# HG changeset patch # User etisserant # Date 1176270634 -7200 # Node ID ebf4bd44f2822a6b7dfe7f4e074dc4514db8f2f5 # Parent d2fc5d5f8a3624040004bdbb745e63c41c72ed92 Updated doc. Cleaned some code. diff -r d2fc5d5f8a36 -r ebf4bd44f282 doc/canfestival_OS.png Binary file doc/canfestival_OS.png has changed diff -r d2fc5d5f8a36 -r ebf4bd44f282 doc/canfestival_OS.svg --- a/doc/canfestival_OS.svg Sat Apr 07 09:49:05 2007 +0200 +++ b/doc/canfestival_OS.svg Wed Apr 11 07:50:34 2007 +0200 @@ -20,7 +20,7 @@ inkscape:export-xdpi="87.57" inkscape:export-ydpi="87.57" inkscape:output_extension="org.inkscape.output.svg.inkscape" - sodipodi:modified="TRUE"> + sodipodi:modified="true"> <defs id="defs4"> <marker @@ -105,16 +105,16 @@ borderopacity="1.0" inkscape:pageopacity="0.0" inkscape:pageshadow="2" - inkscape:zoom="0.6302963" - inkscape:cx="765.19682" - inkscape:cy="373.17074" + inkscape:zoom="1.2605926" + inkscape:cx="740.98173" + inkscape:cy="552.24525" inkscape:document-units="px" inkscape:current-layer="layer1" showguides="true" inkscape:guide-bbox="true" inkscape:window-width="1592" inkscape:window-height="965" - inkscape:window-x="80" + inkscape:window-x="0" inkscape:window-y="0" showgrid="false" gridspacingy="1cm" @@ -809,7 +809,7 @@ sodipodi:role="line" id="tspan5230" x="466.21942" - y="566.78787"> s_BOARD SlaveBoard = {"0", "500K"};</tspan><tspan + y="566.78787"> s_BOARD MyBoard = {"0", "500K"};</tspan><tspan sodipodi:role="line" x="466.21942" y="582.04782" @@ -1140,7 +1140,7 @@ id="tspan6812">scheduled function call.</tspan></text> <path style="opacity:1;color:#ff0000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ff0000;stroke-width:3.4000001;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:url(#Arrow2Mend);stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" - d="M 967.14579,220.52677 C 991.41355,213.9215 964.05968,86.919629 959.18694,82.040011 C 896.38411,19.148526 571.25806,132.9419 379.06207,93.795141" + d="M 967.14579,220.52677 C 991.41355,213.9215 963.66304,74.623825 958.7903,69.744207 C 895.98747,6.8527216 571.25806,132.9419 379.06207,93.795141" id="path6816" sodipodi:nodetypes="csc" /> <path @@ -1187,7 +1187,7 @@ y="670.44073" x="934.95794" sodipodi:role="line" - id="tspan8782">satck calls with</tspan><tspan + id="tspan8782">stack calls with</tspan><tspan y="692.89482" x="934.95795" sodipodi:role="line" diff -r d2fc5d5f8a36 -r ebf4bd44f282 doc/manual/en/manual.odt Binary file doc/manual/en/manual.odt has changed diff -r d2fc5d5f8a36 -r ebf4bd44f282 doc/manual/en/manual.pdf Binary file doc/manual/en/manual.pdf has changed diff -r d2fc5d5f8a36 -r ebf4bd44f282 drivers/can_peak/.cvsignore --- a/drivers/can_peak/.cvsignore Sat Apr 07 09:49:05 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -Makefile diff -r d2fc5d5f8a36 -r ebf4bd44f282 drivers/can_peak/Makefile.in --- a/drivers/can_peak/Makefile.in Sat Apr 07 09:49:05 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,58 +0,0 @@ -#! gmake - -# -# Copyright (C) 2006 Laurent Bessard -# -# This file is part of canfestival, a library implementing the canopen -# stack -# -# This library is free software; you can redistribute it and/or -# modify it under the terms of the GNU Lesser General Public -# License as published by the Free Software Foundation; either -# version 2.1 of the License, or (at your option) any later version. -# -# This library is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -# Lesser General Public License for more details. -# -# You should have received a copy of the GNU Lesser General Public -# License along with this library; if not, write to the Free Software -# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -# - -CC = SUB_CC -OPT_CFLAGS = -O2 -CFLAGS = SUB_OPT_CFLAGS -PROG_CFLAGS = SUB_PROG_CFLAGS -PREFIX = SUB_PREFIX -TARGET = SUB_TARGET -CAN_DRIVER = SUB_CAN_DRIVER -TIMERS_DRIVER = SUB_TIMERS_DRIVER - -INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER) -I../../include/$(TIMERS_DRIVER) - -OBJS = $(CAN_DRIVER).o - -SRC_HFILES = ../../include/$(CAN_DRIVER)/cancfg.h - -TARGET_HFILES = $(PREFIX)/include/canfestival/cancfg.h - -all: driver - -driver: $(OBJS) - -%o: %c - $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $< - -install: - mkdir -p $(PREFIX)/include/canfestival - cp $(SRC_HFILES) $(PREFIX)/include/canfestival - -uninstall: - rm -f $(TARGET_HFILES) - -clean: - rm -f $(OBJS) - -mrproper: clean diff -r d2fc5d5f8a36 -r ebf4bd44f282 drivers/can_peak/can_peak.c --- a/drivers/can_peak/can_peak.c Sat Apr 07 09:49:05 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,168 +0,0 @@ -/* -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 <stdio.h> -#include <string.h> -#include <stdlib.h> -#include <errno.h> -#include <stddef.h> /* for NULL */ -#include <sys/ioctl.h> -#include <fcntl.h> -#include <signal.h> -#include <sys/time.h> -#include <unistd.h> - -/* driver pcan pci for Peak board */ -//#include "libpcan.h" -//#include "pcan.h" - -#include "libpcan.h" // for CAN_HANDLE - -#include <applicfg.h> -#include "timer.h" -#include "can_driver.h" -#include "timers_driver.h" - -#define MAX_NB_CAN_PORTS 16 - -typedef struct { - char used; - HANDLE fd; - TASK_HANDLE receiveTask; - CO_Data* d; -} CANPort; - -CANPort canports[MAX_NB_CAN_PORTS] = {{0,},}; - -// 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(CAN_HANDLE fd0, Message *m) -{ - UNS8 data; - TPCANMsg peakMsg; - if ((errno = CAN_Read(((CANPort*)fd0)->fd, & 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; -} - -void canReceiveLoop(CAN_HANDLE fd0) -{ - CO_Data* d = ((CANPort*)fd0)->d; - Message m; - while (1) { - if(!canReceive(fd0, &m)) - { - EnterMutex(); - canDispatch(d, &m); - LeaveMutex(); - }else{ -// printf("canReceive returned error\n"); - break; - } - } -} - -/***************************************************************************/ -UNS8 canSend(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(((CANPort*)fd0)->fd, & peakMsg))) { - perror("!!! Peak board : error of writing. (from canSend function) \n"); - return 1; - } - return 0; - -} - -/***************************************************************************/ -CAN_HANDLE canOpen(s_BOARD *board) -{ - HANDLE fd0 = NULL; - char busname[64]; - char* pEnd; - int i; - - for(i=0; i < MAX_NB_CAN_PORTS; i++) - { - if(!canports[i].used) - break; - } - - if(strtol(board->busname, &pEnd,0) >= 0) - { - sprintf(busname,"/dev/pcan%s",board->busname); - fd0 = LINUX_CAN_Open(busname, O_RDWR); - } - - if (i==MAX_NB_CAN_PORTS || fd0 == NULL) - { - fprintf (stderr, "Open failed.\n"); - return (CAN_HANDLE)NULL; - } - - CAN_Init(fd0, board->baudrate, CAN_INIT_TYPE_ST); - - canports[i].used = 1; - canports[i].fd = fd0; - - canports[i].d = board->d; - CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask); - - return (CANPort*) &canports[i]; -} - -/***************************************************************************/ -int canClose(CAN_HANDLE fd0) -{ - CAN_Close(((CANPort*)fd0)->fd); - WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask); - ((CANPort*)fd0)->used = 0; - return 0; -} diff -r d2fc5d5f8a36 -r ebf4bd44f282 drivers/unix/unix.c --- a/drivers/unix/unix.c Sat Apr 07 09:49:05 2007 +0200 +++ b/drivers/unix/unix.c Wed Apr 11 07:50:34 2007 +0200 @@ -27,16 +27,6 @@ #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) {\ @@ -44,7 +34,6 @@ UnLoadCanDriver(handle);\ return NULL;\ } -#endif #else /*NOT_USE_DYNAMIC_LOADING*/ @@ -83,11 +72,8 @@ { if(handle!=NULL) { -#ifdef WIN32 - FreeLibrary(handle); -#else dlclose(handle); -#endif + handle=NULL; return 0; } @@ -100,21 +86,9 @@ 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); } @@ -122,7 +96,6 @@ fprintf (stderr, "%s\n", dlerror()); return NULL; } -#endif /*Get function ptr*/ DLSYM(canReceive)