echo " see http://developer.berlios.de/projects/socketcan/"
echo " \"lincan\" lincan driver"
echo " see http://www.ocera.org/download/components/WP7/lincan-0.3.3.html"
+ echo " \"can4linux\" can4linux driver"
+ echo " see http://www.port.de/engl/canprod/hw_can4linux.html"
echo " --timers=foo Use 'foo' as TIMERS driver (can be either 'unix' or 'xeno')"
echo " --disable-dll Disable run-time dynamic linking of can, led and nvram drivers"
echo " --enable-lss Enable the LSS services"
--- /dev/null
+libcanfestival_can_can4linux.so
+Makefile
--- /dev/null
+#! 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
+
+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_HFILES)
+
+clean:
+ rm -f $(OBJS)
+
+mrproper: clean
--- /dev/null
+/*
+ * can4linux.h - can4linux CAN driver module
+ *
+ * This file is subject to the terms and conditions of the GNU General Public
+ * License. See the file "COPYING" in the main directory of this archive
+ * for more details.
+ *
+ * Copyright (c) 2001 port GmbH Halle/Saale
+ *------------------------------------------------------------------
+ * $Header: /canfestival/CanFestival-3/drivers/can_can4linux/can4linux.h,v 1.1 2008-01-22 09:27:13 groke6 Exp $
+ *
+ *--------------------------------------------------------------------------
+ *
+ *
+ * modification history
+ * --------------------
+ * $Log: can4linux.h,v $
+ * Revision 1.1 2008-01-22 09:27:13 groke6
+ * Added can4linux driver support.
+ *
+ * Revision 1.1 2004/08/12 10:14:31 jschoew
+ * add can4linux examples
+ *
+ * Revision 1.5 2004/05/14 10:02:54 oe
+ * - started supporting CPC-Card
+ * - version number in can4linux.h available
+ * - only one structure type for Config_par_t Command_par_t
+ * - new ioctl command CMD_CLEARBUFFERS
+ *
+ * Revision 1.4 2003/08/27 17:49:04 oe
+ * - New CanStatusPar structure
+ *
+ * Revision 1.3 2002/08/20 05:57:22 oe
+ * - new write() handling, now not ovrwriting buffer content if buffer fill
+ * - ioctl() get status returns buffer information
+ *
+ * Revision 1.2 2002/08/08 17:50:46 oe
+ * - MSG_ERR_MASK extended
+ *
+ * Revision 1.1 2002/01/10 19:13:19 oe
+ * - application header file changed name can.h -> can4linux.h
+ *
+ * Revision 1.2 2001/09/14 14:58:09 oe
+ * first free release
+ *
+ * Revision 1.1.1.1 2001/06/11 18:30:54 oe
+ * minimal version can4linux embedded, compile time Konfigurierbar
+ *
+ *
+ *
+ *
+ *--------------------------------------------------------------------------
+ */
+
+/**
+* \file can.h
+* \author Heinz-Jrgen Oertel, port GmbH
+* $Revision: 1.1 $
+* $Date: 2008-01-22 09:27:13 $
+*
+* can4linux interface definitions
+*
+*
+*
+*/
+
+
+#ifndef __CAN_H
+#define __CAN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#define CAN4LINUXVERSION 0x0301 /*(Version 3.1)*/
+
+#ifndef __KERNEL__
+#include <sys/time.h>
+#endif
+ /*---------- the can message structure */
+
+#define CAN_MSG_LENGTH 8 /**< maximum length of a CAN frame */
+
+
+#define MSG_RTR (1<<0) /**< RTR Message */
+#define MSG_OVR (1<<1) /**< CAN controller Msg overflow error */
+#define MSG_EXT (1<<2) /**< extended message format */
+#define MSG_PASSIVE (1<<4) /**< controller in error passive */
+#define MSG_BUSOFF (1<<5) /**< controller Bus Off */
+#define MSG_ (1<<6) /**< */
+#define MSG_BOVR (1<<7) /**< receive/transmit buffer overflow */
+/**
+* mask used for detecting CAN errors in the canmsg_t flags field
+*/
+#define MSG_ERR_MASK (MSG_OVR + MSG_PASSIVE + MSG_BUSOFF + MSG_BOVR)
+
+/**
+* The CAN message structure.
+* Used for all data transfers between the application and the driver
+* using read() or write().
+*/
+typedef struct {
+ /** flags, indicating or controlling special message properties */
+ int flags;
+ int cob; /**< CAN object number, used in Full CAN */
+ unsigned long id; /**< CAN message ID, 4 bytes */
+ struct timeval timestamp; /**< time stamp for received messages */
+ short int length; /**< number of bytes in the CAN message */
+ unsigned char data[CAN_MSG_LENGTH]; /**< data, 0...8 bytes */
+} canmsg_t;
+
+
+
+/**
+---------- IOCTL requests */
+
+#define COMMAND 0 /**< IOCTL command request */
+#define CONFIG 1 /**< IOCTL configuration request */
+#define SEND 2 /**< IOCTL request */
+#define RECEIVE 3 /**< IOCTL request */
+#define CONFIGURERTR 4 /**< IOCTL request */
+#define STATUS 5 /**< IOCTL status request */
+
+/*---------- CAN ioctl parameter types */
+/**
+ IOCTL Command request parameter structure */
+struct Command_par {
+ int cmd; /**< special driver command */
+ int target; /**< special configuration target */
+ unsigned long val1; /**< 1. parameter for the target */
+ unsigned long val2; /**< 2. parameter for the target */
+ int error; /**< return value */
+ unsigned long retval; /**< return value */
+};
+
+
+typedef struct Command_par Command_par_t ;
+/**
+ PSW made them all the same
+ IOCTL Configuration request parameter structure */
+typedef struct Command_par Config_par_t ;
+
+
+/**
+ IOCTL generic CAN controller status request parameter structure */
+typedef struct CanStatusPar {
+ unsigned int baud; /**< actual bit rate */
+ unsigned int status; /**< CAN controller status register */
+ unsigned int error_warning_limit; /**< the error warning limit */
+ unsigned int rx_errors; /**< content of RX error counter */
+ unsigned int tx_errors; /**< content of TX error counter */
+ unsigned int error_code; /**< content of error code register */
+ unsigned int rx_buffer_size; /**< size of rx buffer */
+ unsigned int rx_buffer_used; /**< number of messages */
+ unsigned int tx_buffer_size; /**< size of tx buffer */
+ unsigned int tx_buffer_used; /**< number of messages */
+ unsigned long retval; /**< return value */
+ unsigned int type; /**< CAN controller / driver type */
+} CanStatusPar_t;
+
+/**
+ IOCTL CanStatusPar.type CAN controller hardware chips */
+#define CAN_TYPE_UNSPEC 0
+#define CAN_TYPE_SJA1000 1
+#define CAN_TYPE_FlexCAN 2
+#define CAN_TYPE_TouCAN 3
+#define CAN_TYPE_82527 4
+#define CAN_TYPE_TwinCAN 5
+
+
+/**
+ IOCTL Send request parameter structure */
+typedef struct Send_par {
+ canmsg_t *Tx; /**< CAN message struct */
+ int error; /**< return value for errno */
+ unsigned long retval; /**< return value */
+} Send_par_t ;
+
+/**
+ IOCTL Receive request parameter structure */
+typedef struct Receive_par {
+ canmsg_t *Rx; /**< CAN message struct */
+ int error; /**< return value for errno */
+ unsigned long retval; /**< return value */
+} Receive_par_t ;
+
+/**
+IOCTL ConfigureRTR request parameter structure */
+typedef struct ConfigureRTR_par {
+ unsigned message; /**< CAN message ID */
+ canmsg_t *Tx; /**< CAN message struct */
+ int error; /**< return value for errno */
+ unsigned long retval; /**< return value */
+} ConfigureRTR_par_t ;
+
+/**
+---------- IOCTL Command subcommands and there targets */
+
+# define CMD_START 1
+# define CMD_STOP 2
+# define CMD_RESET 3
+# define CMD_CLEARBUFFERS 4
+
+
+
+
+/**
+---------- IOCTL Configure targets */
+
+# define CONF_ACC 0 /* mask and code */
+# define CONF_ACCM 1 /* mask only */
+# define CONF_ACCC 2 /* code only */
+# define CONF_TIMING 3 /* bit timing */
+# define CONF_OMODE 4 /* output control register */
+# define CONF_FILTER 5
+# define CONF_FENABLE 6
+# define CONF_FDISABLE 7
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CAN_H */
--- /dev/null
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Jorge BERZOSA
+
+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
+*/
+
+/*
+* can4linux driver
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <fcntl.h>
+
+#include "can4linux.h"
+#include "can_driver.h"
+
+struct timeval init_time,current_time;
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+{
+ int res,i;
+ canmsg_t canmsg;
+ long int time_period;
+
+ canmsg.flags = 0;
+ do{
+ res = read(fd0,&canmsg,1);
+ if((res<0)&&(errno == -EAGAIN)) res = 0;
+ }while(res==0);
+
+ if(res !=1) // No new message
+ return 1;
+
+ if(canmsg.flags&MSG_EXT){
+ /* There is no mark for extended messages in CanFestival */;
+ }
+
+ m->cob_id.w = canmsg.id;
+ m->len = canmsg.length;
+ if(canmsg.flags&MSG_RTR){
+ m->rtr = 1;
+ }else{
+ m->rtr = 0;
+ memcpy(m->data,canmsg.data,8);
+ }
+
+
+ /*gettimeofday(¤t_time,NULL);
+ time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec;
+ printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id.w);
+ printf("Receive ID: %lx ->",m->cob_id.w);
+ for(i=0; i<canmsg.length;i++)printf("%x, ", m->data[i]);
+ printf("\n");*/
+
+ return 0;
+}
+
+/***************************************************************************/
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+{
+ int res;
+ canmsg_t canmsg;
+
+ canmsg.flags = 0;
+ canmsg.id = m->cob_id.w;
+ canmsg.length = m->len;
+ if(m->rtr){
+ canmsg.flags |= MSG_RTR;
+ }else{
+ memcpy(canmsg.data,m->data,8);
+ }
+
+ /*printf("Send ID: %lx ->",canmsg.id);
+ for(i=0; i<canmsg.length;i++)printf("%x, ", canmsg.data[i]);
+ printf("\n");*/
+
+ if(canmsg.id >= 0x800){
+ canmsg.flags |= MSG_EXT;
+ }
+
+ res = write(fd0,&canmsg,1);
+ if(res!=1)
+ return 1;
+
+ return 0;
+}
+
+/***************************************************************************/
+int set_bitrate( CAN_HANDLE fd, int baud)
+{
+ Config_par_t cfg;
+ volatile Command_par_t cmd;
+
+ cmd.cmd = CMD_STOP;
+ ioctl(fd, COMMAND, &cmd);
+
+ cfg.target = CONF_TIMING;
+ cfg.val1 = baud;
+ ioctl(fd, CONFIG, &cfg);
+
+ cmd.cmd = CMD_START;
+ ioctl(fd, COMMAND, &cmd);
+ return 0;
+}
+
+/***************************************************************************/
+int TranslateBaudeRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return (int)1000;
+ if(!strcmp( optarg, "500K")) return (int)500;
+ if(!strcmp( optarg, "250K")) return (int)250;
+ if(!strcmp( optarg, "125K")) return (int)125;
+ if(!strcmp( optarg, "100K")) return (int)100;
+ if(!strcmp( optarg, "50K")) return (int)50;
+ if(!strcmp( optarg, "20K")) return (int)20;
+ if(!strcmp( optarg, "10K")) return (int)10;
+ if(!strcmp( optarg, "5K")) return (int)5;
+ if(!strcmp( optarg, "none")) return 0;
+ return 0x0000;
+}
+
+/***************************************************************************/
+static const char lnx_can_dev_prefix[] = "/dev/can";
+
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+ int name_len = strlen(board->busname);
+ int prefix_len = strlen(lnx_can_dev_prefix);
+ char dev_name[prefix_len+name_len+1];
+ int o_flags = 0;
+ int baud = TranslateBaudeRate(board->baudrate);
+ int fd0;
+
+
+ /*o_flags = O_NONBLOCK;*/
+
+ memcpy(dev_name,lnx_can_dev_prefix,prefix_len);
+ memcpy(dev_name+prefix_len,board->busname,name_len);
+ dev_name[prefix_len+name_len] = 0;
+
+ fd0 = open(dev_name, O_RDWR|o_flags);
+ if(fd0 <= 0){
+ fprintf(stderr,"!!! %s is unknown. See can4linux.c\n", dev_name);
+ goto error_ret;
+ }
+
+ set_bitrate((CAN_HANDLE)fd0, baud);
+
+ printf("CAN device dev/can%s opened. Baudrate=>%s\n",board->busname, board->baudrate);
+
+ return (CAN_HANDLE)fd0;
+
+ error_ret:
+ return NULL;
+}
+
+/***************************************************************************/
+int canClose_driver(CAN_HANDLE fd0)
+{
+ if((int)fd0<=0)
+ return -1;
+ close(fd0);
+ return 0;
+}
projects / CanFestival-3.git / commitdiff