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  20 <h1>/home/epimerde/documents/tc11/CanFestival-3/drivers/can_peak_linux/can_peak_linux.c</h1><a href="can__peak__linux_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
  21 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
  22 <a name="l00003"></a>00003 <span class="comment"></span>
  23 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
  24 <a name="l00005"></a>00005 <span class="comment"></span>
  25 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
  26 <a name="l00007"></a>00007 <span class="comment"></span>
  27 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
  28 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
  29 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
  30 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
  31 <a name="l00012"></a>00012 <span class="comment"></span>
  32 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
  33 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
  34 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
  35 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
  36 <a name="l00017"></a>00017 <span class="comment"></span>
  37 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
  38 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
  39 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
  40 <a name="l00021"></a>00021 <span class="comment">*/</span>
  41 <a name="l00022"></a>00022
  42 <a name="l00023"></a>00023 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
  43 <a name="l00024"></a>00024 <span class="preprocessor">#include &lt;string.h&gt;</span>
  44 <a name="l00025"></a>00025 <span class="preprocessor">#include &lt;errno.h&gt;</span>
  45 <a name="l00026"></a>00026 <span class="preprocessor">#include &lt;fcntl.h&gt;</span>
  46 <a name="l00027"></a>00027
  47 <a name="l00028"></a>00028 <span class="comment">/* driver pcan pci for Peak board */</span>
  48 <a name="l00029"></a>00029 <span class="comment">//#include "libpcan.h"</span>
  49 <a name="l00030"></a>00030 <span class="comment">//#include "pcan.h"</span>
  50 <a name="l00031"></a>00031
  51 <a name="l00032"></a>00032 <span class="preprocessor">#include "libpcan.h"</span> <span class="comment">// for CAN_HANDLE</span>
  52 <a name="l00033"></a>00033
  53 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
  54 <a name="l00035"></a>00035
  55 <a name="l00036"></a>00036 <span class="comment">// Define for rtr CAN message</span>
  56 <a name="l00037"></a><a class="code" href="can__peak__linux_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">00037</a> <span class="preprocessor">#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR </span>
  57 <a name="l00038"></a>00038 <span class="preprocessor"></span>
  58 <a name="l00039"></a>00039 <span class="comment">/*********functions which permit to communicate with the board****************/</span>
  59 <a name="l00040"></a><a class="code" href="can__peak__linux_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">00040</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">canReceive_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
  60 <a name="l00041"></a>00041 {
  61 <a name="l00042"></a>00042   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data;
  62 <a name="l00043"></a>00043   TPCANMsg peakMsg;
  63 <a name="l00044"></a>00044   <span class="keywordflow">if</span> ((errno = CAN_Read(fd0, &amp; peakMsg))) {             <span class="comment">// Blocks until no new message or error.</span>
  64 <a name="l00045"></a>00045     <span class="keywordflow">if</span>(errno != -EIDRM &amp;&amp; errno != -EPERM) <span class="comment">// error is not "Can Port closed while reading" </span>
  65 <a name="l00046"></a>00046     {
  66 <a name="l00047"></a>00047         perror(<span class="stringliteral">"canReceive_driver (Peak_Linux) : error of reading.\n"</span>);
  67 <a name="l00048"></a>00048     }
  68 <a name="l00049"></a>00049     <span class="keywordflow">return</span> 1;
  69 <a name="l00050"></a>00050   }
  70 <a name="l00051"></a>00051   m-&gt;<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = peakMsg.ID;
  71 <a name="l00052"></a>00052   <span class="keywordflow">if</span> (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)              <span class="comment">/* bits of MSGTYPE_*/</span>
  72 <a name="l00053"></a>00053     m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0;
  73 <a name="l00054"></a>00054   <span class="keywordflow">else</span>
  74 <a name="l00055"></a>00055     m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1;
  75 <a name="l00056"></a>00056   m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = peakMsg.LEN;                                 <span class="comment">/* count of data bytes (0..8) */</span>
  76 <a name="l00057"></a>00057   <span class="keywordflow">for</span>(data = 0  ; data &lt; peakMsg.LEN ; data++)
  77 <a name="l00058"></a>00058     m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data] = peakMsg.DATA[data];                 <span class="comment">/* data bytes, up to 8 */</span>
  78 <a name="l00059"></a>00059
  79 <a name="l00060"></a>00060   <span class="keywordflow">return</span> 0;
  80 <a name="l00061"></a>00061 }
  81 <a name="l00062"></a>00062
  82 <a name="l00063"></a>00063 <span class="comment">/***************************************************************************/</span>
  83 <a name="l00064"></a><a class="code" href="can__peak__linux_8c.html#def95aee49efa13dd047d0b3b5507ad3">00064</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#def95aee49efa13dd047d0b3b5507ad3">canSend_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m)
  84 <a name="l00065"></a>00065 {
  85 <a name="l00066"></a>00066   <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> data;
  86 <a name="l00067"></a>00067   TPCANMsg peakMsg;
  87 <a name="l00068"></a>00068   peakMsg.ID=m -&gt; cob_id.w;                                     <span class="comment">/* 11/29 bit code */</span>
  88 <a name="l00069"></a>00069   <span class="keywordflow">if</span>(m-&gt;<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> == 0)
  89 <a name="l00070"></a>00070     peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       <span class="comment">/* bits of MSGTYPE_*/</span>
  90 <a name="l00071"></a>00071   <span class="keywordflow">else</span> {
  91 <a name="l00072"></a>00072     peakMsg.MSGTYPE = <a class="code" href="can__peak__linux_8c.html#44ef8a15c3be0d9b410c0c21709a12c2">CAN_INIT_TYPE_ST_RTR</a>;       <span class="comment">/* bits of MSGTYPE_*/</span>
  92 <a name="l00073"></a>00073   }
  93 <a name="l00074"></a>00074   peakMsg.LEN = m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>;
  94 <a name="l00075"></a>00075                                 <span class="comment">/* count of data bytes (0..8) */</span>
  95 <a name="l00076"></a>00076   <span class="keywordflow">for</span>(data = 0 ; data &lt;  m-&gt;<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; data ++)
  96 <a name="l00077"></a>00077         peakMsg.DATA[data] = m-&gt;<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[data];             <span class="comment">/* data bytes, up to 8 */</span>
  97 <a name="l00078"></a>00078
  98 <a name="l00079"></a>00079   <span class="keywordflow">if</span>((errno = CAN_Write(fd0, &amp; peakMsg))) {
  99 <a name="l00080"></a>00080     perror(<span class="stringliteral">"canSend_driver (Peak_Linux) : error of writing.\n"</span>);
 100 <a name="l00081"></a>00081     <span class="keywordflow">return</span> 1;
 101 <a name="l00082"></a>00082   }
 102 <a name="l00083"></a>00083   <span class="keywordflow">return</span> 0;
 103 <a name="l00084"></a>00084
 104 <a name="l00085"></a>00085 }
 105 <a name="l00086"></a>00086
 106 <a name="l00087"></a>00087
 107 <a name="l00088"></a>00088 <span class="comment">/***************************************************************************/</span>
 108 <a name="l00089"></a><a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">00089</a> <span class="keywordtype">int</span> <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(<span class="keywordtype">char</span>* optarg){
 109 <a name="l00090"></a>00090         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"1M"</span>)) <span class="keywordflow">return</span> CAN_BAUD_1M;
 110 <a name="l00091"></a>00091         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"500K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_500K;
 111 <a name="l00092"></a>00092         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"250K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_250K;
 112 <a name="l00093"></a>00093         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"125K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_125K;
 113 <a name="l00094"></a>00094         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"100K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_100K;
 114 <a name="l00095"></a>00095         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"50K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_50K;
 115 <a name="l00096"></a>00096         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"20K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_20K;
 116 <a name="l00097"></a>00097         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"10K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_10K;
 117 <a name="l00098"></a>00098         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"5K"</span>)) <span class="keywordflow">return</span> CAN_BAUD_5K;
 118 <a name="l00099"></a>00099         <span class="keywordflow">if</span>(!strcmp( optarg, <span class="stringliteral">"none"</span>)) <span class="keywordflow">return</span> 0;
 119 <a name="l00100"></a>00100         <span class="keywordflow">return</span> 0x0000;
 120 <a name="l00101"></a>00101 }
 121 <a name="l00102"></a>00102
 122 <a name="l00103"></a>00103 <span class="comment">/***************************************************************************/</span>
 123 <a name="l00104"></a><a class="code" href="can__peak__linux_8c.html#945403aba7f36acbd2e7160ade361bab">00104</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> <a class="code" href="can__lincan_8c.html#945403aba7f36acbd2e7160ade361bab">canOpen_driver</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board)
 124 <a name="l00105"></a>00105 {
 125 <a name="l00106"></a>00106   HANDLE fd0 = NULL;
 126 <a name="l00107"></a>00107   <span class="keywordtype">char</span> busname[64];
 127 <a name="l00108"></a>00108   <span class="keywordtype">char</span>* pEnd;
 128 <a name="l00109"></a>00109   <span class="keywordtype">int</span> i;
 129 <a name="l00110"></a>00110   <span class="keywordtype">int</span> baudrate;
 130 <a name="l00111"></a>00111
 131 <a name="l00112"></a>00112   <span class="keywordflow">if</span>(strtol(board-&gt;<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, &amp;pEnd,0) &gt;= 0)
 132 <a name="l00113"></a>00113   {
 133 <a name="l00114"></a>00114     sprintf(busname,<span class="stringliteral">"/dev/pcan%s"</span>,board-&gt;<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>);
 134 <a name="l00115"></a>00115     fd0 = LINUX_CAN_Open(busname, O_RDWR);
 135 <a name="l00116"></a>00116   }
 136 <a name="l00117"></a>00117
 137 <a name="l00118"></a>00118   <span class="keywordflow">if</span>(fd0 &amp;&amp; (baudrate = <a class="code" href="can__peak__linux_8c.html#6820d7fa32e6e79d432c6003e4c15c32">TranslateBaudeRate</a>(board-&gt;<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>)))
 138 <a name="l00119"></a>00119   {
 139 <a name="l00120"></a>00120         CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
 140 <a name="l00121"></a>00121   }<span class="keywordflow">else</span>{
 141 <a name="l00122"></a>00122         fprintf(stderr, <span class="stringliteral">"canOpen_driver (Peak_Linux) : error opening %s\n"</span>, busname);
 142 <a name="l00123"></a>00123   }
 143 <a name="l00124"></a>00124
 144 <a name="l00125"></a>00125    <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a>)fd0;
 145 <a name="l00126"></a>00126 }
 146 <a name="l00127"></a>00127
 147 <a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span>
 148 <a name="l00129"></a><a class="code" href="can__peak__linux_8c.html#76e6a915d0e40a23b863198b2aaa5545">00129</a> <span class="keywordtype">int</span> <a class="code" href="can__lincan_8c.html#76e6a915d0e40a23b863198b2aaa5545">canClose_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0)
 149 <a name="l00130"></a>00130 {
 150 <a name="l00131"></a>00131   CAN_Close(fd0);
 151 <a name="l00132"></a>00132   <span class="keywordflow">return</span> 0;
 152 <a name="l00133"></a>00133 }
 153 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 16:29:06 2007 for CanFestival by&nbsp;
 154 <a href="http://www.doxygen.org/index.html">
 155 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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