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