//****************************************************************************// Copyright (C) 2001,2002,2003  PEAK System-Technik GmbH//// linux@peak-system.com // www.peak-system.com//// This program is free software; you can redistribute it and/or modify// it under the terms of the GNU General Public License as published by// the Free Software Foundation; either version 2 of the License, or// (at your option) any later version.//// This program 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 General Public License for more details.//// You should have received a copy of the GNU General Public License// along with this program; if not, write to the Free Software// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.//// Maintainer(s): Klaus Hitschler (klaus.hitschler@gmx.de)//****************************************************************************//****************************************************************************//// libpcan.c// the shared library to unify the interface to the devices// PCAN-ISA, PCAN-Dongle, PCAN-PCI, PCAN-PC104 via their drivers//// $Log: libpcan.c,v $// Revision 1.15  2003/03/02 11:03:26  klaus// added log info into header////****************************************************************************//****************************************************************************// INCLUDES#include <stdlib.h>#include <stdio.h>#include <stdarg.h>#include <fcntl.h>#include <sys/ioctl.h>#include <unistd.h>#include <string.h>#include <errno.h>#include <libpcan.h>      // the interface to the application//****************************************************************************// DEFINES#define PROCFILE "/proc/pcan"     // where to get information#define MAX_LINE_LEN 255          // to store a line of text#define DEVICE_PATH "/dev/pcan"   // + Minor = real device path#define LOCAL_STRING_LEN 64       // length of internal used strings//****************************************************************************// GLOBALStypedef struct{  char szVersionString[LOCAL_STRING_LEN];  char szDevicePath[LOCAL_STRING_LEN];  int  nFileNo;} PCAN_DESCRIPTOR;//****************************************************************************// LOCALS//****************************************************************************// CODE//----------------------------------------------------------------------------// merge a device file pathstatic char *szDeviceName(int nMinor){  static char path[LOCAL_STRING_LEN];    path[0] = 0;    if (nMinor > 64)    return path;      sprintf(path, "%s%d", DEVICE_PATH, nMinor);    return path;} static int resolve(char *buffer, int *nType, unsigned long *dwPort, unsigned short *wIrq, int *nMajor, int *nMinor){  static int m_nMajor = 0;  char *ptr = buffer;  char *t;    if (*ptr == '\n')    return -1;    if (*ptr == '*')  {    // search for nMajor    if ((ptr = strstr(ptr, "major")))     {      t = strtok(ptr, " ");      t = strtok(NULL, " ");      m_nMajor = strtoul(t, NULL, 10);    }  }  else  {    // skip leading blank    if (*ptr == ' ')      ptr++;          // get minor    t = strtok(ptr, " ");    *nMinor = strtoul(ptr, NULL, 10);        // get type string    t = strtok(NULL, " ");    if (!strcmp(t, "pci"))      *nType = HW_PCI;    else    {      if (!strcmp(t, "epp"))        *nType = HW_DONGLE_SJA_EPP;	    else	    {        if (!strcmp(t, "isa"))          *nType = HW_ISA_SJA;	      else	      {          if (!strcmp(t, "sp"))            *nType = HW_DONGLE_SJA;	        else          {            if (!strcmp(t, "usb"))              *nType = HW_USB;            else              *nType = -1;          }	      }	    }    }        // get port    t = strtok(NULL, " ");    *dwPort = strtoul(t, NULL, 16);        // get irq    t = strtok(NULL, " ");    *wIrq   = (unsigned short)strtoul(t, NULL, 10);        // set major    *nMajor = m_nMajor;        return 0;  }    return -1;}//----------------------------------------------------------------------------// do a unix like open of the deviceHANDLE LINUX_CAN_Open(char *szDeviceName, int nFlag){  PCAN_DESCRIPTOR *desc = NULL;    errno = 0;    if ((desc = (PCAN_DESCRIPTOR *)malloc(sizeof(*desc))) == NULL)    goto fail;      desc->szVersionString[0] = 0;  desc->szDevicePath[0]    = 0;      if ((desc->nFileNo = open(szDeviceName, nFlag)) == -1)    goto fail;      strncpy(desc->szDevicePath, szDeviceName, LOCAL_STRING_LEN);     return (HANDLE)desc;     fail:  if (desc)  {    if (desc->nFileNo > -1)      close(desc->nFileNo);    free(desc);  }    return NULL;}//----------------------------------------------------------------------------// do a peak like open of the deviceHANDLE CAN_Open(WORD wHardwareType, ...){  HANDLE handle = NULL;  FILE *f = NULL;  char *m = NULL;  char *p = NULL;  char *ptr;  int  found = 0;    va_list args;  unsigned long  m_dwPort = 0;  unsigned short m_wIrq   = 0;    int  nMinor = 0;  int  nMajor = 0;  unsigned long  dwPort;  unsigned short wIrq;  int  nType;    errno = ENODEV;  // read variable length and type argument list  va_start(args, wHardwareType);    switch(wHardwareType)  {    case HW_DONGLE_SJA:    case HW_DONGLE_SJA_EPP:    case HW_ISA_SJA:      m_dwPort = va_arg(args, unsigned long);      m_wIrq   = (unsigned short)va_arg(args, unsigned long);      va_end(args);      break;          case HW_PCI:      m_dwPort  = va_arg(args, int);      va_end(args);      break;    case HW_USB:      m_dwPort = va_arg(args, unsigned long);      m_wIrq   = (unsigned short)va_arg(args, unsigned long);      va_end(args);      break;          default:       va_end(args);      goto fail;  }    if ((f = fopen(PROCFILE, "r")) == NULL)    goto fail;   if ((m = malloc(MAX_LINE_LEN)) == NULL)  goto fail;     // read an interpret proc entry contents  do  {    ptr = m;    p = fgets(ptr, MAX_LINE_LEN, f);    if (p)    {      if (!resolve(p, &nType, &dwPort, &wIrq, &nMajor, &nMinor))      {        if (wHardwareType == nType)	      {          switch (wHardwareType)	        {            case HW_DONGLE_SJA:            case HW_DONGLE_SJA_EPP:            case HW_ISA_SJA:              if (((m_dwPort == dwPort) && (m_wIrq == wIrq)) ||	                ((m_dwPort ==      0) && (m_wIrq ==    0))) // use default	            {		            found = 1;                break;	            }            case HW_PCI:              if (((m_dwPort - 1) == nMinor) || // enumerate 1..8 (not 0 .. 7)	                 (m_dwPort == 0))             // use 1st port as default	            {		            found = 1;                break;	            }            case HW_USB:              found = 1;              break;	        }	      }      }    }  } while ((p) && (!found));    if (found)      handle = LINUX_CAN_Open(szDeviceName(nMinor), O_RDWR);         fail:  if (m)    free(m);  if (f)    fclose(f);  return handle;}//----------------------------------------------------------------------------// init the CAN chip of this deviceDWORD CAN_Init(HANDLE hHandle, WORD wBTR0BTR1, int nCANMsgType){  PCAN_DESCRIPTOR *desc = (PCAN_DESCRIPTOR *)hHandle;  int err = EBADF;    errno = err;  if (desc)  {    TPCANInit init;        init.wBTR0BTR1    = wBTR0BTR1;    // combined BTR0 and BTR1 register of the SJA100    init.ucCANMsgType = (nCANMsgType) ? MSGTYPE_EXTENDED : MSGTYPE_STANDARD;  // 11 or 29 bits    init.ucListenOnly = 0;            // listen only mode when != 0        if ((err = ioctl(desc->nFileNo, PCAN_INIT, &init)) < 0)      return err;  }    return err;}        DWORD CAN_Close(HANDLE hHandle){  PCAN_DESCRIPTOR *desc = (PCAN_DESCRIPTOR *)hHandle;    if (desc)  {    if (desc->nFileNo > -1)    {      close(desc->nFileNo);      desc->nFileNo = -1;    }    free(desc);  }  return 0;}DWORD CAN_Status(HANDLE hHandle){  PCAN_DESCRIPTOR *desc = (PCAN_DESCRIPTOR *)hHandle;  int err = EBADF;    errno = err;    if (desc)  {    TPSTATUS status;        if ((err = ioctl(desc->nFileNo, PCAN_GET_STATUS, &status)) < 0)      return err;     else      return status.wErrorFlag;  }    return err;}DWORD CAN_Write(HANDLE hHandle, TPCANMsg* pMsgBuff){  PCAN_DESCRIPTOR *desc = (PCAN_DESCRIPTOR *)hHandle;  int err = EBADF;    errno = err;    if (desc)  {    if ((err = ioctl(desc->nFileNo, PCAN_WRITE_MSG, pMsgBuff)) < 0)      return err;  }    return err;}DWORD CAN_Read(HANDLE hHandle, TPCANMsg* pMsgBuff){  PCAN_DESCRIPTOR *desc = (PCAN_DESCRIPTOR *)hHandle;  int err = EBADF;    errno = err;    if (desc)  {    TPCANRdMsg m;        if ((err = ioctl(desc->nFileNo, PCAN_READ_MSG, &m)) < 0)      return err;          memcpy(pMsgBuff, &m.Msg, sizeof(* pMsgBuff));  }    return err;}DWORD LINUX_CAN_Statistics(HANDLE hHandle, TPDIAG *diag){  PCAN_DESCRIPTOR *desc = (PCAN_DESCRIPTOR *)hHandle;  int err = EBADF;    errno = err;    if (desc)    err = ioctl(desc->nFileNo, PCAN_DIAG, diag);    return err;}WORD LINUX_CAN_BTR0BTR1(HANDLE hHandle, DWORD dwBitRate){  PCAN_DESCRIPTOR *desc = (PCAN_DESCRIPTOR *)hHandle;  int err = EBADF;  TPBTR0BTR1 ratix;    ratix.dwBitRate = dwBitRate;  ratix.wBTR0BTR1 = 0;    errno = err;    if (desc)    err = ioctl(desc->nFileNo, PCAN_BTR0BTR1, &ratix);      if (!err)  	return ratix.wBTR0BTR1;	else		return 0;}DWORD CAN_VersionInfo(HANDLE hHandle, LPSTR szTextBuff){  int err;  TPDIAG diag;    *szTextBuff = 0;    err = (int)LINUX_CAN_Statistics(hHandle, &diag);    if (err)    return err;      strncpy(szTextBuff, diag.szVersionString, VERSIONSTRING_LEN);    return err;}int nGetLastError(void){  return errno;}// end