/**
* Channels and their descriptors are numbered starting from zero.
* So I need to increment by 1 the handle returned by CANLIB because
* CANfestival CAN_HANDLEs with value zero are considered NOT VALID.
*
* The baud rate could be given directly as bit/s
* or using one of the BAUD_* constants defined
* in canlib.h
*/
CAN_HANDLE canOpen_driver(s_BOARD *board)
{
int fd0 = -1;
int channel, baud;
canStatus retval = canOK;
fd0--;
sscanf(board->busname, "%d", &channel);
baud = TranslateBaudRate(board->baudrate);
if (baud == 0)
{
sscanf(board->baudrate, "%d", &baud);
}
fd0 = canOpenChannel(channel, canWANT_EXCLUSIVE|canWANT_EXTENDED);
if (fd0 < 0)
{
fprintf(stderr, "canOpen_driver (Kvaser) : error opening channel %d\n", channel);
return (CAN_HANDLE)(fd0+1);
}
canBusOff(fd0);
/* values for tseg1, tseg2, sjw, noSamp and syncmode
* come from canlib example "simplewrite.c". The doc
* says that default values will be taken if baud is one of
* the BAUD_* values
*/
retval = canSetBusParams(fd0, baud, 4, 3, 1, 1, 0);
if (retval != canOK)
{
fprintf(stderr, "canOpen_driver (Kvaser) : canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud);
canClose((int)fd0);
return (CAN_HANDLE)retval;
}
canSetBusOutputControl(fd0, canDRIVER_NORMAL);
if (retval != canOK)
{
fprintf(stderr, "canOpen_driver (Kvaser) : canSetBusOutputControl() error, returned value = %d\n", retval);
canClose((int)fd0);
return (CAN_HANDLE)retval;
}
retval = canBusOn(fd0);
if (retval != canOK)
{
fprintf(stderr, "canOpen_driver (Kvaser) : canBusOn() error, returned value = %d\n", retval);
canClose((int)fd0);
return (CAN_HANDLE)retval;
}
return (CAN_HANDLE)(fd0+1);
}
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
{
int temp=TranslateBaudRate(baud);
if(temp==0)return 1;
_canChangeBaudRate(fd, temp);
printf("Baudrate changed to=>%s\n", baud);
return 0;
}
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
{
int baudrate;
canStatus retval = canOK;
baudrate = TranslateBaudRate(baud);
if (baudrate == 0)
{
sscanf(baud, "%d", &baudrate);
}
fprintf(stderr, "%x-> changing to baud rate %s[%d]\n", (int)fd0, baud, baudrate);
canBusOff((int)fd0);
/* values for tseg1, tseg2, sjw, noSamp and syncmode
* come from canlib example "simplewrite.c". The doc
* says that default values will be taken if baud is one of
* the BAUD_* values
*/
retval = canSetBusParams((int)fd0, baudrate, 4, 3, 1, 1, 0);
if (retval != canOK)
{
fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud);
canClose((int)fd0);
return (UNS8)retval;
}
canSetBusOutputControl((int)fd0, canDRIVER_NORMAL);
if (retval != canOK)
{
fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canSetBusOutputControl() error, returned value = %d\n", retval);
canClose((int)fd0);
return (UNS8)retval;
}
retval = canBusOn((int)fd0);
if (retval != canOK)
{
fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canBusOn() error, returned value = %d\n", retval);
canClose((int)fd0);
return (UNS8)retval;
}
return 0;
}
int co_pcican_configure_selected_channel( const int fd, s_BOARD *board, const unsigned int direction )
{
co_pcican_config_t board_config;
unsigned int selectedChannel;
if( fd < 0 )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid file descriptor\n");
return -1;
}
if( board == NULL )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): board is NULL\n");
return -1;
}
if( board->baudrate == NULL )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): baudrate is NULL\n");
return -1;
}
switch( direction )
{
case RX: selectedChannel = selectedChannelRx;
break;
case TX: selectedChannel = selectedChannelTx;
break;
default: selectedChannel = 0xff;
}
if( selectedChannel >= NUM_CAN_CHANNELS )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid channel selected\n");
return -1;
}
memset( &board_config, 0x00, sizeof(co_pcican_config_t) );
board_config.opcode = CMDQ_OPC_SET_CONFIG_CHANNEL;
board_config.param[0] = selectedChannel;
board_config.param[1] = TranslateBaudRate( board->baudrate );
return ioctl( fd, CAN_CONFIG, &board_config );
}
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;
int res;
/*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 == -1){
fprintf(stderr,"!!! %s is unknown. See can4linux.c\n", dev_name);
goto error_ret;
}
res=TranslateBaudRate(board->baudrate);
if(res == 0){
fprintf(stderr,"!!! %s baudrate not supported. See can4linux.c\n", board->baudrate);
goto error_ret;
}
_canChangeBaudRate( (CAN_HANDLE)fd0, res);
printf("CAN device dev/can%s opened. Baudrate=>%s\n",board->busname, board->baudrate);
return (CAN_HANDLE)fd0;
error_ret:
return NULL;
}
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
{
printk("%x-> changing to baud rate %s[%d]\n", (CANPipe*)fd0 - &canpipes[0],baud,TranslateBaudRate(baud));
return 0;
}
