- add RTAI support

[CanFestival-3.git] / drivers / can_peak_win32 / can_peak_win32.c

diff --git a/drivers/can_peak_win32/can_peak_win32.c b/drivers/can_peak_win32/can_peak_win32.c
index b36517c09362857a8f0b2ead9b07628b602ac579..d1e71dc93e490808d89e35320c5e6e49d29b36a6 100644 (file)
--- a/drivers/can_peak_win32/can_peak_win32.c
+++ b/drivers/can_peak_win32/can_peak_win32.c
@@ -66,46 +66,18 @@ int TranslateBaudeRate(char* optarg){
        return 0x0000;
 }
 
-#define MyCase(fc) case fc: printf(#fc);break;
-void print_message(Message *m)
-{
-       int i;
-       switch(m->cob_id.w >> 7)
-       {
-               MyCase(SYNC)
-               MyCase(TIME_STAMP)
-               MyCase(PDO1tx)
-               MyCase(PDO1rx)
-               MyCase(PDO2tx)
-               MyCase(PDO2rx)
-               MyCase(PDO3tx)
-               MyCase(PDO3rx)
-               MyCase(PDO4tx)
-               MyCase(PDO4rx)
-               MyCase(SDOtx)
-               MyCase(SDOrx)
-               MyCase(NODE_GUARD)
-               MyCase(NMT)
-       }
-       printf(" rtr:%d", m->rtr);
-       printf(" len:%d", m->len);
-       for (i = 0 ; i < m->len ; i++)
-               printf(" %02x", m->data[i]);
-       printf("\n");
-}
-
 void
 canInit (s_BOARD *board)
 {
        int baudrate;
        
-//#ifdef PCAN2_HEADER_
+#ifdef PCAN2_HEADER_
        // if not the first handler
        if(second_board == (s_BOARD *)board)
                if(baudrate = TranslateBaudeRate(board->baudrate))
                        CAN2_Init (baudrate,
                          CAN_INIT_TYPE_ST extra_PCAN_init_params);
-//#endif
+#endif
        if(first_board == (s_BOARD *)board)
                if(baudrate = TranslateBaudeRate(board->baudrate))
                        CAN_Init (baudrate,
@@ -153,7 +125,7 @@ canReceive_driver (CAN_HANDLE fd0, Message * m)
                                return peakMsg.MSGTYPE ==
                                        MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
                        }
-                       m->cob_id.w = peakMsg.ID;
+                       m->cob_id = peakMsg.ID;
                        
                        if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)        /* bits of MSGTYPE_ */
                                m->rtr = 0;
@@ -162,7 +134,10 @@ canReceive_driver (CAN_HANDLE fd0, Message * m)
                        m->len = peakMsg.LEN;   /* count of data bytes (0..8) */
                        for (data = 0; data < peakMsg.LEN; data++)
                                m->data[data] = peakMsg.DATA[data];     /* data bytes, up to 8 */
-               
+#if defined DEBUG_MSG_CONSOLE_ON
+                       MSG("in : ");
+                       print_message(m);
+#endif
                }else{
                //pthread_mutex_unlock (&PeakCan_mutex);
                //if (Res != CAN_ERR_OK)
@@ -186,7 +161,7 @@ canSend_driver (CAN_HANDLE fd0, Message * m)
 {
        UNS8 data;
        TPCANMsg peakMsg;
-       peakMsg.ID = m->cob_id.w;       /* 11/29 bit code */
+       peakMsg.ID = m->cob_id; /* 11/29 bit code */
        if (m->rtr == 0)
                peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;     /* bits of MSGTYPE_ */
        else
@@ -226,32 +201,47 @@ canSend_driver (CAN_HANDLE fd0, Message * m)
                }
        }
        while (errno != CAN_ERR_OK);
+#if defined DEBUG_MSG_CONSOLE_ON
+       MSG("out : ");
+       print_message(m);
+#endif
        return 0;
 fail:
        return 1;
 }
 
+/***************************************************************************/
+UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
+{
+       printf("canChangeBaudRate not yet supported by this driver\n");
+       return 0;
+}
+
 /***************************************************************************/
 CAN_HANDLE
 canOpen_driver (s_BOARD * board)
 {
   char busname[64];
   char* pEnd;
-
+       
   //printf ("Board Busname=%d.\n",strtol(board->busname, &pEnd,0));
   if (strtol(board->busname, &pEnd,0) == 0)
   {
       first_board = board;
       printf ("First Board selected\n");
+      canInit(board);  
+      return (CAN_HANDLE)board;
   }
+  #ifdef PCAN2_HEADER_
   if (strtol(board->busname, &pEnd,0) == 1)
   {
-     second_board = board;
-     printf ("Second Board selected\n");
+      second_board = board;
+      printf ("Second Board selected\n");
+      canInit(board);  
+      return (CAN_HANDLE)board;
   }
-       canInit(board);
-       
-       return (CAN_HANDLE)board;
+  #endif
+  return NULL;
 }
 
 /***************************************************************************/