add anagate device support in CanFestival
authorgreg
Tue, 08 Jul 2008 15:14:48 +0200
changeset 494 aa36efce6e78
parent 493 a204a86a71f1
child 495 b2d6307a89fa
add anagate device support in CanFestival
configure
drivers/can_anagate_linux/Makefile
drivers/can_anagate_linux/Makefile.in
drivers/can_anagate_linux/can_anagate_linux.c
drivers/can_anagate_win32/Makefile.in
drivers/can_anagate_win32/can_anagate_win32.c
drivers/can_anagate_win32/can_anagate_win32.def
drivers/can_anagate_win32/can_anagate_win32.vcproj
--- 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>