";
+
+ while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
{
switch(c)
{
@@ -208,7 +186,7 @@
help();
exit(1);
}
- SlaveBoard.baudrate = TranslateBaudeRate(optarg);
+ SlaveBoard.baudrate = optarg;
break;
case 'M' :
if (optarg[0] == 0)
@@ -216,7 +194,15 @@
help();
exit(1);
}
- MasterBoard.baudrate = TranslateBaudeRate(optarg);
+ MasterBoard.baudrate = optarg;
+ break;
+ case 'l' :
+ if (optarg[0] == 0)
+ {
+ help();
+ exit(1);
+ }
+ LibraryPath = optarg;
break;
default:
help();
@@ -224,16 +210,31 @@
}
}
- /* install signal handler for manual break */
+#if !defined(WIN32) || defined(__CYGWIN__)
+ /* install signal handler for manual break */
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
-
+#endif
+
+#ifndef NOT_USE_DYNAMIC_LOADING
+ LoadCanDriver(LibraryPath);
+#endif
// Open CAN devices
- if(SlaveBoard.baudrate)
- if((SlaveCanHandle = canOpen(&SlaveBoard))==NULL) goto fail_slave;
-
- if(MasterBoard.baudrate)
- if((MasterCanHandle = canOpen(&MasterBoard))==NULL) goto fail_master;
+ if(SlaveBoard.baudrate){
+ SlaveCanHandle = canOpen(&SlaveBoard,&TestSlave_Data);
+ if(SlaveCanHandle == NULL){
+ eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
+ goto fail_slave;
+ }
+ }
+
+ if(MasterBoard.baudrate){
+ MasterCanHandle = canOpen(&MasterBoard,&TestMaster_Data);
+ if(MasterCanHandle == NULL){
+ eprintf("Cannot open Master Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
+ goto fail_master;
+ }
+ }
// Start timer thread
StartTimerLoop(&InitNodes);
diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/TestMasterSlave.h
--- a/examples/TestMasterSlave/TestMasterSlave.h Tue Apr 03 20:20:27 2007 +0200
+++ b/examples/TestMasterSlave/TestMasterSlave.h Wed Apr 04 13:04:31 2007 +0200
@@ -26,10 +26,12 @@
#endif
void print_message(Message *m);
-UNS8 canSend(CAN_HANDLE fd0, Message *m);
+/*UNS8 canSend(CAN_HANDLE fd0, Message *m);*/
-extern CAN_HANDLE SlaveCanHandle;
-extern CAN_HANDLE MasterCanHandle;
+#include "canfestival.h"
+
+extern CAN_PORT SlaveCanHandle;
+extern CAN_PORT MasterCanHandle;
/*
diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/TestSlave.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterSlave/TestSlave.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,329 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#include "TestSlave.h"
+
+/**************************************************************************/
+/* Declaration of the mapped variables */
+/**************************************************************************/
+UNS8 SlaveMap1 = 0x0; /* Mapped at index 0x2000, subindex 0x00 */
+UNS8 SlaveMap2 = 0x0; /* Mapped at index 0x2001, subindex 0x00 */
+UNS8 SlaveMap3 = 0x0; /* Mapped at index 0x2002, subindex 0x00 */
+UNS8 SlaveMap4 = 0x0; /* Mapped at index 0x2003, subindex 0x00 */
+
+/**************************************************************************/
+/* Declaration of the value range types */
+/**************************************************************************/
+
+UNS32 TestSlave_valueRangeTest (UNS8 typeValue, void * value)
+{
+ switch (typeValue) {
+ }
+ return 0;
+}
+
+/**************************************************************************/
+/* The node id */
+/**************************************************************************/
+/* node_id default value.*/
+UNS8 TestSlave_bDeviceNodeId = 0x00;
+
+/**************************************************************************/
+/* Array of message processing information */
+
+const UNS8 TestSlave_iam_a_slave = 1;
+
+TIMER_HANDLE TestSlave_heartBeatTimers[1];
+
+/*
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+
+ OBJECT DICTIONARY
+
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+*/
+
+/* index 0x1000 : Device Type. */
+ UNS32 TestSlave_obj1000 = 0x12D; /* 301 */
+ subindex TestSlave_Index1000[] =
+ {
+ { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1000 }
+ };
+
+/* index 0x1001 : Error Register. */
+ UNS8 TestSlave_obj1001 = 0x0; /* 0 */
+ subindex TestSlave_Index1001[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_obj1001 }
+ };
+
+/* index 0x1005 : SYNC COB ID. */
+ UNS32 TestSlave_obj1005 = 0x80; /* 128 */
+ ODCallback_t TestSlave_Index1005_callbacks[] =
+ {
+ NULL,
+ };
+ subindex TestSlave_Index1005[] =
+ {
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1005 }
+ };
+
+/* index 0x1006 : Communication / Cycle Period. */
+ UNS32 TestSlave_obj1006 = 0x0; /* 0 */
+ ODCallback_t TestSlave_Index1006_callbacks[] =
+ {
+ NULL,
+ };
+ subindex TestSlave_Index1006[] =
+ {
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1006 }
+ };
+
+/* index 0x1010 : Store parameters. */
+ UNS8 TestSlave_highestSubIndex_obj1010 = 4; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1010_Save_All_Parameters = 0x0; /* 0 */
+ UNS32 TestSlave_obj1010_Save_Communication_Parameters = 0x0; /* 0 */
+ UNS32 TestSlave_obj1010_Save_Application_Parameters = 0x0; /* 0 */
+ UNS32 TestSlave_obj1010_Save_Manufacturer_Parameters = 0x0; /* 0 */
+ ODCallback_t TestSlave_Index1010_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestSlave_Index1010[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1010 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_All_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Communication_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Application_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Manufacturer_Parameters }
+ };
+
+/* index 0x1011 : Restore Default Parameters. */
+ UNS8 TestSlave_highestSubIndex_obj1011 = 4; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1011_Restore_All_Default_Parameters = 0x0; /* 0 */
+ UNS32 TestSlave_obj1011_Restore_Communication_Default_Parameters = 0x0; /* 0 */
+ UNS32 TestSlave_obj1011_Restore_Application_Default_Parameters = 0x0; /* 0 */
+ UNS32 TestSlave_obj1011_Restore_Manufacturer_Default_Parameters = 0x0; /* 0 */
+ ODCallback_t TestSlave_Index1011_callbacks[] =
+ {
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ };
+ subindex TestSlave_Index1011[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1011 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_All_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Communication_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Application_Default_Parameters },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Manufacturer_Default_Parameters }
+ };
+
+/* index 0x1016 : Consumer Heartbeat Time */
+ UNS8 TestSlave_highestSubIndex_obj1016 = 0;
+ UNS32 TestSlave_obj1016[]={0};
+
+/* index 0x1017 : Producer Heartbeat Time. */
+ UNS16 TestSlave_obj1017 = 0x3E8; /* 1000 */
+ subindex TestSlave_Index1017[] =
+ {
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1017 }
+ };
+
+/* index 0x1018 : Identity. */
+ UNS8 TestSlave_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1018_Vendor_ID = 0x0; /* 0 */
+ UNS32 TestSlave_obj1018_Product_Code = 0x0; /* 0 */
+ UNS32 TestSlave_obj1018_Revision_Number = 0x0; /* 0 */
+ UNS32 TestSlave_obj1018_Serial_Number = 0x0; /* 0 */
+ subindex TestSlave_Index1018[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1018 },
+ { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Vendor_ID },
+ { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Product_Code },
+ { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Revision_Number },
+ { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Serial_Number }
+ };
+
+/* index 0x1200 : Server SDO Parameter. */
+ UNS8 TestSlave_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x601; /* 1537 */
+ UNS32 TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x581; /* 1409 */
+ subindex TestSlave_Index1200[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1200 },
+ { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO },
+ { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
+ };
+
+/* index 0x1800 : Transmit PDO 1 Parameter. */
+ UNS8 TestSlave_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182; /* 386 */
+ UNS8 TestSlave_obj1800_Transmission_Type = 0x1; /* 1 */
+ UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; /* 0 */
+ UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestSlave_obj1800_Event_Timer = 0x0; /* 0 */
+ subindex TestSlave_Index1800[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1800 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1800_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1800_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Inhibit_Time },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Event_Timer }
+ };
+
+/* index 0x1801 : Transmit PDO 2 Parameter. */
+ UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; /* 642 */
+ UNS8 TestSlave_obj1801_Transmission_Type = 0x1; /* 1 */
+ UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; /* 0 */
+ UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0; /* 0 */
+ UNS16 TestSlave_obj1801_Event_Timer = 0x0; /* 0 */
+ subindex TestSlave_Index1801[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1801 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1801_COB_ID_used_by_PDO },
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1801_Transmission_Type },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Inhibit_Time },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Compatibility_Entry },
+ { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Event_Timer }
+ };
+
+/* index 0x1A00 : Transmit PDO 1 Mapping. */
+ UNS8 TestSlave_highestSubIndex_obj1A00 = 2; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1A00[] =
+ {
+ 0x20000008, /* 536870920 */
+ 0x20010008 /* 536936456 */
+ };
+ subindex TestSlave_Index1A00[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A00 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[0] },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[1] }
+ };
+
+/* index 0x1A01 : Transmit PDO 2 Mapping. */
+ UNS8 TestSlave_highestSubIndex_obj1A01 = 2; /* number of subindex - 1*/
+ UNS32 TestSlave_obj1A01[] =
+ {
+ 0x20020008, /* 537001992 */
+ 0x20030008 /* 537067528 */
+ };
+ subindex TestSlave_Index1A01[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A01 },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[0] },
+ { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[1] }
+ };
+
+/* index 0x2000 : Mapped variable SlaveMap1 */
+ subindex TestSlave_Index2000[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&SlaveMap1 }
+ };
+
+/* index 0x2001 : Mapped variable SlaveMap2 */
+ subindex TestSlave_Index2001[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&SlaveMap2 }
+ };
+
+/* index 0x2002 : Mapped variable SlaveMap3 */
+ subindex TestSlave_Index2002[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&SlaveMap3 }
+ };
+
+/* index 0x2003 : Mapped variable SlaveMap4 */
+ subindex TestSlave_Index2003[] =
+ {
+ { RW, uint8, sizeof (UNS8), (void*)&SlaveMap4 }
+ };
+
+const indextable TestSlave_objdict[] =
+{
+ { (subindex*)TestSlave_Index1000,sizeof(TestSlave_Index1000)/sizeof(TestSlave_Index1000[0]), 0x1000},
+ { (subindex*)TestSlave_Index1001,sizeof(TestSlave_Index1001)/sizeof(TestSlave_Index1001[0]), 0x1001},
+ { (subindex*)TestSlave_Index1005,sizeof(TestSlave_Index1005)/sizeof(TestSlave_Index1005[0]), 0x1005},
+ { (subindex*)TestSlave_Index1006,sizeof(TestSlave_Index1006)/sizeof(TestSlave_Index1006[0]), 0x1006},
+ { (subindex*)TestSlave_Index1010,sizeof(TestSlave_Index1010)/sizeof(TestSlave_Index1010[0]), 0x1010},
+ { (subindex*)TestSlave_Index1011,sizeof(TestSlave_Index1011)/sizeof(TestSlave_Index1011[0]), 0x1011},
+ { (subindex*)TestSlave_Index1017,sizeof(TestSlave_Index1017)/sizeof(TestSlave_Index1017[0]), 0x1017},
+ { (subindex*)TestSlave_Index1018,sizeof(TestSlave_Index1018)/sizeof(TestSlave_Index1018[0]), 0x1018},
+ { (subindex*)TestSlave_Index1200,sizeof(TestSlave_Index1200)/sizeof(TestSlave_Index1200[0]), 0x1200},
+ { (subindex*)TestSlave_Index1800,sizeof(TestSlave_Index1800)/sizeof(TestSlave_Index1800[0]), 0x1800},
+ { (subindex*)TestSlave_Index1801,sizeof(TestSlave_Index1801)/sizeof(TestSlave_Index1801[0]), 0x1801},
+ { (subindex*)TestSlave_Index1A00,sizeof(TestSlave_Index1A00)/sizeof(TestSlave_Index1A00[0]), 0x1A00},
+ { (subindex*)TestSlave_Index1A01,sizeof(TestSlave_Index1A01)/sizeof(TestSlave_Index1A01[0]), 0x1A01},
+ { (subindex*)TestSlave_Index2000,sizeof(TestSlave_Index2000)/sizeof(TestSlave_Index2000[0]), 0x2000},
+ { (subindex*)TestSlave_Index2001,sizeof(TestSlave_Index2001)/sizeof(TestSlave_Index2001[0]), 0x2001},
+ { (subindex*)TestSlave_Index2002,sizeof(TestSlave_Index2002)/sizeof(TestSlave_Index2002[0]), 0x2002},
+ { (subindex*)TestSlave_Index2003,sizeof(TestSlave_Index2003)/sizeof(TestSlave_Index2003[0]), 0x2003},
+};
+
+const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
+{
+ int i;
+ *callbacks = NULL;
+ switch(wIndex){
+ case 0x1000: i = 0;break;
+ case 0x1001: i = 1;break;
+ case 0x1005: i = 2;*callbacks = TestSlave_Index1005_callbacks; break;
+ case 0x1006: i = 3;*callbacks = TestSlave_Index1006_callbacks; break;
+ case 0x1010: i = 4;*callbacks = TestSlave_Index1010_callbacks; break;
+ case 0x1011: i = 5;*callbacks = TestSlave_Index1011_callbacks; break;
+ case 0x1017: i = 6;break;
+ case 0x1018: i = 7;break;
+ case 0x1200: i = 8;break;
+ case 0x1800: i = 9;break;
+ case 0x1801: i = 10;break;
+ case 0x1A00: i = 11;break;
+ case 0x1A01: i = 12;break;
+ case 0x2000: i = 13;break;
+ case 0x2001: i = 14;break;
+ case 0x2002: i = 15;break;
+ case 0x2003: i = 16;break;
+ default:
+ *errorCode = OD_NO_SUCH_OBJECT;
+ return NULL;
+ }
+ *errorCode = OD_SUCCESSFUL;
+ return &TestSlave_objdict[i];
+}
+
+/* To count at which received SYNC a PDO must be sent.
+ * Even if no pdoTransmit are defined, at least one entry is computed
+ * for compilations issues.
+ */
+UNS8 TestSlave_count_sync[2] = {0,};
+
+quick_index TestSlave_firstIndex = {
+ 8, /* SDO_SVR */
+ 0, /* SDO_CLT */
+ 0, /* PDO_RCV */
+ 0, /* PDO_RCV_MAP */
+ 9, /* PDO_TRS */
+ 11 /* PDO_TRS_MAP */
+};
+
+quick_index TestSlave_lastIndex = {
+ 8, /* SDO_SVR */
+ 0, /* SDO_CLT */
+ 0, /* PDO_RCV */
+ 0, /* PDO_RCV_MAP */
+ 10, /* PDO_TRS */
+ 12 /* PDO_TRS_MAP */
+};
+
+UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]);
+
+CO_Data TestSlave_Data = CANOPEN_NODE_DATA_INITIALIZER(TestSlave);
+
diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/getopt.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterSlave/getopt.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,1260 @@
+/* from http://www.pwilson.net/getopt.html */
+
+/* Getopt for GNU.
+ NOTE: getopt is now part of the C library, so if you don't know what
+ "Keep this file name-space clean" means, talk to drepper@gnu.org
+ before changing it!
+ Copyright (C) 1987,88,89,90,91,92,93,94,95,96,98,99,2000,2001
+ Free Software Foundation, Inc.
+ This file is part of the GNU C Library.
+
+ The GNU C 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.
+
+ The GNU C 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 the GNU C Library; if not, write to the Free
+ Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
+ 02111-1307 USA. */
+
+/* This tells Alpha OSF/1 not to define a getopt prototype in .
+ Ditto for AIX 3.2 and . */
+#ifndef _NO_PROTO
+# define _NO_PROTO
+#endif
+
+#ifdef HAVE_CONFIG_H
+# include
+#endif
+
+#if !defined __STDC__ || !__STDC__
+/* This is a separate conditional since some stdc systems
+ reject `defined (const)'. */
+# ifndef const
+# define const
+# endif
+#endif
+
+#include
+
+/* Comment out all this code if we are using the GNU C Library, and are not
+ actually compiling the library itself. This code is part of the GNU C
+ Library, but also included in many other GNU distributions. Compiling
+ and linking in this code is a waste when using the GNU C library
+ (especially if it is a shared library). Rather than having every GNU
+ program understand `configure --with-gnu-libc' and omit the object files,
+ it is simpler to just do this in the source for each such file. */
+
+#define GETOPT_INTERFACE_VERSION 2
+#if !defined _LIBC && defined __GLIBC__ && __GLIBC__ >= 2
+# include
+# if _GNU_GETOPT_INTERFACE_VERSION == GETOPT_INTERFACE_VERSION
+# define ELIDE_CODE
+# endif
+#endif
+
+#ifndef ELIDE_CODE
+
+
+/* This needs to come after some library #include
+ to get __GNU_LIBRARY__ defined. */
+#ifdef __GNU_LIBRARY__
+/* Don't include stdlib.h for non-GNU C libraries because some of them
+ contain conflicting prototypes for getopt. */
+# include
+# include
+#endif /* GNU C library. */
+
+#ifdef VMS
+# include
+# if HAVE_STRING_H - 0
+# include
+# endif
+#endif
+
+#ifndef _
+/* This is for other GNU distributions with internationalized messages. */
+# if (HAVE_LIBINTL_H && ENABLE_NLS) || defined _LIBC
+# include
+# ifndef _
+# define _(msgid) gettext (msgid)
+# endif
+# else
+# define _(msgid) (msgid)
+# endif
+# if defined _LIBC && defined USE_IN_LIBIO
+# include
+# endif
+#endif
+
+/* This version of `getopt' appears to the caller like standard Unix `getopt'
+ but it behaves differently for the user, since it allows the user
+ to intersperse the options with the other arguments.
+
+ As `getopt' works, it permutes the elements of ARGV so that,
+ when it is done, all the options precede everything else. Thus
+ all application programs are extended to handle flexible argument order.
+
+ Setting the environment variable POSIXLY_CORRECT disables permutation.
+ Then the behavior is completely standard.
+
+ GNU application programs can use a third alternative mode in which
+ they can distinguish the relative order of options and other arguments. */
+
+#include "getopt.h"
+
+/* For communication from `getopt' to the caller.
+ When `getopt' finds an option that takes an argument,
+ the argument value is returned here.
+ Also, when `ordering' is RETURN_IN_ORDER,
+ each non-option ARGV-element is returned here. */
+
+char *optarg;
+
+/* Index in ARGV of the next element to be scanned.
+ This is used for communication to and from the caller
+ and for communication between successive calls to `getopt'.
+
+ On entry to `getopt', zero means this is the first call; initialize.
+
+ When `getopt' returns -1, this is the index of the first of the
+ non-option elements that the caller should itself scan.
+
+ Otherwise, `optind' communicates from one call to the next
+ how much of ARGV has been scanned so far. */
+
+/* 1003.2 says this must be 1 before any call. */
+int optind = 1;
+
+/* Formerly, initialization of getopt depended on optind==0, which
+ causes problems with re-calling getopt as programs generally don't
+ know that. */
+
+int __getopt_initialized;
+
+/* The next char to be scanned in the option-element
+ in which the last option character we returned was found.
+ This allows us to pick up the scan where we left off.
+
+ If this is zero, or a null string, it means resume the scan
+ by advancing to the next ARGV-element. */
+
+static char *nextchar;
+
+/* Callers store zero here to inhibit the error message
+ for unrecognized options. */
+
+int opterr = 1;
+
+/* Set to an option character which was unrecognized.
+ This must be initialized on some systems to avoid linking in the
+ system's own getopt implementation. */
+
+int optopt = '?';
+
+/* Describe how to deal with options that follow non-option ARGV-elements.
+
+ If the caller did not specify anything,
+ the default is REQUIRE_ORDER if the environment variable
+ POSIXLY_CORRECT is defined, PERMUTE otherwise.
+
+ REQUIRE_ORDER means don't recognize them as options;
+ stop option processing when the first non-option is seen.
+ This is what Unix does.
+ This mode of operation is selected by either setting the environment
+ variable POSIXLY_CORRECT, or using `+' as the first character
+ of the list of option characters.
+
+ PERMUTE is the default. We permute the contents of ARGV as we scan,
+ so that eventually all the non-options are at the end. This allows options
+ to be given in any order, even with programs that were not written to
+ expect this.
+
+ RETURN_IN_ORDER is an option available to programs that were written
+ to expect options and other ARGV-elements in any order and that care about
+ the ordering of the two. We describe each non-option ARGV-element
+ as if it were the argument of an option with character code 1.
+ Using `-' as the first character of the list of option characters
+ selects this mode of operation.
+
+ The special argument `--' forces an end of option-scanning regardless
+ of the value of `ordering'. In the case of RETURN_IN_ORDER, only
+ `--' can cause `getopt' to return -1 with `optind' != ARGC. */
+
+static enum
+{
+ REQUIRE_ORDER, PERMUTE, RETURN_IN_ORDER
+} ordering;
+
+/* Value of POSIXLY_CORRECT environment variable. */
+static char *posixly_correct;
+
+#ifdef __GNU_LIBRARY__
+/* We want to avoid inclusion of string.h with non-GNU libraries
+ because there are many ways it can cause trouble.
+ On some systems, it contains special magic macros that don't work
+ in GCC. */
+# include
+# define my_index strchr
+#else
+
+# if HAVE_STRING_H || WIN32 /* Pete Wilson mod 7/28/02 */
+# include
+# else
+# include
+# endif
+
+/* Avoid depending on library functions or files
+ whose names are inconsistent. */
+
+#ifndef getenv
+extern char *getenv ();
+#endif
+
+static char *
+my_index (str, chr)
+ const char *str;
+ int chr;
+{
+ while (*str)
+ {
+ if (*str == chr)
+ return (char *) str;
+ str++;
+ }
+ return 0;
+}
+
+/* If using GCC, we can safely declare strlen this way.
+ If not using GCC, it is ok not to declare it. */
+#ifdef __GNUC__
+/* Note that Motorola Delta 68k R3V7 comes with GCC but not stddef.h.
+ That was relevant to code that was here before. */
+# if (!defined __STDC__ || !__STDC__) && !defined strlen
+/* gcc with -traditional declares the built-in strlen to return int,
+ and has done so at least since version 2.4.5. -- rms. */
+extern int strlen (const char *);
+# endif /* not __STDC__ */
+#endif /* __GNUC__ */
+
+#endif /* not __GNU_LIBRARY__ */
+
+/* Handle permutation of arguments. */
+
+/* Describe the part of ARGV that contains non-options that have
+ been skipped. `first_nonopt' is the index in ARGV of the first of them;
+ `last_nonopt' is the index after the last of them. */
+
+static int first_nonopt;
+static int last_nonopt;
+
+#ifdef _LIBC
+/* Stored original parameters.
+ XXX This is no good solution. We should rather copy the args so
+ that we can compare them later. But we must not use malloc(3). */
+extern int __libc_argc;
+extern char **__libc_argv;
+
+/* Bash 2.0 gives us an environment variable containing flags
+ indicating ARGV elements that should not be considered arguments. */
+
+# ifdef USE_NONOPTION_FLAGS
+/* Defined in getopt_init.c */
+extern char *__getopt_nonoption_flags;
+
+static int nonoption_flags_max_len;
+static int nonoption_flags_len;
+# endif
+
+# ifdef USE_NONOPTION_FLAGS
+# define SWAP_FLAGS(ch1, ch2) \
+ if (nonoption_flags_len > 0) \
+ { \
+ char __tmp = __getopt_nonoption_flags[ch1]; \
+ __getopt_nonoption_flags[ch1] = __getopt_nonoption_flags[ch2]; \
+ __getopt_nonoption_flags[ch2] = __tmp; \
+ }
+# else
+# define SWAP_FLAGS(ch1, ch2)
+# endif
+#else /* !_LIBC */
+# define SWAP_FLAGS(ch1, ch2)
+#endif /* _LIBC */
+
+/* Exchange two adjacent subsequences of ARGV.
+ One subsequence is elements [first_nonopt,last_nonopt)
+ which contains all the non-options that have been skipped so far.
+ The other is elements [last_nonopt,optind), which contains all
+ the options processed since those non-options were skipped.
+
+ `first_nonopt' and `last_nonopt' are relocated so that they describe
+ the new indices of the non-options in ARGV after they are moved. */
+
+#if defined __STDC__ && __STDC__
+static void exchange (char **);
+#endif
+
+static void
+exchange (argv)
+ char **argv;
+{
+ int bottom = first_nonopt;
+ int middle = last_nonopt;
+ int top = optind;
+ char *tem;
+
+ /* Exchange the shorter segment with the far end of the longer segment.
+ That puts the shorter segment into the right place.
+ It leaves the longer segment in the right place overall,
+ but it consists of two parts that need to be swapped next. */
+
+#if defined _LIBC && defined USE_NONOPTION_FLAGS
+ /* First make sure the handling of the `__getopt_nonoption_flags'
+ string can work normally. Our top argument must be in the range
+ of the string. */
+ if (nonoption_flags_len > 0 && top >= nonoption_flags_max_len)
+ {
+ /* We must extend the array. The user plays games with us and
+ presents new arguments. */
+ char *new_str = malloc (top + 1);
+ if (new_str == NULL)
+ nonoption_flags_len = nonoption_flags_max_len = 0;
+ else
+ {
+ memset (__mempcpy (new_str, __getopt_nonoption_flags,
+ nonoption_flags_max_len),
+ '\0', top + 1 - nonoption_flags_max_len);
+ nonoption_flags_max_len = top + 1;
+ __getopt_nonoption_flags = new_str;
+ }
+ }
+#endif
+
+ while (top > middle && middle > bottom)
+ {
+ if (top - middle > middle - bottom)
+ {
+ /* Bottom segment is the short one. */
+ int len = middle - bottom;
+ register int i;
+
+ /* Swap it with the top part of the top segment. */
+ for (i = 0; i < len; i++)
+ {
+ tem = argv[bottom + i];
+ argv[bottom + i] = argv[top - (middle - bottom) + i];
+ argv[top - (middle - bottom) + i] = tem;
+ SWAP_FLAGS (bottom + i, top - (middle - bottom) + i);
+ }
+ /* Exclude the moved bottom segment from further swapping. */
+ top -= len;
+ }
+ else
+ {
+ /* Top segment is the short one. */
+ int len = top - middle;
+ register int i;
+
+ /* Swap it with the bottom part of the bottom segment. */
+ for (i = 0; i < len; i++)
+ {
+ tem = argv[bottom + i];
+ argv[bottom + i] = argv[middle + i];
+ argv[middle + i] = tem;
+ SWAP_FLAGS (bottom + i, middle + i);
+ }
+ /* Exclude the moved top segment from further swapping. */
+ bottom += len;
+ }
+ }
+
+ /* Update records for the slots the non-options now occupy. */
+
+ first_nonopt += (optind - last_nonopt);
+ last_nonopt = optind;
+}
+
+/* Initialize the internal data when the first call is made. */
+
+#if defined __STDC__ && __STDC__
+static const char *_getopt_initialize (int, char *const *, const char *);
+#endif
+static const char *
+_getopt_initialize (argc, argv, optstring)
+ int argc;
+ char *const *argv;
+ const char *optstring;
+{
+ /* Start processing options with ARGV-element 1 (since ARGV-element 0
+ is the program name); the sequence of previously skipped
+ non-option ARGV-elements is empty. */
+
+ first_nonopt = last_nonopt = optind;
+
+ nextchar = NULL;
+
+ posixly_correct = getenv ("POSIXLY_CORRECT");
+
+ /* Determine how to handle the ordering of options and nonoptions. */
+
+ if (optstring[0] == '-')
+ {
+ ordering = RETURN_IN_ORDER;
+ ++optstring;
+ }
+ else if (optstring[0] == '+')
+ {
+ ordering = REQUIRE_ORDER;
+ ++optstring;
+ }
+ else if (posixly_correct != NULL)
+ ordering = REQUIRE_ORDER;
+ else
+ ordering = PERMUTE;
+
+#if defined _LIBC && defined USE_NONOPTION_FLAGS
+ if (posixly_correct == NULL
+ && argc == __libc_argc && argv == __libc_argv)
+ {
+ if (nonoption_flags_max_len == 0)
+ {
+ if (__getopt_nonoption_flags == NULL
+ || __getopt_nonoption_flags[0] == '\0')
+ nonoption_flags_max_len = -1;
+ else
+ {
+ const char *orig_str = __getopt_nonoption_flags;
+ int len = nonoption_flags_max_len = strlen (orig_str);
+ if (nonoption_flags_max_len < argc)
+ nonoption_flags_max_len = argc;
+ __getopt_nonoption_flags =
+ (char *) malloc (nonoption_flags_max_len);
+ if (__getopt_nonoption_flags == NULL)
+ nonoption_flags_max_len = -1;
+ else
+ memset (__mempcpy (__getopt_nonoption_flags, orig_str, len),
+ '\0', nonoption_flags_max_len - len);
+ }
+ }
+ nonoption_flags_len = nonoption_flags_max_len;
+ }
+ else
+ nonoption_flags_len = 0;
+#endif
+
+ return optstring;
+}
+
+/* Scan elements of ARGV (whose length is ARGC) for option characters
+ given in OPTSTRING.
+
+ If an element of ARGV starts with '-', and is not exactly "-" or "--",
+ then it is an option element. The characters of this element
+ (aside from the initial '-') are option characters. If `getopt'
+ is called repeatedly, it returns successively each of the option characters
+ from each of the option elements.
+
+ If `getopt' finds another option character, it returns that character,
+ updating `optind' and `nextchar' so that the next call to `getopt' can
+ resume the scan with the following option character or ARGV-element.
+
+ If there are no more option characters, `getopt' returns -1.
+ Then `optind' is the index in ARGV of the first ARGV-element
+ that is not an option. (The ARGV-elements have been permuted
+ so that those that are not options now come last.)
+
+ OPTSTRING is a string containing the legitimate option characters.
+ If an option character is seen that is not listed in OPTSTRING,
+ return '?' after printing an error message. If you set `opterr' to
+ zero, the error message is suppressed but we still return '?'.
+
+ If a char in OPTSTRING is followed by a colon, that means it wants an arg,
+ so the following text in the same ARGV-element, or the text of the following
+ ARGV-element, is returned in `optarg'. Two colons mean an option that
+ wants an optional arg; if there is text in the current ARGV-element,
+ it is returned in `optarg', otherwise `optarg' is set to zero.
+
+ If OPTSTRING starts with `-' or `+', it requests different methods of
+ handling the non-option ARGV-elements.
+ See the comments about RETURN_IN_ORDER and REQUIRE_ORDER, above.
+
+ Long-named options begin with `--' instead of `-'.
+ Their names may be abbreviated as long as the abbreviation is unique
+ or is an exact match for some defined option. If they have an
+ argument, it follows the option name in the same ARGV-element, separated
+ from the option name by a `=', or else the in next ARGV-element.
+ When `getopt' finds a long-named option, it returns 0 if that option's
+ `flag' field is nonzero, the value of the option's `val' field
+ if the `flag' field is zero.
+
+ The elements of ARGV aren't really const, because we permute them.
+ But we pretend they're const in the prototype to be compatible
+ with other systems.
+
+ LONGOPTS is a vector of `struct option' terminated by an
+ element containing a name which is zero.
+
+ LONGIND returns the index in LONGOPT of the long-named option found.
+ It is only valid when a long-named option has been found by the most
+ recent call.
+
+ If LONG_ONLY is nonzero, '-' as well as '--' can introduce
+ long-named options. */
+
+int
+_getopt_internal (argc, argv, optstring, longopts, longind, long_only)
+ int argc;
+ char *const *argv;
+ const char *optstring;
+ const struct option *longopts;
+ int *longind;
+ int long_only;
+{
+ int print_errors = opterr;
+ if (optstring[0] == ':')
+ print_errors = 0;
+
+ if (argc < 1)
+ return -1;
+
+ optarg = NULL;
+
+ if (optind == 0 || !__getopt_initialized)
+ {
+ if (optind == 0)
+ optind = 1; /* Don't scan ARGV[0], the program name. */
+ optstring = _getopt_initialize (argc, argv, optstring);
+ __getopt_initialized = 1;
+ }
+
+ /* Test whether ARGV[optind] points to a non-option argument.
+ Either it does not have option syntax, or there is an environment flag
+ from the shell indicating it is not an option. The later information
+ is only used when the used in the GNU libc. */
+#if defined _LIBC && defined USE_NONOPTION_FLAGS
+# define NONOPTION_P (argv[optind][0] != '-' || argv[optind][1] == '\0' \
+ || (optind < nonoption_flags_len \
+ && __getopt_nonoption_flags[optind] == '1'))
+#else
+# define NONOPTION_P (argv[optind][0] != '-' || argv[optind][1] == '\0')
+#endif
+
+ if (nextchar == NULL || *nextchar == '\0')
+ {
+ /* Advance to the next ARGV-element. */
+
+ /* Give FIRST_NONOPT and LAST_NONOPT rational values if OPTIND has been
+ moved back by the user (who may also have changed the arguments). */
+ if (last_nonopt > optind)
+ last_nonopt = optind;
+ if (first_nonopt > optind)
+ first_nonopt = optind;
+
+ if (ordering == PERMUTE)
+ {
+ /* If we have just processed some options following some non-options,
+ exchange them so that the options come first. */
+
+ if (first_nonopt != last_nonopt && last_nonopt != optind)
+ exchange ((char **) argv);
+ else if (last_nonopt != optind)
+ first_nonopt = optind;
+
+ /* Skip any additional non-options
+ and extend the range of non-options previously skipped. */
+
+ while (optind < argc && NONOPTION_P)
+ optind++;
+ last_nonopt = optind;
+ }
+
+ /* The special ARGV-element `--' means premature end of options.
+ Skip it like a null option,
+ then exchange with previous non-options as if it were an option,
+ then skip everything else like a non-option. */
+
+ if (optind != argc && !strcmp (argv[optind], "--"))
+ {
+ optind++;
+
+ if (first_nonopt != last_nonopt && last_nonopt != optind)
+ exchange ((char **) argv);
+ else if (first_nonopt == last_nonopt)
+ first_nonopt = optind;
+ last_nonopt = argc;
+
+ optind = argc;
+ }
+
+ /* If we have done all the ARGV-elements, stop the scan
+ and back over any non-options that we skipped and permuted. */
+
+ if (optind == argc)
+ {
+ /* Set the next-arg-index to point at the non-options
+ that we previously skipped, so the caller will digest them. */
+ if (first_nonopt != last_nonopt)
+ optind = first_nonopt;
+ return -1;
+ }
+
+ /* If we have come to a non-option and did not permute it,
+ either stop the scan or describe it to the caller and pass it by. */
+
+ if (NONOPTION_P)
+ {
+ if (ordering == REQUIRE_ORDER)
+ return -1;
+ optarg = argv[optind++];
+ return 1;
+ }
+
+ /* We have found another option-ARGV-element.
+ Skip the initial punctuation. */
+
+ nextchar = (argv[optind] + 1
+ + (longopts != NULL && argv[optind][1] == '-'));
+ }
+
+ /* Decode the current option-ARGV-element. */
+
+ /* Check whether the ARGV-element is a long option.
+
+ If long_only and the ARGV-element has the form "-f", where f is
+ a valid short option, don't consider it an abbreviated form of
+ a long option that starts with f. Otherwise there would be no
+ way to give the -f short option.
+
+ On the other hand, if there's a long option "fubar" and
+ the ARGV-element is "-fu", do consider that an abbreviation of
+ the long option, just like "--fu", and not "-f" with arg "u".
+
+ This distinction seems to be the most useful approach. */
+
+ if (longopts != NULL
+ && (argv[optind][1] == '-'
+ || (long_only && (argv[optind][2] || !my_index (optstring, argv[optind][1])))))
+ {
+ char *nameend;
+ const struct option *p;
+ const struct option *pfound = NULL;
+ int exact = 0;
+ int ambig = 0;
+ int indfound = -1;
+ int option_index;
+
+ for (nameend = nextchar; *nameend && *nameend != '='; nameend++)
+ /* Do nothing. */ ;
+
+ /* Test all long options for either exact match
+ or abbreviated matches. */
+ for (p = longopts, option_index = 0; p->name; p++, option_index++)
+ if (!strncmp (p->name, nextchar, nameend - nextchar))
+ {
+ if ((unsigned int) (nameend - nextchar)
+ == (unsigned int) strlen (p->name))
+ {
+ /* Exact match found. */
+ pfound = p;
+ indfound = option_index;
+ exact = 1;
+ break;
+ }
+ else if (pfound == NULL)
+ {
+ /* First nonexact match found. */
+ pfound = p;
+ indfound = option_index;
+ }
+ else if (long_only
+ || pfound->has_arg != p->has_arg
+ || pfound->flag != p->flag
+ || pfound->val != p->val)
+ /* Second or later nonexact match found. */
+ ambig = 1;
+ }
+
+ if (ambig && !exact)
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+
+ __asprintf (&buf, _("%s: option `%s' is ambiguous\n"),
+ argv[0], argv[optind]);
+
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#else
+ fprintf (stderr, _("%s: option `%s' is ambiguous\n"),
+ argv[0], argv[optind]);
+#endif
+ }
+ nextchar += strlen (nextchar);
+ optind++;
+ optopt = 0;
+ return '?';
+ }
+
+ if (pfound != NULL)
+ {
+ option_index = indfound;
+ optind++;
+ if (*nameend)
+ {
+ /* Don't test has_arg with >, because some C compilers don't
+ allow it to be used on enums. */
+ if (pfound->has_arg)
+ optarg = nameend + 1;
+ else
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+#endif
+
+ if (argv[optind - 1][1] == '-')
+ {
+ /* --option */
+#if defined _LIBC && defined USE_IN_LIBIO
+ __asprintf (&buf, _("\
+%s: option `--%s' doesn't allow an argument\n"),
+ argv[0], pfound->name);
+#else
+ fprintf (stderr, _("\
+%s: option `--%s' doesn't allow an argument\n"),
+ argv[0], pfound->name);
+#endif
+ }
+ else
+ {
+ /* +option or -option */
+#if defined _LIBC && defined USE_IN_LIBIO
+ __asprintf (&buf, _("\
+%s: option `%c%s' doesn't allow an argument\n"),
+ argv[0], argv[optind - 1][0],
+ pfound->name);
+#else
+ fprintf (stderr, _("\
+%s: option `%c%s' doesn't allow an argument\n"),
+ argv[0], argv[optind - 1][0], pfound->name);
+#endif
+ }
+
+#if defined _LIBC && defined USE_IN_LIBIO
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#endif
+ }
+
+ nextchar += strlen (nextchar);
+
+ optopt = pfound->val;
+ return '?';
+ }
+ }
+ else if (pfound->has_arg == 1)
+ {
+ if (optind < argc)
+ optarg = argv[optind++];
+ else
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+
+ __asprintf (&buf,
+ _("%s: option `%s' requires an argument\n"),
+ argv[0], argv[optind - 1]);
+
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#else
+ fprintf (stderr,
+ _("%s: option `%s' requires an argument\n"),
+ argv[0], argv[optind - 1]);
+#endif
+ }
+ nextchar += strlen (nextchar);
+ optopt = pfound->val;
+ return optstring[0] == ':' ? ':' : '?';
+ }
+ }
+ nextchar += strlen (nextchar);
+ if (longind != NULL)
+ *longind = option_index;
+ if (pfound->flag)
+ {
+ *(pfound->flag) = pfound->val;
+ return 0;
+ }
+ return pfound->val;
+ }
+
+ /* Can't find it as a long option. If this is not getopt_long_only,
+ or the option starts with '--' or is not a valid short
+ option, then it's an error.
+ Otherwise interpret it as a short option. */
+ if (!long_only || argv[optind][1] == '-'
+ || my_index (optstring, *nextchar) == NULL)
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+#endif
+
+ if (argv[optind][1] == '-')
+ {
+ /* --option */
+#if defined _LIBC && defined USE_IN_LIBIO
+ __asprintf (&buf, _("%s: unrecognized option `--%s'\n"),
+ argv[0], nextchar);
+#else
+ fprintf (stderr, _("%s: unrecognized option `--%s'\n"),
+ argv[0], nextchar);
+#endif
+ }
+ else
+ {
+ /* +option or -option */
+#if defined _LIBC && defined USE_IN_LIBIO
+ __asprintf (&buf, _("%s: unrecognized option `%c%s'\n"),
+ argv[0], argv[optind][0], nextchar);
+#else
+ fprintf (stderr, _("%s: unrecognized option `%c%s'\n"),
+ argv[0], argv[optind][0], nextchar);
+#endif
+ }
+
+#if defined _LIBC && defined USE_IN_LIBIO
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#endif
+ }
+ nextchar = (char *) "";
+ optind++;
+ optopt = 0;
+ return '?';
+ }
+ }
+
+ /* Look at and handle the next short option-character. */
+
+ {
+ char c = *nextchar++;
+ char *temp = my_index (optstring, c);
+
+ /* Increment `optind' when we start to process its last character. */
+ if (*nextchar == '\0')
+ ++optind;
+
+ if (temp == NULL || c == ':')
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+#endif
+
+ if (posixly_correct)
+ {
+ /* 1003.2 specifies the format of this message. */
+#if defined _LIBC && defined USE_IN_LIBIO
+ __asprintf (&buf, _("%s: illegal option -- %c\n"),
+ argv[0], c);
+#else
+ fprintf (stderr, _("%s: illegal option -- %c\n"), argv[0], c);
+#endif
+ }
+ else
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ __asprintf (&buf, _("%s: invalid option -- %c\n"),
+ argv[0], c);
+#else
+ fprintf (stderr, _("%s: invalid option -- %c\n"), argv[0], c);
+#endif
+ }
+
+#if defined _LIBC && defined USE_IN_LIBIO
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#endif
+ }
+ optopt = c;
+ return '?';
+ }
+ /* Convenience. Treat POSIX -W foo same as long option --foo */
+ if (temp[0] == 'W' && temp[1] == ';')
+ {
+ char *nameend;
+ const struct option *p;
+ const struct option *pfound = NULL;
+ int exact = 0;
+ int ambig = 0;
+ int indfound = 0;
+ int option_index;
+
+ /* This is an option that requires an argument. */
+ if (*nextchar != '\0')
+ {
+ optarg = nextchar;
+ /* If we end this ARGV-element by taking the rest as an arg,
+ we must advance to the next element now. */
+ optind++;
+ }
+ else if (optind == argc)
+ {
+ if (print_errors)
+ {
+ /* 1003.2 specifies the format of this message. */
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+
+ __asprintf (&buf, _("%s: option requires an argument -- %c\n"),
+ argv[0], c);
+
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#else
+ fprintf (stderr, _("%s: option requires an argument -- %c\n"),
+ argv[0], c);
+#endif
+ }
+ optopt = c;
+ if (optstring[0] == ':')
+ c = ':';
+ else
+ c = '?';
+ return c;
+ }
+ else
+ /* We already incremented `optind' once;
+ increment it again when taking next ARGV-elt as argument. */
+ optarg = argv[optind++];
+
+ /* optarg is now the argument, see if it's in the
+ table of longopts. */
+
+ for (nextchar = nameend = optarg; *nameend && *nameend != '='; nameend++)
+ /* Do nothing. */ ;
+
+ /* Test all long options for either exact match
+ or abbreviated matches. */
+ for (p = longopts, option_index = 0; p->name; p++, option_index++)
+ if (!strncmp (p->name, nextchar, nameend - nextchar))
+ {
+ if ((unsigned int) (nameend - nextchar) == strlen (p->name))
+ {
+ /* Exact match found. */
+ pfound = p;
+ indfound = option_index;
+ exact = 1;
+ break;
+ }
+ else if (pfound == NULL)
+ {
+ /* First nonexact match found. */
+ pfound = p;
+ indfound = option_index;
+ }
+ else
+ /* Second or later nonexact match found. */
+ ambig = 1;
+ }
+ if (ambig && !exact)
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+
+ __asprintf (&buf, _("%s: option `-W %s' is ambiguous\n"),
+ argv[0], argv[optind]);
+
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#else
+ fprintf (stderr, _("%s: option `-W %s' is ambiguous\n"),
+ argv[0], argv[optind]);
+#endif
+ }
+ nextchar += strlen (nextchar);
+ optind++;
+ return '?';
+ }
+ if (pfound != NULL)
+ {
+ option_index = indfound;
+ if (*nameend)
+ {
+ /* Don't test has_arg with >, because some C compilers don't
+ allow it to be used on enums. */
+ if (pfound->has_arg)
+ optarg = nameend + 1;
+ else
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+
+ __asprintf (&buf, _("\
+%s: option `-W %s' doesn't allow an argument\n"),
+ argv[0], pfound->name);
+
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#else
+ fprintf (stderr, _("\
+%s: option `-W %s' doesn't allow an argument\n"),
+ argv[0], pfound->name);
+#endif
+ }
+
+ nextchar += strlen (nextchar);
+ return '?';
+ }
+ }
+ else if (pfound->has_arg == 1)
+ {
+ if (optind < argc)
+ optarg = argv[optind++];
+ else
+ {
+ if (print_errors)
+ {
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+
+ __asprintf (&buf, _("\
+%s: option `%s' requires an argument\n"),
+ argv[0], argv[optind - 1]);
+
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#else
+ fprintf (stderr,
+ _("%s: option `%s' requires an argument\n"),
+ argv[0], argv[optind - 1]);
+#endif
+ }
+ nextchar += strlen (nextchar);
+ return optstring[0] == ':' ? ':' : '?';
+ }
+ }
+ nextchar += strlen (nextchar);
+ if (longind != NULL)
+ *longind = option_index;
+ if (pfound->flag)
+ {
+ *(pfound->flag) = pfound->val;
+ return 0;
+ }
+ return pfound->val;
+ }
+ nextchar = NULL;
+ return 'W'; /* Let the application handle it. */
+ }
+ if (temp[1] == ':')
+ {
+ if (temp[2] == ':')
+ {
+ /* This is an option that accepts an argument optionally. */
+ if (*nextchar != '\0')
+ {
+ optarg = nextchar;
+ optind++;
+ }
+ else
+ optarg = NULL;
+ nextchar = NULL;
+ }
+ else
+ {
+ /* This is an option that requires an argument. */
+ if (*nextchar != '\0')
+ {
+ optarg = nextchar;
+ /* If we end this ARGV-element by taking the rest as an arg,
+ we must advance to the next element now. */
+ optind++;
+ }
+ else if (optind == argc)
+ {
+ if (print_errors)
+ {
+ /* 1003.2 specifies the format of this message. */
+#if defined _LIBC && defined USE_IN_LIBIO
+ char *buf;
+
+ __asprintf (&buf,
+ _("%s: option requires an argument -- %c\n"),
+ argv[0], c);
+
+ if (_IO_fwide (stderr, 0) > 0)
+ __fwprintf (stderr, L"%s", buf);
+ else
+ fputs (buf, stderr);
+
+ free (buf);
+#else
+ fprintf (stderr,
+ _("%s: option requires an argument -- %c\n"),
+ argv[0], c);
+#endif
+ }
+ optopt = c;
+ if (optstring[0] == ':')
+ c = ':';
+ else
+ c = '?';
+ }
+ else
+ /* We already incremented `optind' once;
+ increment it again when taking next ARGV-elt as argument. */
+ optarg = argv[optind++];
+ nextchar = NULL;
+ }
+ }
+ return c;
+ }
+}
+
+int
+getopt (argc, argv, optstring)
+ int argc;
+ char *const *argv;
+ const char *optstring;
+{
+ return _getopt_internal (argc, argv, optstring,
+ (const struct option *) 0,
+ (int *) 0,
+ 0);
+}
+
+#endif /* Not ELIDE_CODE. */
+
+
+/* Compile with -DTEST to make an executable for use in testing
+ the above definition of `getopt'. */
+
+/* #define TEST */ /* Pete Wilson mod 7/28/02 */
+#ifdef TEST
+
+#ifndef exit /* Pete Wilson mod 7/28/02 */
+ int exit(int); /* Pete Wilson mod 7/28/02 */
+#endif /* Pete Wilson mod 7/28/02 */
+
+int
+main (argc, argv)
+ int argc;
+ char **argv;
+{
+ int c;
+ int digit_optind = 0;
+
+ while (1)
+ {
+ int this_option_optind = optind ? optind : 1;
+
+ c = getopt (argc, argv, "abc:d:0123456789");
+ if (c == -1)
+ break;
+
+ switch (c)
+ {
+ case '0':
+ case '1':
+ case '2':
+ case '3':
+ case '4':
+ case '5':
+ case '6':
+ case '7':
+ case '8':
+ case '9':
+ if (digit_optind != 0 && digit_optind != this_option_optind)
+ printf ("digits occur in two different argv-elements.\n");
+ digit_optind = this_option_optind;
+ printf ("option %c\n", c);
+ break;
+
+ case 'a':
+ printf ("option a\n");
+ break;
+
+ case 'b':
+ printf ("option b\n");
+ break;
+
+ case 'c':
+ printf ("option c with value `%s'\n", optarg);
+ break;
+
+ case '?':
+ break;
+
+ default:
+ printf ("?? getopt returned character code 0%o ??\n", c);
+ }
+ }
+
+ if (optind < argc)
+ {
+ printf ("non-option ARGV-elements: ");
+ while (optind < argc)
+ printf ("%s ", argv[optind++]);
+ printf ("\n");
+ }
+
+ exit (0);
+}
+
+#endif /* TEST */
diff -r 3ebf16150b2e -r e747d2e26af0 examples/TestMasterSlave/getopt.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterSlave/getopt.h Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,191 @@
+/* from http://www.pwilson.net/getopt.html */
+
+/* getopt.h */
+/* Declarations for getopt.
+ Copyright (C) 1989-1994, 1996-1999, 2001 Free Software
+ Foundation, Inc. This file is part of the GNU C Library.
+
+ The GNU C 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.
+
+ The GNU C 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 the GNU C Library; if not, write
+ to the Free Software Foundation, Inc., 59 Temple Place,
+ Suite 330, Boston, MA 02111-1307 USA. */
+
+
+
+
+
+#ifndef _GETOPT_H
+
+#ifndef __need_getopt
+# define _GETOPT_H 1
+#endif
+
+/* If __GNU_LIBRARY__ is not already defined, either we are being used
+ standalone, or this is the first header included in the source file.
+ If we are being used with glibc, we need to include , but
+ that does not exist if we are standalone. So: if __GNU_LIBRARY__ is
+ not defined, include , which will pull in for us
+ if it's from glibc. (Why ctype.h? It's guaranteed to exist and it
+ doesn't flood the namespace with stuff the way some other headers do.) */
+#if !defined __GNU_LIBRARY__
+# include
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* For communication from `getopt' to the caller.
+ When `getopt' finds an option that takes an argument,
+ the argument value is returned here.
+ Also, when `ordering' is RETURN_IN_ORDER,
+ each non-option ARGV-element is returned here. */
+
+extern char *optarg;
+
+/* Index in ARGV of the next element to be scanned.
+ This is used for communication to and from the caller
+ and for communication between successive calls to `getopt'.
+
+ On entry to `getopt', zero means this is the first call; initialize.
+
+ When `getopt' returns -1, this is the index of the first of the
+ non-option elements that the caller should itself scan.
+
+ Otherwise, `optind' communicates from one call to the next
+ how much of ARGV has been scanned so far. */
+
+extern int optind;
+
+/* Callers store zero here to inhibit the error message `getopt' prints
+ for unrecognized options. */
+
+extern int opterr;
+
+/* Set to an option character which was unrecognized. */
+
+extern int optopt;
+
+#ifndef __need_getopt
+/* Describe the long-named options requested by the application.
+ The LONG_OPTIONS argument to getopt_long or getopt_long_only is a vector
+ of `struct option' terminated by an element containing a name which is
+ zero.
+
+ The field `has_arg' is:
+ no_argument (or 0) if the option does not take an argument,
+ required_argument (or 1) if the option requires an argument,
+ optional_argument (or 2) if the option takes an optional argument.
+
+ If the field `flag' is not NULL, it points to a variable that is set
+ to the value given in the field `val' when the option is found, but
+ left unchanged if the option is not found.
+
+ To have a long-named option do something other than set an `int' to
+ a compiled-in constant, such as set a value from `optarg', set the
+ option's `flag' field to zero and its `val' field to a nonzero
+ value (the equivalent single-letter option character, if there is
+ one). For long options that have a zero `flag' field, `getopt'
+ returns the contents of the `val' field. */
+
+struct option
+{
+# if (defined __STDC__ && __STDC__) || defined __cplusplus
+ const char *name;
+# else
+ char *name;
+# endif
+ /* has_arg can't be an enum because some compilers complain about
+ type mismatches in all the code that assumes it is an int. */
+ int has_arg;
+ int *flag;
+ int val;
+};
+
+/* Names for the values of the `has_arg' field of `struct option'. */
+
+# define no_argument 0
+# define required_argument 1
+# define optional_argument 2
+#endif /* need getopt */
+
+
+/* Get definitions and prototypes for functions to process the
+ arguments in ARGV (ARGC of them, minus the program name) for
+ options given in OPTS.
+
+ Return the option character from OPTS just read. Return -1 when
+ there are no more options. For unrecognized options, or options
+ missing arguments, `optopt' is set to the option letter, and '?' is
+ returned.
+
+ The OPTS string is a list of characters which are recognized option
+ letters, optionally followed by colons, specifying that that letter
+ takes an argument, to be placed in `optarg'.
+
+ If a letter in OPTS is followed by two colons, its argument is
+ optional. This behavior is specific to the GNU `getopt'.
+
+ The argument `--' causes premature termination of argument
+ scanning, explicitly telling `getopt' that there are no more
+ options.
+
+ If OPTS begins with `--', then non-option arguments are treated as
+ arguments to the option '\0'. This behavior is specific to the GNU
+ `getopt'. */
+
+#if (defined __STDC__ && __STDC__) || defined __cplusplus
+# ifdef __GNU_LIBRARY__
+/* Many other libraries have conflicting prototypes for getopt, with
+ differences in the consts, in stdlib.h. To avoid compilation
+ errors, only prototype getopt for the GNU C library. */
+extern int getopt (int ___argc, char *const *___argv, const char *__shortopts);
+# else /* not __GNU_LIBRARY__ */
+extern int getopt ();
+# endif /* __GNU_LIBRARY__ */
+
+# ifndef __need_getopt
+extern int getopt_long (int ___argc, char *const *___argv,
+ const char *__shortopts,
+ const struct option *__longopts, int *__longind);
+extern int getopt_long_only (int ___argc, char *const *___argv,
+ const char *__shortopts,
+ const struct option *__longopts, int *__longind);
+
+/* Internal only. Users should not call this directly. */
+extern int _getopt_internal (int ___argc, char *const *___argv,
+ const char *__shortopts,
+ const struct option *__longopts, int *__longind,
+ int __long_only);
+# endif
+#else /* not __STDC__ */
+extern int getopt ();
+# ifndef __need_getopt
+extern int getopt_long ();
+extern int getopt_long_only ();
+
+extern int _getopt_internal ();
+# endif
+#endif /* __STDC__ */
+
+#ifdef __cplusplus
+}
+#endif
+
+/* Make sure we later can get all the definitions and declarations. */
+#undef __need_getopt
+
+#endif /* getopt.h */
+
diff -r 3ebf16150b2e -r e747d2e26af0 examples/win32test/.cvsignore
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/win32test/.cvsignore Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,3 @@
+Debug
+win32test.vcproj.KONG.edouard.user
+Release
diff -r 3ebf16150b2e -r e747d2e26af0 examples/win32test/main.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/win32test/main.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,247 @@
+/**************************************************************************
+CanFestival3 win32 port example
+
+This sample demonstrates CanFestival usage with Win32
+
+Program implements master node. It starts CANOpen slave node, modifies OD,
+performs SDO reads and prints some slave node information.
+
+Usage:
+
+ win32test
+
+ where node_id is node ID in decimal format
+
+You should have CanFestival-3.dll CAN-uVCCM.dll in the search path to run this sample.
+Code will work with non-UNICODE CanFestival-3.dll CAN-uVCCM.dll libraries.
+
+Sample can work on other platdorms as well.
+
+Copyright (C) 2007 Leonid Tochinski (ltochinski AT chattenassociates DOT com)
+***************************************************************************/
+
+#include
+#include
+#include "win32test.h"
+#include "canfestival.h"
+
+#ifdef WIN32
+#define sleep_proc(ms) Sleep(ms)
+#define uptime_ms_proc() GetTickCount()
+#else
+#include
+#define sleep_proc(ms)
+#define uptime_ms_proc (1000*(time()%86400)) // TOD
+#endif
+
+/* required canfestival callbacks. */
+void win32test_SDOtimeoutError(UNS8 line)
+ {
+ }
+
+void win32test_heartbeatError(UNS8 node_id)
+ {
+ }
+
+void win32test_initialisation(void)
+ {
+ }
+
+void win32test_preOperational(void)
+ {
+ }
+
+void win32test_operational(void)
+ {
+ }
+
+void win32test_stopped(void)
+ {
+ }
+
+void win32test_post_sync(void)
+ {
+ }
+
+void win32test_post_TPDO(void)
+ {
+ }
+
+static CAN_HANDLE g_MasterCanHandle = NULL;
+
+UNS8 win32test_canSend(Message *m)
+ {
+ if (g_MasterCanHandle != NULL)
+ return canSend(g_MasterCanHandle, m);
+ return 1;
+ }
+
+UNS8 GetChangeStateResults(UNS8 node_id, UNS8 expected_state, unsigned long timeout_ms)
+ {
+ unsigned long start_time = 0;
+
+ // reset nodes state
+ win32test_Data.NMTable[node_id] = Unknown_state;
+
+ // request node state
+ masterRequestNodeState(&win32test_Data, node_id);
+
+ start_time = uptime_ms_proc();
+ while(uptime_ms_proc() - start_time < timeout_ms)
+ {
+ if (getNodeState(&win32test_Data, node_id) == expected_state)
+ return 0;
+ sleep_proc(1);
+ }
+ return 0xFF;
+ }
+
+UNS8 ReadSDO(UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, void* data, UNS8* size)
+ {
+ UNS32 abortCode = 0;
+ UNS8 res = SDO_UPLOAD_IN_PROGRESS;
+ // Read SDO
+ UNS8 err = readNetworkDict (&win32test_Data, nodeId, index, subIndex, dataType);
+ if (err)
+ return 0xFF;
+ for(;;)
+ {
+ res = getReadResultNetworkDict (&win32test_Data, nodeId, data, size, &abortCode);
+ if (res != SDO_UPLOAD_IN_PROGRESS)
+ break;
+ sleep_proc(1);
+ continue;
+ }
+ closeSDOtransfer(&win32test_Data, nodeId, SDO_CLIENT);
+ if (res == SDO_FINISHED)
+ return 0;
+ return 0xFF;
+ }
+
+int main(int argc, char *argv[])
+ {
+ UNS8 node_id = 0;
+ s_BOARD MasterBoard = {"1", "125K"};
+ char* dll_file_name;
+
+ /* process command line arguments */
+ if (argc < 2)
+ {
+ printf("USAGE: win32test node_id [dll_file_name]\n");
+ return 1;
+ }
+
+ node_id = atoi(argv[1]);
+ if (node_id < 2 || node_id > 127)
+ {
+ printf("ERROR: node_id shoule be >=2 and <= 127\n");
+ return 1;
+ }
+
+ if (argc > 2)
+ dll_file_name = argv[2];
+ else
+ dll_file_name = "can_uvccm_win32.dll";
+
+ // load can driver
+ if (!LoadCanDriver(dll_file_name))
+ {
+ printf("ERROR: could not load diver %s\n", dll_file_name);
+ return 1;
+ }
+
+ g_MasterCanHandle = canOpen(&MasterBoard,&win32test_Data);
+
+ if (g_MasterCanHandle)
+ {
+ /* Defining the node Id */
+ setNodeId(&win32test_Data, 0x01);
+
+ /* init */
+ setState(&win32test_Data, Initialisation);
+
+ /****************************** START *******************************/
+ /* Put the master in operational mode */
+ setState(&win32test_Data, Operational);
+
+ /* Ask slave node to go in operational mode */
+ masterSendNMTstateChange (&win32test_Data, 0, NMT_Start_Node);
+
+ printf("\nStarting node %d (%xh) ...\n",(int)node_id,(int)node_id);
+
+ /* wait untill mode will switch to operational state*/
+ if (GetChangeStateResults(node_id, Operational, 3000) != 0xFF)
+ {
+ /* modify Client SDO 1 Parameter */
+ UNS32 COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id;
+ UNS32 COB_ID_Server_to_Client_Receive_SDO = 0x580 + node_id;
+ UNS32 Node_ID_of_the_SDO_Server = node_id;
+ UNS8 ExpectedSize = sizeof (UNS32);
+
+ if (OD_SUCCESSFUL == setODentry(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW)
+ && OD_SUCCESSFUL == setODentry(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW)
+ && OD_SUCCESSFUL == setODentry(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, RW))
+ {
+ UNS32 dev_type = 0;
+ char device_name[64]="";
+ char hw_ver[64]="";
+ char sw_ver[64]="";
+ UNS32 vendor_id = 0;
+ UNS32 prod_code = 0;
+ UNS32 ser_num = 0;
+ UNS8 size;
+ UNS8 res;
+
+ printf("\nnode_id: %d (%xh) info\n",(int)node_id,(int)node_id);
+ printf("********************************************\n");
+
+ size = sizeof (dev_type);
+ res = ReadSDO(node_id, 0x1000, 0, uint32, &dev_type, &size);
+ printf("device type: %d\n",dev_type & 0xFFFF);
+
+ size = sizeof (device_name);
+ res = ReadSDO(node_id, 0x1008, 0, visible_string, device_name, &size);
+ printf("device name: %s\n",device_name);
+
+ size = sizeof (hw_ver);
+ res = ReadSDO(node_id, 0x1009, 0, visible_string, hw_ver, &size);
+ printf("HW version: %s\n",hw_ver);
+
+ size = sizeof (sw_ver);
+ res = ReadSDO(node_id, 0x100A, 0, visible_string, sw_ver, &size);
+ printf("SW version: %s\n",sw_ver);
+
+ size = sizeof (vendor_id);
+ res = ReadSDO(node_id, 0x1018, 1, uint32, &vendor_id, &size);
+ printf("vendor id: %d\n",vendor_id);
+
+ size = sizeof (prod_code);
+ res = ReadSDO(node_id, 0x1018, 2, uint32, &prod_code, &size);
+ printf("product code: %d\n",prod_code);
+
+ size = sizeof (ser_num);
+ res = ReadSDO(node_id, 0x1018, 4, uint32, &ser_num, &size);
+ printf("serial number: %d\n",ser_num);
+
+ printf("********************************************\n");
+ }
+ else
+ {
+ printf("ERROR: Object dictionary access failed\n");
+ }
+ }
+ else
+ {
+ printf("ERROR: node_id %d (%xh) is not responding\n",(int)node_id,(int)node_id);
+ }
+
+ masterSendNMTstateChange (&win32test_Data, 0x02, NMT_Stop_Node);
+
+ setState(&win32test_Data, Stopped);
+
+ canClose(g_MasterCanHandle);
+ }
+ return 0;
+ }
+
+
\ No newline at end of file
diff -r 3ebf16150b2e -r e747d2e26af0 examples/win32test/win32test.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/win32test/win32test.c Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,159 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#include "win32test.h"
+
+/**************************************************************************/
+/* Declaration of the mapped variables */
+/**************************************************************************/
+
+/**************************************************************************/
+/* Declaration of the value range types */
+/**************************************************************************/
+
+UNS32 win32test_valueRangeTest (UNS8 typeValue, void * value)
+{
+ switch (typeValue) {
+ }
+ return 0;
+}
+
+/**************************************************************************/
+/* The node id */
+/**************************************************************************/
+/* node_id default value.*/
+UNS8 win32test_bDeviceNodeId = 0x01;
+
+/**************************************************************************/
+/* Array of message processing information */
+
+const UNS8 win32test_iam_a_slave = 0;
+
+TIMER_HANDLE win32test_heartBeatTimers[1];
+
+/*
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+
+ OBJECT DICTIONARY
+
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+*/
+
+/* index 0x1000 : Device Type. */
+ UNS32 win32test_obj1000 = 0x12D; /* 301 */
+ subindex win32test_Index1000[] =
+ {
+ { RO, uint32, sizeof (UNS32), (void*)&win32test_obj1000 }
+ };
+
+/* index 0x1001 : Error Register. */
+ UNS8 win32test_obj1001 = 0x0; /* 0 */
+ subindex win32test_Index1001[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&win32test_obj1001 }
+ };
+
+/* index 0x1005 : SYNC COB ID. */
+ UNS32 win32test_obj1005 = 0x0; /* 0 */
+ ODCallback_t win32test_Index1005_callbacks[] =
+ {
+ NULL,
+ };
+ subindex win32test_Index1005[] =
+ {
+ { RW, uint32, sizeof (UNS32), (void*)&win32test_obj1005 }
+ };
+
+/* index 0x1006 : Communication / Cycle Period */
+ UNS32 win32test_obj1006 = 0x0; /* 0 */
+
+/* index 0x1016 : Consumer Heartbeat Time */
+ UNS8 win32test_highestSubIndex_obj1016 = 0;
+ UNS32 win32test_obj1016[]={0};
+
+/* index 0x1017 : Producer Heartbeat Time */
+ UNS16 win32test_obj1017 = 0x0; /* 0 */
+
+/* index 0x1018 : Identity. */
+ UNS8 win32test_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
+ UNS32 win32test_obj1018_Vendor_ID = 0x0; /* 0 */
+ UNS32 win32test_obj1018_Product_Code = 0x0; /* 0 */
+ UNS32 win32test_obj1018_Revision_Number = 0x0; /* 0 */
+ UNS32 win32test_obj1018_Serial_Number = 0x0; /* 0 */
+ subindex win32test_Index1018[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&win32test_highestSubIndex_obj1018 },
+ { RO, uint32, sizeof (UNS32), (void*)&win32test_obj1018_Vendor_ID },
+ { RO, uint32, sizeof (UNS32), (void*)&win32test_obj1018_Product_Code },
+ { RO, uint32, sizeof (UNS32), (void*)&win32test_obj1018_Revision_Number },
+ { RO, uint32, sizeof (UNS32), (void*)&win32test_obj1018_Serial_Number }
+ };
+
+/* index 0x1280 : Client SDO 1 Parameter. */
+ UNS8 win32test_highestSubIndex_obj1280 = 3; /* number of subindex - 1*/
+ UNS32 win32test_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x0; /* 0 */
+ UNS32 win32test_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x0; /* 0 */
+ UNS32 win32test_obj1280_Node_ID_of_the_SDO_Server = 0x0; /* 0 */
+ subindex win32test_Index1280[] =
+ {
+ { RO, uint8, sizeof (UNS8), (void*)&win32test_highestSubIndex_obj1280 },
+ { RW, uint32, sizeof (UNS32), (void*)&win32test_obj1280_COB_ID_Client_to_Server_Transmit_SDO },
+ { RW, uint32, sizeof (UNS32), (void*)&win32test_obj1280_COB_ID_Server_to_Client_Receive_SDO },
+ { RW, uint32, sizeof (UNS32), (void*)&win32test_obj1280_Node_ID_of_the_SDO_Server }
+ };
+
+const indextable win32test_objdict[] =
+{
+ { (subindex*)win32test_Index1000,sizeof(win32test_Index1000)/sizeof(win32test_Index1000[0]), 0x1000},
+ { (subindex*)win32test_Index1001,sizeof(win32test_Index1001)/sizeof(win32test_Index1001[0]), 0x1001},
+ { (subindex*)win32test_Index1005,sizeof(win32test_Index1005)/sizeof(win32test_Index1005[0]), 0x1005},
+ { (subindex*)win32test_Index1018,sizeof(win32test_Index1018)/sizeof(win32test_Index1018[0]), 0x1018},
+ { (subindex*)win32test_Index1280,sizeof(win32test_Index1280)/sizeof(win32test_Index1280[0]), 0x1280},
+};
+
+const indextable * win32test_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
+{
+ int i;
+ *callbacks = NULL;
+ switch(wIndex){
+ case 0x1000: i = 0;break;
+ case 0x1001: i = 1;break;
+ case 0x1005: i = 2;*callbacks = win32test_Index1005_callbacks; break;
+ case 0x1018: i = 3;break;
+ case 0x1280: i = 4;break;
+ default:
+ *errorCode = OD_NO_SUCH_OBJECT;
+ return NULL;
+ }
+ *errorCode = OD_SUCCESSFUL;
+ return &win32test_objdict[i];
+}
+
+/* To count at which received SYNC a PDO must be sent.
+ * Even if no pdoTransmit are defined, at least one entry is computed
+ * for compilations issues.
+ */
+UNS8 win32test_count_sync[1] = {0,};
+
+quick_index win32test_firstIndex = {
+ 0, /* SDO_SVR */
+ 4, /* SDO_CLT */
+ 0, /* PDO_RCV */
+ 0, /* PDO_RCV_MAP */
+ 0, /* PDO_TRS */
+ 0 /* PDO_TRS_MAP */
+};
+
+quick_index win32test_lastIndex = {
+ 0, /* SDO_SVR */
+ 4, /* SDO_CLT */
+ 0, /* PDO_RCV */
+ 0, /* PDO_RCV_MAP */
+ 0, /* PDO_TRS */
+ 0 /* PDO_TRS_MAP */
+};
+
+UNS16 win32test_ObjdictSize = sizeof(win32test_objdict)/sizeof(win32test_objdict[0]);
+
+CO_Data win32test_Data = CANOPEN_NODE_DATA_INITIALIZER(win32test);
+
diff -r 3ebf16150b2e -r e747d2e26af0 examples/win32test/win32test.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/win32test/win32test.h Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,26 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#include "data.h"
+
+/* Prototypes of function provided by object dictionnary */
+UNS32 win32test_valueRangeTest (UNS8 typeValue, void * value);
+const indextable * win32test_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
+
+/* prototypes of function to be filled by app. */
+void win32test_SDOtimeoutError(UNS8 line);
+void win32test_heartbeatError(UNS8);
+
+UNS8 win32test_canSend(Message *);
+
+void win32test_initialisation(void);
+void win32test_preOperational(void);
+void win32test_operational(void);
+void win32test_stopped(void);
+
+void win32test_post_sync(void);
+void win32test_post_TPDO(void);
+
+/* Master node data struct */
+extern CO_Data win32test_Data;
+
diff -r 3ebf16150b2e -r e747d2e26af0 examples/win32test/win32test.od
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/win32test/win32test.od Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,49 @@
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