--- a/configure Tue Jul 01 15:21:03 2008 +0200
+++ b/configure Tue Jul 08 15:14:48 2008 +0200
@@ -145,6 +145,8 @@
echo " \"win32\" for win32 systems (native, mingw or VC++)"
echo " \"hcs12\" for HCS12 micro-controller"
echo " --can=foo Use 'foo' as CAN driver"
+ echo " \"anagate_linux\" use AnaGate CAN(duo) driver for linux"
+ echo " \"anagate_win32\" use AnaGate CAN(duo) driver for win32"
echo " \"peak_linux\" use Linux build host installed Peak driver and library"
echo " see http://www.peak-system.com/linux/"
echo " \"peak_win32\" use win32 PcanLight Peak driver and library with Cygwin"
@@ -286,6 +288,9 @@
elif [ -e /usr/lib/libcanlib.so ]; then
echo "Choosing installed Kvaser driver as CAN driver. (unix)"
SUB_CAN_DRIVER=kvaser
+ elif [ -e /usr/local/lib/libAnaGateAPIDLL.so ]; then
+ echo "Choosing installed AnaGate driver as CAN driver. (unix)"
+ SUB_CAN_DRIVER=anagate_linux
elif [ "$SUB_OS_NAME" = "CYGWIN" -a "$KVASER_DLL_PATH" != "" ]; then
echo "Choosing installed Kvaser driver as CAN driver. (cygwin)"
SUB_CAN_DRIVER=kvaser
@@ -316,6 +321,14 @@
fi
fi
+# Warn for unstalled peak driver if choosen
+if [ "$SUB_CAN_DRIVER" = "anagate_linux" ]; then
+ if [ ! -e /usr/local/lib/libAnaGateAPIDLL.so ]; then
+ echo "AnaGateCAN driver hasn't been installed !"
+ exit -1
+ fi
+fi
+
# Warn for unstalled kvaser driver if choosen
if [ "$SUB_CAN_DRIVER" = "kvaser" ]; then
if [ "$SUB_OS_NAME" = "CYGWIN" ]; then
@@ -377,10 +390,20 @@
SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lpcan
fi
+if [ "$SUB_CAN_DRIVER" = "anagate_linux" ]; then
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaGateAPIDLL
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaCommon
+fi
+
+
if [ "$SUB_CAN_DRIVER" = "vscom" ]; then
SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lvs_can_api
fi
+if [ "$SUB_CAN_DRIVER" = "anagate_win32" ]; then
+ SUB_CAN_DLL_CFLAGS=$SUB_CAN_DLL_CFLAGS\ -lAnaGateCan
+fi
+
PW32DIR=drivers/can_peak_win32
if [ "$SUB_CAN_DRIVER" = "peak_win32" ]; then
if [ "$PCAN_HEADER" = "" -o "$PCAN_LIB" = "" ]; then
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_linux/Makefile Tue Jul 08 15:14:48 2008 +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 = gcc
+OPT_CFLAGS = -O2
+CFLAGS = $(OPT_CFLAGS)
+PROG_CFLAGS =
+PREFIX = /usr/local
+TARGET = unix
+CAN_DRIVER = can_anagate_linux
+TIMERS_DRIVER = timers_unix
+ENABLE_DLL_DRIVERS=1
+CAN_DLL_CFLAGS= -lAnaGateAPIDLL -lAnaCommon
+
+INCLUDES = -I../../include -I../../include/$(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)
+ $(CC) -shared -Wl,-soname,libcanfestival_$(CAN_DRIVER).so $(CAN_DLL_CFLAGS) -o $@ $<
+
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $< $(PREFIX)/lib/
+
+uninstall:
+ rm -f $(TARGET_SOFILES)
+
+clean:
+ rm -f $(OBJS)
+
+mrproper: clean
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_linux/Makefile.in Tue Jul 08 15:14:48 2008 +0200
@@ -0,0 +1,68 @@
+#! gmake
+
+#
+# Copyright (C) 2006 Laurent Bessard
+#
+# This file is part of canfestival, a library implementing the canopen
+# stack
+#
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; either
+# version 2.1 of the License, or (at your option) any later version.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public
+# License along with this library; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+CC = SUB_CC
+OPT_CFLAGS = -O2
+CFLAGS = SUB_OPT_CFLAGS
+PROG_CFLAGS = SUB_PROG_CFLAGS
+PREFIX = SUB_PREFIX
+TARGET = SUB_TARGET
+CAN_DRIVER = SUB_CAN_DRIVER
+TIMERS_DRIVER = SUB_TIMERS_DRIVER
+ENABLE_DLL_DRIVERS=SUB_ENABLE_DLL_DRIVERS
+CAN_DLL_CFLAGS=SUB_CAN_DLL_CFLAGS
+
+INCLUDES = -I../../include -I../../include/$(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)
+ $(CC) -shared -Wl,-soname,libcanfestival_$(CAN_DRIVER).so $(CAN_DLL_CFLAGS) -o $@ $<
+
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $< $(PREFIX)/lib/
+
+uninstall:
+ rm -f $(TARGET_SOFILES)
+
+clean:
+ rm -f $(OBJS)
+
+mrproper: clean
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_linux/can_anagate_linux.c Tue Jul 08 15:14:48 2008 +0200
@@ -0,0 +1,320 @@
+/*
+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 <errno.h>
+#include <fcntl.h>
+
+
+#include "can_driver.h"
+
+struct SAnaGatePort
+{
+ int hHandle;
+ Message sMsgBuffer;
+ struct SAnaGatePort *pNext;
+ struct SAnaGatePort *pPrev;
+ int bBufferFull;
+};
+
+
+struct SAnaGatePort *pFistAnaGatePort = NULL;
+
+
+/********* AnaGate API CAN receive callback Funciton ****************/
+void AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
+{
+ int i;
+ struct SAnaGatePort *pAnaGatePort = pFistAnaGatePort;
+
+ while (pAnaGatePort->hHandle != hHandle )
+ {
+ pAnaGatePort = pAnaGatePort->pNext;
+ if (pAnaGatePort == pFistAnaGatePort )
+ {
+ pAnaGatePort = NULL;
+ printf("AnaGateReceiveCallBack (AnaGate_Linux): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
+ return;
+ }
+ }
+ while (pAnaGatePort->bBufferFull)
+ {
+ usleep(5000);
+ }
+ pAnaGatePort->sMsgBuffer.cob_id = nIdentifier;
+ pAnaGatePort->sMsgBuffer.len= nBufferLen;
+ if (nFlags == 2)
+ pAnaGatePort->sMsgBuffer.rtr = 1;
+ else
+ pAnaGatePort->sMsgBuffer.rtr = 0;
+
+ for (i = 0 ; i < nBufferLen; i++)
+ {
+ pAnaGatePort->sMsgBuffer.data[i] = pcBuffer[i];
+ }
+
+ pAnaGatePort->bBufferFull = 1;
+
+}
+
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+{
+ int i;
+ struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
+
+ while (pAnaGatePort->bBufferFull == 0)
+ {
+ usleep (5000);
+ }
+
+ m->cob_id = pAnaGatePort->sMsgBuffer.cob_id;
+ m->len = pAnaGatePort->sMsgBuffer.len;
+ m->rtr = pAnaGatePort->sMsgBuffer.rtr;
+ for (i = 0 ; i < pAnaGatePort->sMsgBuffer.len; i++)
+ {
+ m->data[i] = pAnaGatePort->sMsgBuffer.data[i];
+ }
+
+ pAnaGatePort->bBufferFull = 0;
+
+ return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+{
+ struct SAnaGatePort* pAnaCanPort = (struct SAnaGatePort*)fd0;
+ char cErrorMsg[100];
+ int nRetCode;
+ int nMsgTyp;
+
+ if (m->rtr == 0)
+ {
+ nMsgTyp = 0; //Normal;
+ }
+ else
+ {
+ nMsgTyp = 2; //Remote frame;
+ }
+
+ if ( (nRetCode = CANWrite(pAnaCanPort->hHandle , m->cob_id,(const char*) m->data, m->len, nMsgTyp) ) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr,"canSend_driver (AnaGate_Linux) %s \n",nRetCode);
+ //printf("canSend_driver (AnaGate_Linux) %s \n",nRetCode);
+ return 1;
+ }
+
+ return 0;
+}
+
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return 1000000;
+ if(!strcmp( optarg, "800K")) return 800000;
+ if(!strcmp( optarg, "500K")) return 500000;
+ if(!strcmp( optarg, "250K")) return 250000;
+ if(!strcmp( optarg, "125K")) return 125000;
+ if(!strcmp( optarg, "100K")) return 100000;
+ if(!strcmp( optarg, "50K")) return 50000;
+ if(!strcmp( optarg, "20K")) return 20000;
+ if(!strcmp( optarg, "10K")) return 10000;
+
+ return 0x0000;
+}
+
+/***************************************************************************/
+UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
+{
+ int nRetCode;
+ char cErrorMsg[100];
+ struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
+
+ if (nRetCode = CANSetGlobals (pAnaGatePort->hHandle, TranslateBaudeRate(baud), 0, 0, 1) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
+ //printf("canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
+ return 1;
+ }
+ return 0;
+}
+
+/***************************************************************************/
+/* To open a connection to AnaGate CAN the s_BOARD board->busname must be
+ the AnaGate IP-Adresse followed from the CAN-Port (A or B) you want to use
+ For example "192.168.1.254:A"
+*/
+
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+ int nPortNr;
+ char cErrorMsg[100];
+ int nRetCode;
+ char sIPAddress[16];
+ struct SAnaGatePort *pNewAnaGatePort;
+ unsigned int nBusnameLen;
+ char bBusnameValid = 1;
+
+
+ ///////////////////////////////////////////
+ // Do some checkings concerning the busname
+ // format should be IP-Adress:Port
+ // e.g. 192.168.1.254:A
+ ///////////////////////////////////////////
+ nBusnameLen = strlen(board->busname);
+
+ if ( nBusnameLen < strlen( "1.2.3.4:A" ) ) bBusnameValid = 0; // check minimum length of busname
+ if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = 0; // check maximum length of busname
+ if ( bBusnameValid )
+ {
+ switch (board->busname[nBusnameLen-1]) // check Portname of busname
+ {
+ case ('A'): nPortNr = 0; break;
+ case ('B'): nPortNr = 1; break;
+ case ('C'): nPortNr = 2; break;
+ case ('D'): nPortNr = 3; break;
+ default : bBusnameValid = 0; break;
+ }
+ if (board->busname[nBusnameLen-2] != ':' ) bBusnameValid = 0; // check Colon before Portname
+ }
+
+ if ( ! bBusnameValid )
+ {
+ fprintf(stderr, "canOpen_driver (AnaGate_Win32): busname (\"%s\") has a wrong format. Use IPAddr:CANPort for example \"192.168.1.254:A\"\n",board->busname);
+ return (CAN_HANDLE) NULL;
+ }
+
+ board->busname[nBusnameLen-2] = 0; // NULL Terminator for IP Address string
+ strcpy (sIPAddress, board->busname);
+
+ pNewAnaGatePort = (struct SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
+ if (pFistAnaGatePort == NULL)
+ {
+ pFistAnaGatePort = pNewAnaGatePort;
+ pNewAnaGatePort->pNext = pNewAnaGatePort;
+ pNewAnaGatePort->pPrev = pNewAnaGatePort;
+ }
+ else
+ { pNewAnaGatePort->pNext = pFistAnaGatePort;
+ pNewAnaGatePort->pPrev = pFistAnaGatePort->pPrev;
+ pFistAnaGatePort->pPrev->pNext = pNewAnaGatePort;
+ pFistAnaGatePort->pPrev = pNewAnaGatePort;
+
+ }
+
+ // Connect to AnaGate
+ if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle,
+ 0, /*confimation off*/
+ 1, /*Monitor on*/
+ nPortNr,
+ sIPAddress,
+ 1000 /*TimeOut*/ ) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
+ //printf( "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
+ return (CAN_HANDLE) NULL;
+ }
+
+ // Inizial Baudrate
+
+ if (nRetCode = CANSetGlobals (pNewAnaGatePort->hHandle,
+ TranslateBaudeRate(board->baudrate),
+ 0,/*OperatingMode = normal*/
+ 0,/*CAN-Termination = off*/
+ 1 /*HighSpeedMode = on*/) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ //printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ return (CAN_HANDLE) NULL;
+ }
+
+ // Creat receive and receive-acknoledge event
+ /*pNewAnaGatePort->hAnaRecEvent = CreateEvent(
+ NULL, // default security attributes
+ FALSE, // manual-reset event
+ FALSE, // initial state is nonsignaled
+ NULL // object name
+ );
+
+ pNewAnaGatePort->hFesticalRecAcknowledge = CreateEvent(
+ NULL, // default security attributes
+ FALSE, // manual-reset event
+ FALSE, // initial state is nonsignaled
+ NULL // object name
+ );
+ */
+
+ pNewAnaGatePort->bBufferFull = 0;
+
+ // Install receive callback funktion
+
+ if (nRetCode = CANSetCallback(pNewAnaGatePort->hHandle, AnaGateReceiveCallBack) )
+ {
+ canClose_driver (pNewAnaGatePort);
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ //printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
+ return (CAN_HANDLE) NULL;
+ }
+
+
+ return (CAN_HANDLE)pNewAnaGatePort;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+ struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
+ char cErrorMsg[100];
+ int nRetCode;
+
+ pAnaGatePort->bBufferFull = 1;
+
+ if ( nRetCode = CANCloseDevice(pAnaGatePort->hHandle) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
+ printf("canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
+ }
+
+ if (pAnaGatePort->pNext == pAnaGatePort)
+ {
+ free (pAnaGatePort);
+ pFistAnaGatePort=NULL;
+ }
+ else
+ {
+ pAnaGatePort->pNext->pPrev = pAnaGatePort->pPrev;
+ pAnaGatePort->pPrev->pNext = pAnaGatePort->pNext;
+ free (pAnaGatePort);
+ }
+
+ return 0;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_win32/Makefile.in Tue Jul 08 15:14:48 2008 +0200
@@ -0,0 +1,81 @@
+#! gmake
+
+#
+# Copyright (C) 2006 Edouard TISSERANT
+#
+# 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
+CXX = SUB_CXX
+LD = SUB_LD
+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) -IAnaGateCAN_API
+
+OBJS = $(CAN_DRIVER).o
+
+ifeq ($(ENABLE_DLL_DRIVERS),1)
+#CFLAGS += -fPIC
+DRIVER = cyg$(CAN_DRIVER).dll
+else
+DRIVER = $(OBJS)
+endif
+
+
+TARGET_SOFILES = $(PREFIX)/lib/$(DRIVER)
+
+all: driver
+
+driver: $(DRIVER)
+
+
+%o: %c
+ $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+
+%o: %cpp
+ $(CXX) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+
+$(DRIVER): $(OBJS)
+ $(LD) $(PROG_CFLAGS) -shared -o $@ \
+ -Wl,--export-all-symbols \
+ -Wl,--enable-auto-import \
+ -Wl,--whole-archive $^ \
+ -Wl,--no-whole-archive $(CAN_DLL_CFLAGS) \
+ AnaGateCAN_API/AnaGateCANDll.lib \
+ -Wl,--exclude-libs,ALL -lws2_32
+
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $< $(PREFIX)/lib/
+
+uninstall:
+ rm -f $(TARGET_SOFILES)
+
+clean:
+ rm -f $(OBJS) $(DRIVER) $(SERVER).exe
+
+mrproper: clean
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_win32/can_anagate_win32.c Tue Jul 08 15:14:48 2008 +0200
@@ -0,0 +1,323 @@
+/*
+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
+*/
+
+#if defined(WIN32) && !defined(__CYGWIN__)
+#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
+#define _CRT_SECURE_NO_DEPRECATE
+#else
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <fcntl.h>
+#endif
+
+#include "can_driver.h"
+#include "AnaGateDllCan.h"
+
+
+typedef struct SAnaGatePort
+{
+int hHandle;
+HANDLE hAnaRecEvent;
+HANDLE hFesticalRecAcknowledge;
+Message sMsgBuffer;
+struct SAnaGatePort *pNext;
+struct SAnaGatePort *pPrev;
+} SAnaGatePort;
+
+
+SAnaGatePort *pFirstAnaGatePort=NULL;
+
+
+/********* AnaGate API CAN receive callback Funciton ****************/
+void WINAPI AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
+{
+ SAnaGatePort *pAnaGatePort = pFirstAnaGatePort;
+ int i;
+
+ while (pAnaGatePort->hHandle != hHandle )
+ {
+ pAnaGatePort = pAnaGatePort->pNext;
+ if (pAnaGatePort == pFirstAnaGatePort )
+ {
+ pAnaGatePort = NULL;
+ printf("AnaGateReceiveCallBack (AnaGate_Win32): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
+ return;
+ }
+ }
+
+ pAnaGatePort->sMsgBuffer.cob_id = nIdentifier;
+ pAnaGatePort->sMsgBuffer.len= nBufferLen;
+ if (nFlags == 2)
+ pAnaGatePort->sMsgBuffer.rtr = 1;
+ else
+ pAnaGatePort->sMsgBuffer.rtr = 0;
+
+ for (i = 0 ; i < nBufferLen; i++)
+ {
+ pAnaGatePort->sMsgBuffer.data[i] = pcBuffer[i];
+ }
+
+ SetEvent(pAnaGatePort->hAnaRecEvent);
+
+ WaitForSingleObject(pAnaGatePort->hFesticalRecAcknowledge,INFINITE);
+}
+
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+{
+ SAnaGatePort* pAnaGatePort = (SAnaGatePort*)fd0;
+ int i;
+
+ WaitForSingleObject( // Wait for receive event
+ pAnaGatePort->hAnaRecEvent, // event handle
+ INFINITE); // indefinite wait
+
+
+ m->cob_id = pAnaGatePort->sMsgBuffer.cob_id;
+ m->len = pAnaGatePort->sMsgBuffer.len;
+ m->rtr = pAnaGatePort->sMsgBuffer.rtr;
+ for (i = 0 ; i < pAnaGatePort->sMsgBuffer.len; i++)
+ {
+ m->data[i] = pAnaGatePort->sMsgBuffer.data[i];
+ }
+
+ SetEvent(pAnaGatePort->hFesticalRecAcknowledge); //Set Acknollede event
+
+ return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+{
+ SAnaGatePort* pAnaCanPort = (SAnaGatePort*)fd0;
+ char cErrorMsg[100];
+ int nRetCode;
+ int nMsgTyp;
+
+ if (m->rtr == 0)
+ {
+ nMsgTyp = 0; //Normal;
+ }
+ else
+ {
+ nMsgTyp = 2; //Remote frame;
+ }
+
+ if ( (nRetCode = CANWrite(pAnaCanPort->hHandle , m->cob_id,(const char*) m->data, m->len, nMsgTyp) ) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr,"canSend_driver (AnaGate_Win32) %s \n",nRetCode);
+ //printf("canSend_driver (AnaGate_Win32) %s \n",nRetCode);
+ return 1;
+ }
+
+ return 0;
+}
+
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return 1000000;
+ if(!strcmp( optarg, "800K")) return 800000;
+ if(!strcmp( optarg, "500K")) return 500000;
+ if(!strcmp( optarg, "250K")) return 250000;
+ if(!strcmp( optarg, "125K")) return 125000;
+ if(!strcmp( optarg, "100K")) return 100000;
+ if(!strcmp( optarg, "50K")) return 50000;
+ if(!strcmp( optarg, "20K")) return 20000;
+ if(!strcmp( optarg, "10K")) return 10000;
+
+ return 0x0000;
+}
+/****************************************************************************/
+
+UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
+{
+ int nRetCode;
+ char cErrorMsg[100];
+ struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
+
+ if (nRetCode = CANSetGlobals (pAnaGatePort->hHandle, TranslateBaudeRate(baud), 0, 0, 1) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canChangeBaudRate_drive (AnaGate_Win32): %s\n", cErrorMsg);
+ printf("canChangeBaudRate_drive (AnaGate_Win32): %s\n", cErrorMsg);
+ return 1;
+ }
+ return 0;
+}
+
+/***************************************************************************/
+/* To open a connection to AnaGate CAN the s_BOARD board->busname must be
+ the AnaGate IP-Adresse followed from the CAN-Port (A or B) you want to use
+ For example "192.168.1.254:A"
+*/
+
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+ int PortNr;
+ char cErrorMsg[100];
+ int nRetCode;
+ char sIPAddress[16];
+ struct SAnaGatePort *pNewAnaGatePort;
+ char bBusnameValid = TRUE;
+ unsigned int nBusnameLen;
+
+ ///////////////////////////////////////////
+ // Do some checkings concerning the busname
+ // format should be IP-Adress:Port
+ // e.g. 192.168.1.254:A
+ ///////////////////////////////////////////
+ nBusnameLen = strlen(board->busname);
+
+ if ( nBusnameLen < strlen( "1.2.3.4:A" ) ) bBusnameValid = FALSE; // check minimum length of busname
+ if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = FALSE; // check maximum length of busname
+ if ( bBusnameValid )
+ {
+ switch (board->busname[nBusnameLen-1]) // check Portname of busname
+ {
+ case ('A'): PortNr = 0; break;
+ case ('B'): PortNr = 1; break;
+ case ('C'): PortNr = 2; break;
+ case ('D'): PortNr = 3; break;
+ default : bBusnameValid = FALSE; break;
+ }
+ if (board->busname[nBusnameLen-2] != ':' ) bBusnameValid = FALSE; // check Colon before Portname
+ }
+
+ if ( ! bBusnameValid )
+ {
+ fprintf(stderr, "canOpen_driver (AnaGate_Win32): busname (\"%s\") has a wrong format. Use IPAddr:CANPort for example \"192.168.1.254:A\"\n",board->busname);
+ return (CAN_HANDLE) NULL;
+ }
+
+ board->busname[nBusnameLen-2] = 0; // NULL Terminator for IP Address string
+ strcpy (sIPAddress, board->busname);
+
+ pNewAnaGatePort = (SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
+ if (pFirstAnaGatePort == NULL)
+ {
+ pFirstAnaGatePort = pNewAnaGatePort;
+ pNewAnaGatePort->pNext = pNewAnaGatePort;
+ pNewAnaGatePort->pPrev = pNewAnaGatePort;
+ }
+ else
+ { pNewAnaGatePort->pNext = pFirstAnaGatePort;
+ pNewAnaGatePort->pPrev = pFirstAnaGatePort->pPrev;
+ pFirstAnaGatePort->pPrev->pNext = pNewAnaGatePort;
+ pFirstAnaGatePort->pPrev = pNewAnaGatePort;
+
+ }
+ // Connect to AnaGate
+ if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle,
+ 0, /*confirmation*/
+ 1, /*Monitor*/
+ PortNr,
+ sIPAddress,
+ 1000 /*TimeOut*/ ) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
+ //printf( "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
+ return (CAN_HANDLE) NULL;
+ }
+
+ // Inizial Baudrate
+ if (nRetCode = CANSetGlobals (pNewAnaGatePort->hHandle,
+ TranslateBaudeRate(board->baudrate),
+ 0,/*OperatingMode = normal*/
+ 0,/*CAN-Termination = off*/
+ 1 /*HighSpeedMode = on*/) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
+ //printf("canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
+ return (CAN_HANDLE) NULL;
+ }
+
+ // Creat receive and receive-acknoledge event
+ pNewAnaGatePort->hAnaRecEvent = CreateEvent(
+ NULL, // default security attributes
+ FALSE, // manual-reset event
+ FALSE, // initial state is nonsignaled
+ NULL // object name
+ );
+
+ pNewAnaGatePort->hFesticalRecAcknowledge = CreateEvent(
+ NULL, // default security attributes
+ FALSE, // manual-reset event
+ FALSE, // initial state is nonsignaled
+ NULL // object name
+ );
+
+ // Install receive callback funktion
+ if (nRetCode = CANSetCallback(pNewAnaGatePort->hHandle, AnaGateReceiveCallBack) )
+ {
+ canClose_driver (pNewAnaGatePort);
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
+ //printf("canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
+ return (CAN_HANDLE) NULL;
+ }
+
+ return (CAN_HANDLE)pNewAnaGatePort;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+ SAnaGatePort* pAnaCanPort = (SAnaGatePort*)fd0;
+ char cErrorMsg[100];
+ int nRetCode;
+
+
+ SetEvent (pAnaCanPort->hAnaRecEvent);
+ CloseHandle (pAnaCanPort->hAnaRecEvent);
+ CloseHandle (pAnaCanPort->hFesticalRecAcknowledge);
+
+ if ( nRetCode = CANCloseDevice(pAnaCanPort->hHandle) )
+ {
+ CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
+ fprintf(stderr, "canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
+ //printf("canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
+ }
+
+ if (pAnaCanPort->pNext == pAnaCanPort)
+ {
+ free (pAnaCanPort);
+ pFirstAnaGatePort=NULL;
+ }
+ else
+ { pAnaCanPort->pNext->pPrev = pAnaCanPort->pPrev;
+ pAnaCanPort->pPrev->pNext = pAnaCanPort->pNext;
+ free (pAnaCanPort);
+ }
+
+ return 0;
+}
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_win32/can_anagate_win32.def Tue Jul 08 15:14:48 2008 +0200
@@ -0,0 +1,8 @@
+LIBRARY can_anagate_win32
+
+EXPORTS
+ canReceive_driver
+ canSend_driver
+ canOpen_driver
+ canClose_driver
+ canChangeBaudRate_driver
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_anagate_win32/can_anagate_win32.vcproj Tue Jul 08 15:14:48 2008 +0200
@@ -0,0 +1,207 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="8,00"
+ Name="can_anagate_win32"
+ ProjectGUID="{2F3E1E68-1518-4829-B543-8DF2987E664B}"
+ RootNamespace="can_anagate_win32"
+ Keyword="Win32Proj"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Debug|Win32"
+ OutputDirectory="../../Debug"
+ IntermediateDirectory="$(ConfigurationName)"
+ ConfigurationType="2"
+ CharacterSet="1"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="AnaGateCAN_API;../../include;../../include/win32"
+ PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;_USRDLL;CAN_ANAGATE_WIN32_EXPORTS"
+ MinimalRebuild="true"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="3"
+ UsePrecompiledHeader="0"
+ WarningLevel="3"
+ Detect64BitPortabilityProblems="false"
+ DebugInformationFormat="4"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLinkerTool"
+ AdditionalDependencies="AnaGateCanDll.lib"
+ LinkIncremental="2"
+ AdditionalLibraryDirectories="AnaGateCAN_API"
+ ModuleDefinitionFile="can_anagate_win32.def"
+ GenerateDebugInformation="true"
+ SubSystem="2"
+ TargetMachine="1"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCManifestTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCAppVerifierTool"
+ />
+ <Tool
+ Name="VCWebDeploymentTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="Release|Win32"
+ OutputDirectory="$(SolutionDir)$(ConfigurationName)"
+ IntermediateDirectory="$(ConfigurationName)"
+ ConfigurationType="2"
+ CharacterSet="1"
+ WholeProgramOptimization="1"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;CAN_ANAGATE_WIN32_EXPORTS"
+ RuntimeLibrary="2"
+ UsePrecompiledHeader="2"
+ WarningLevel="3"
+ Detect64BitPortabilityProblems="true"
+ DebugInformationFormat="3"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLinkerTool"
+ LinkIncremental="1"
+ GenerateDebugInformation="true"
+ SubSystem="2"
+ OptimizeReferences="2"
+ EnableCOMDATFolding="2"
+ TargetMachine="1"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCManifestTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCAppVerifierTool"
+ />
+ <Tool
+ Name="VCWebDeploymentTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ <Filter
+ Name="Quelldateien"
+ Filter="cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx"
+ UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
+ >
+ <File
+ RelativePath=".\can_anagate_win32.c"
+ >
+ </File>
+ <File
+ RelativePath=".\can_anagate_win32.def"
+ >
+ </File>
+ </Filter>
+ <Filter
+ Name="Headerdateien"
+ Filter="h;hpp;hxx;hm;inl;inc;xsd"
+ UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
+ >
+ <File
+ RelativePath=".\API\include\AnaGateDllCan.h"
+ >
+ </File>
+ </Filter>
+ <File
+ RelativePath=".\ReadMe.txt"
+ >
+ </File>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>