author | bmakuc <blaz.makuc@smarteh.si> |
Fri, 24 Mar 2017 10:52:38 +0100 | |
changeset 796 | 1c87f7a8cb8a |
parent 760 | 71623bbf8093 |
permissions | -rw-r--r-- |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Jaroslav Fojtik |
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*/ |
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#if defined(WIN32) && !defined(__CYGWIN__) |
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#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000)) |
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#else |
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#include <stdio.h> |
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#include <string.h> |
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#include <errno.h> |
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#include <fcntl.h> |
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#endif |
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#include "cancfg.h" |
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#include "can_driver.h" |
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#include "def.h" |
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UNS8 LIBAPI canSend_driver(CAN_HANDLE fd0, Message const *m); |
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#define Data data /* temporary fix */ |
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#define VERSION_2 |
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/* dummy implementation for older version. */ |
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#ifndef VERSION_2 |
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void CAN_SetRcvEvent(HANDLE hEventx) |
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{ |
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SetEvent(hEventx); |
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} |
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#endif |
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#define SLAVE_COUNT 10 |
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#define QueueSize 100 |
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#ifndef extra_PCAN_init_params |
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#define extra_PCAN_init_params /**/ |
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#else |
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long int print_getenv(const char* pcanparam) |
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{ |
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char* param=NULL; |
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long int res=0; |
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param = getenv(pcanparam); |
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if(param != NULL){ |
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res = strtol(param,NULL,0); |
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} |
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else |
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printf("Environment variable %s not defined !\n", pcanparam); |
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printf("Found environment variable %s : %ld\n", pcanparam ,res); |
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return res; |
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} |
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#define extra_PCAN_init_params\ |
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,print_getenv("PCANHwType")\ |
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,print_getenv("PCANIO_Port")\ |
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,print_getenv("PCANInterupt") |
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#endif |
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typedef struct |
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{ |
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s_BOARD *board; |
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Message MQueue[QueueSize]; |
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unsigned QStart, QEnd; |
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HANDLE hEventx; |
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} QueueRecord; |
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int initialisedQ = 0; |
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QueueRecord Q_DATA[10]; |
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/** Store message into a queue. */ |
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static void PushMsgToQueue(QueueRecord *QR, Message *m) |
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{ |
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if(QR==NULL || m==NULL) return; |
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if(QR->board==NULL) return; // No Board assigned yet |
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memcpy(&QR->MQueue[QR->QStart], m, sizeof(Message)); |
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QR->QStart = (QR->QStart + 1) % QueueSize; |
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if(QR->QEnd==QR->QStart) QR->QEnd = (QR->QEnd+1) % QueueSize; |
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if(QR->hEventx) SetEvent(QR->hEventx); // Signalise internal flag |
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} |
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/** Get message from a queue. */ |
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static int PopMsgFromQueue(QueueRecord *QR, Message *m) |
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{ |
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if(QR==NULL || m==NULL) return 0; |
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if(QR->QEnd == QR->QStart) return 0; |
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memcpy(m, &QR->MQueue[QR->QEnd], sizeof(Message)); |
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QR->QEnd = (QR->QEnd+1) % QueueSize; |
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return 1; |
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} |
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/** Create the Event for the first board */ |
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HANDLE hEvent1 = NULL; |
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CRITICAL_SECTION InitLock; |
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// Define for rtr CAN message |
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#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR |
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/***************************************************************************/ |
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static int TranslateBaudeRate(char* optarg) |
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{ |
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if(!strcmp( optarg, "1M")) return CAN_BAUD_1M; |
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if(!strcmp( optarg, "500K")) return CAN_BAUD_500K; |
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if(!strcmp( optarg, "250K")) return CAN_BAUD_250K; |
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if(!strcmp( optarg, "125K")) return CAN_BAUD_125K; |
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if(!strcmp( optarg, "100K")) return CAN_BAUD_100K; |
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if(!strcmp( optarg, "50K")) return CAN_BAUD_50K; |
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if(!strcmp( optarg, "20K")) return CAN_BAUD_20K; |
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if(!strcmp( optarg, "10K")) return CAN_BAUD_10K; |
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if(!strcmp( optarg, "5K")) return CAN_BAUD_5K; |
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if(!strcmp( optarg, "none")) return 0; |
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return 0x0000; |
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} |
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static UNS8 canInit(s_BOARD *board) |
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{ |
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int baudrate; |
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int ret = 0; |
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if(hEvent1==NULL) |
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{ //Create the Event for the first board |
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hEvent1 = CreateEvent(NULL, // lpEventAttributes |
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FALSE, // bManualReset |
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FALSE, // bInitialState |
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""); // lpName |
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InitializeCriticalSection(&InitLock); |
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} |
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EnterCriticalSection(&InitLock); |
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|
143 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
144 |
if(baudrate = TranslateBaudeRate(board->baudrate)) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
145 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
146 |
ret = CAN_Init(baudrate, CAN_INIT_TYPE_ST extra_PCAN_init_params); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
147 |
if(ret != CAN_ERR_OK) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
148 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
149 |
LeaveCriticalSection(&InitLock); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
150 |
return 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
151 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
152 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
153 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
154 |
CAN_SetRcvEvent(hEvent1); //Set Event Handler for CANReadExt |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
155 |
LeaveCriticalSection(&InitLock); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
156 |
return 1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
157 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
158 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
159 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
160 |
/********* functions which permit to communicate with the board ****************/ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
161 |
UNS8 LIBAPI canReceive_driver(CAN_HANDLE fd0, Message *m) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
162 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
163 |
static int HeavyCounter = 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
164 |
int ret=0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
165 |
UNS8 data; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
166 |
TPCANMsg peakMsg; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
167 |
DWORD Res; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
168 |
DWORD result; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
169 |
HANDLE hh[2]; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
170 |
int i; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
171 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
172 |
#ifdef CAN_READ_EX |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
173 |
TPCANTimestamp peakRcvTime; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
174 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
175 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
176 |
i = strtol(((s_BOARD *)fd0)->busname,NULL,0); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
177 |
if(i>=SLAVE_COUNT || i<0) return 1; // error |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
178 |
if(Q_DATA[i].board!=(s_BOARD *)fd0) return 1; // error |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
179 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
180 |
hh[0]=hEvent1; hh[1]=Q_DATA[i].hEventx; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
181 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
182 |
// loop until valid message or fatal error |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
183 |
do |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
184 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
185 |
CONTINUE: |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
186 |
if(PopMsgFromQueue(&Q_DATA[i],m)) return 0; //message is waiting in the internal queue |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
187 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
188 |
// We read the queue looking for messages. |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
189 |
#ifdef VERSION_2 |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
190 |
result = WaitForMultipleObjects(2,hh,FALSE,15); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
191 |
if(Q_DATA[i].board==NULL) return 1; //exit hook, exit immediatelly when device is closed |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
192 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
193 |
if(result == WAIT_OBJECT_0+1) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
194 |
goto CONTINUE; //look to a PopMsgFromQueue() (continue will check while(), goto skips it) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
195 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
196 |
if(result==WAIT_OBJECT_0 || result==WAIT_TIMEOUT) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
197 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
198 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
199 |
#ifdef CAN_READ_EX |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
200 |
Res = CAN_ReadEx(&peakMsg, &peakRcvTime); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
201 |
#else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
202 |
Res = CAN_Read(&peakMsg); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
203 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
204 |
// Exit receive thread when handle is no more valid |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
205 |
#ifdef CAN_ERRMASK_ILLHANDLE |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
206 |
if(Res & CAN_ERRMASK_ILLHANDLE) return 1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
207 |
#else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
208 |
if(Res & CAN_ERR_ILLHANDLE) return 1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
209 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
210 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
211 |
#ifndef VERSION_2 |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
212 |
if(Res != CAN_ERR_OK) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
213 |
result = WaitForSingleObject(hEvent1, 1); //pooling for pcan release<2 |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
214 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
215 |
if(Res==CAN_ERR_QRCVEMPTY) goto CONTINUE; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
216 |
#ifdef VERSION_2 |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
217 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
218 |
else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
219 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
220 |
//if(result==WAIT_TIMEOUT || result==(WAIT_OBJECT_0+1)) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
221 |
// Res = CAN_ERR_BUSLIGHT; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
222 |
//else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
223 |
Res = CAN_ERR_UNKNOWN; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
224 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
225 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
226 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
227 |
if(Res==CAN_ERR_BUSHEAVY) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
228 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
229 |
if(HeavyCounter++>10) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
230 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
231 |
HeavyCounter = 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
232 |
Res=CAN_ERR_BUSOFF; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
233 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
234 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
235 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
236 |
if(Res & CAN_ERR_BUSOFF) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
237 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
238 |
peakMsg.MSGTYPE = MSGTYPE_STATUS; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
239 |
peakMsg.DATA[3] = CAN_ERR_BUSOFF; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
240 |
Res = CAN_ERR_OK; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
241 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
242 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
243 |
// A message was received : we process the message(s) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
244 |
if(Res == CAN_ERR_OK) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
245 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
246 |
// if something different that 11bit or rtr... problem |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
247 |
switch(peakMsg.MSGTYPE) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
248 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
249 |
case MSGTYPE_STATUS: |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
250 |
switch(peakMsg.DATA[3]) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
251 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
252 |
case CAN_ERR_BUSHEAVY: |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
253 |
break; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
254 |
case CAN_ERR_BUSOFF: |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
255 |
printf ("Peak board read BUSOFF: re-init!!!\n"); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
256 |
canInit((s_BOARD*)fd0); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
257 |
usleep(2000); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
258 |
break; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
259 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
260 |
return peakMsg.DATA[3]; /* if something different that 11bit or rtr... problem */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
261 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
262 |
case MSGTYPE_STANDARD: /* bits of MSGTYPE_ */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
263 |
case MSGTYPE_EXTENDED: |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
264 |
m->rtr = 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
265 |
break; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
266 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
267 |
case MSGTYPE_RTR: /* bits of MSGTYPE_ */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
268 |
m->rtr = 1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
269 |
break; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
270 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
271 |
default: return CAN_ERR_OVERRUN; /* If status, return status if 29bit, return overrun. */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
272 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
273 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
274 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
275 |
m->cob_id = peakMsg.ID; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
276 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
277 |
if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
278 |
m->rtr = 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
279 |
else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
280 |
m->rtr = 1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
281 |
m->len = peakMsg.LEN; /* count of data bytes (0..8) */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
282 |
for(data=0; data<peakMsg.LEN; data++) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
283 |
m->Data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
284 |
#if defined DEBUG_MSG_CONSOLE_ON |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
285 |
MSG("in : "); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
286 |
print_message(m); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
287 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
288 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
289 |
else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
290 |
{ // not benign error => fatal error |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
291 |
if(!(Res & CAN_ERR_QRCVEMPTY |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
292 |
|| Res & CAN_ERR_BUSLIGHT |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
293 |
|| Res & CAN_ERR_BUSHEAVY)) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
294 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
295 |
printf ("canReceive returned error (%d)\n", Res); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
296 |
return 1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
297 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
298 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
299 |
} while(Res != CAN_ERR_OK); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
300 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
301 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
302 |
// populate message received to other drivers |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
303 |
for(i=0; i<SLAVE_COUNT; i++) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
304 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
305 |
if(Q_DATA[i].board != (s_BOARD *)fd0) // do not populate to own queue |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
306 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
307 |
PushMsgToQueue(&Q_DATA[i],m); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
308 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
309 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
310 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
311 |
return 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
312 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
313 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
314 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
315 |
/***************************************************************************/ |
758 | 316 |
|
317 |
/* return 0 - OK; 1 - failure */ |
|
695
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
318 |
UNS8 LIBAPI canSend_driver(CAN_HANDLE fd0, Message const *m) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
319 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
320 |
UNS8 data; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
321 |
TPCANMsg peakMsg; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
322 |
int i, j; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
323 |
int loc_errno; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
324 |
int MaxLoops = 100; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
325 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
326 |
i = -1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
327 |
for(j=0; j<SLAVE_COUNT; j++) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
328 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
329 |
if(Q_DATA[j].board != (s_BOARD *)fd0) // store this message forr all other drivers |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
330 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
331 |
PushMsgToQueue(&Q_DATA[j],m); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
332 |
i = j; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
333 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
334 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
335 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
336 |
if(i<0) return 1; // no board found |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
337 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
338 |
peakMsg.ID = m->cob_id; /* 11/29 bit code */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
339 |
if(m->rtr == 0) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
340 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
341 |
if(peakMsg.ID > 0x7FF) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
342 |
peakMsg.MSGTYPE = MSGTYPE_EXTENDED; /* bits of MSGTYPE_ */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
343 |
else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
344 |
peakMsg.MSGTYPE = MSGTYPE_STANDARD; /* bits of MSGTYPE_ */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
345 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
346 |
else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
347 |
peakMsg.MSGTYPE = MSGTYPE_RTR; /* bits of MSGTYPE_ */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
348 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
349 |
peakMsg.LEN = m->len; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
350 |
/* count of data bytes (0..8) */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
351 |
for(data = 0; data < m->len; data++) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
352 |
peakMsg.DATA[data] = m->Data[data]; /* data bytes, up to 8 */ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
353 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
354 |
do |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
355 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
356 |
errno = loc_errno = CAN_Write(&peakMsg); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
357 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
358 |
if(loc_errno) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
359 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
360 |
if(loc_errno==CAN_ERR_BUSOFF && (MaxLoops%20)==1) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
361 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
362 |
#if defined DEBUG_MSG_CONSOLE_ON |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
363 |
printf ("Peak board write: re-init!!!\n"); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
364 |
#endif |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
365 |
canInit((s_BOARD*)fd0); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
366 |
usleep(1000); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
367 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
368 |
usleep(80); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
369 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
370 |
if(MaxLoops-- == 0) break; // limit max looping |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
371 |
} while(loc_errno != CAN_ERR_OK); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
372 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
373 |
#if defined DEBUG_MSG_CONSOLE_ON |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
374 |
MSG("out : "); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
375 |
print_message(m); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
376 |
#endif |
758 | 377 |
return 0; // OK |
695
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
378 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
379 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
380 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
381 |
/***************************************************************************/ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
382 |
UNS8 LIBAPI canChangeBaudRate_driver(CAN_HANDLE fd, char* baud) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
383 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
384 |
printf("canChangeBaudRate not yet supported by this driver\n"); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
385 |
return 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
386 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
387 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
388 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
389 |
/***************************************************************************/ |
758 | 390 |
CAN_HANDLE LIBAPI canOpen_driver(s_BOARD * board) |
695
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
391 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
392 |
int ret; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
393 |
int i; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
394 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
395 |
if(!initialisedQ) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
396 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
397 |
memset(Q_DATA,0,sizeof(Q_DATA)); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
398 |
initialisedQ = 1; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
399 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
400 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
401 |
i = strtol(board->busname,NULL,0); // Get slot name |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
402 |
//printf ("Board Busname=%d.\n",strtol(board->busname, &pEnd,0)); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
403 |
if(i<SLAVE_COUNT && i>=0) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
404 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
405 |
Q_DATA[i].board = board; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
406 |
//printf ("First Board selected\n"); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
407 |
if(Q_DATA[i].hEventx==NULL) // Create local event |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
408 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
409 |
Q_DATA[i].hEventx = CreateEvent(NULL, FALSE, FALSE, ""); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
410 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
411 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
412 |
if(hEvent1!=NULL) return (CAN_HANDLE)board; // Create global event, if needed |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
413 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
414 |
ret = canInit(board); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
415 |
if(ret) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
416 |
return (CAN_HANDLE)board; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
417 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
418 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
419 |
return NULL; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
420 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
421 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
422 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
423 |
/***************************************************************************/ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
424 |
int LIBAPI canClose_driver(CAN_HANDLE fd0) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
425 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
426 |
s_BOARD *x_board = NULL; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
427 |
int ActiveBoards = 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
428 |
int i; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
429 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
430 |
if((s_BOARD *)fd0==NULL) return 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
431 |
for(i=0; i<SLAVE_COUNT; i++) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
432 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
433 |
if(Q_DATA[i].board == (s_BOARD *)fd0) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
434 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
435 |
x_board = Q_DATA[i].board; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
436 |
Q_DATA[i].board = NULL; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
437 |
CloseHandle(Q_DATA[i].hEventx); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
438 |
Q_DATA[i].hEventx = NULL; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
439 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
440 |
else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
441 |
ActiveBoards++; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
442 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
443 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
444 |
if(ActiveBoards<=0) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
445 |
{ // No can device is used. |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
446 |
CAN_SetRcvEvent(NULL); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
447 |
CAN_Close(); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
448 |
if(hEvent1) |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
449 |
{ |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
450 |
SetEvent(hEvent1); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
451 |
CloseHandle(hEvent1); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
452 |
hEvent1 = NULL; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
453 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
454 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
455 |
else |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
456 |
SetEvent(hEvent1); |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
457 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
458 |
return 0; |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
459 |
} |
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
460 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
461 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
462 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
463 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
464 |
|
0271f08ba819
Multiple instances CAN wirtual network for PEAK and Windows.
JaFojtik
parents:
diff
changeset
|
465 |