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/*

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Copyright (C): Giuseppe Massimo BERTANI

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gmbertani@users.sourceforge.net

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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/**

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 * @file can_kvaser.c

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 * @author GMB

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 * @date 17/1/08

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 *

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 * This file is needed to interface Kvaser's CAN Leaf (USB-CAN adapter) 

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 * and probably others Kvaser's products compatible with Kvaser's CANLIB,

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 * to CANfestival open source CANopen stack.

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 *

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 * It was tested under Linux 2.6 with "Leaf Professional" and CANLIB 4.72 Beta (Oct 1,2007)

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*/

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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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#include <signal.h>

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#include <unistd.h>

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/* includes Kvaser's CANLIB header */

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#include <canlib.h>

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#include "can_driver.h"

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/**

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 * CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0

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 * so fd0 needs to be decremented before use.

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 *

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 */ 

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UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)

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{

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canStatus retval = canOK;

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unsigned flags = 0;

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unsigned long timeStamp;

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    fd0--;

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    /* checking for input message (blocking) */

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    retval = canReadWait((int)fd0, (long*)&m->cob_id, &m->data, (unsigned*)&m->len, &flags, &timeStamp, -1);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canReceive_driver (Kvaser) : canReadWait() error, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n", 

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                m->cob_id, m->len, flags, retval);

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        canClose((int)fd0);

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        return retval;

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    }

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    m->rtr = 0;

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    if (flags & canMSG_RTR)

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    {

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        m->rtr = 1;

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    }

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    if (flags & canMSG_EXT)

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    {

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        /* TODO: is it correct to set this info in cob_id? */

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        m->cob_id |= 0x20000000;

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    }

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    //fprintf(stderr, "canReceive_driver (Kvaser) : canReadWait() received packet, cob_id=%08X, len=%u, flags=%08X, timestamp=%d  returned value = %d\n", 

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    //       m->cob_id, m->len, flags, timeStamp, retval);

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    return retval;

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}

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/**

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 *

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 * CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0

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 * so fd0 needs to be decremented before use.

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 *

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 */ 

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UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)

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{

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canStatus retval = canOK;

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unsigned flags = 0;

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    fd0--;

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    flags |= canMSG_STD;

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    if (m->cob_id & 0x20000000)

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    {

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        /* TODO: is it correct to desume this info from cob_id? */

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        flags |= canMSG_EXT;

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    }

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    if (m->cob_id & 0x40000000)

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    {

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        flags |= canMSG_RTR;

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    }

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    /*

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     * TODO: when should I set canMSG_ERROR_FRAME?

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     */ 

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    retval = canWriteWait((int)fd0, m->cob_id, m->data, m->len, 10000, flags);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canSend_driver (Kvaser) :  canWriteWait() error, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n", 

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                m->cob_id, m->len, flags, retval);

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        canClose((int)fd0);

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        return retval;

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    }

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    //fprintf(stderr, "canSend_driver (Kvaser) :  canWriteWait() send packet, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n", 

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    //            m->cob_id, m->len, flags, retval);

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    return retval; 

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}

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/**

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 * 

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 */ 

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int TranslateBaudRate(char* optarg)

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{

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	if(!strcmp( optarg, "1M")) 

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        return BAUD_1M;

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	if(!strcmp( optarg, "500K")) 

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        return BAUD_500K;

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	if(!strcmp( optarg, "250K")) 

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        return BAUD_250K;

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	if(!strcmp( optarg, "125K")) 

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        return BAUD_125K;

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	if(!strcmp( optarg, "100K")) 

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        return BAUD_100K;

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	if(!strcmp( optarg, "62K")) 

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        return BAUD_62K;

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	if(!strcmp( optarg, "50K")) 

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        return BAUD_50K;

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	return 0;

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}

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/**

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 * Channels and their descriptors are numbered starting from zero.

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 * So I need to increment by 1 the handle returned by CANLIB because

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 * CANfestival CAN_HANDLEs with value zero are considered NOT VALID. 

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 * 

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 * The baud rate could be given directly as bit/s

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 * or using one of the BAUD_* constants defined

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 * in canlib.h

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 */ 

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CAN_HANDLE canOpen_driver(s_BOARD *board)

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{

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int fd0 = -1;

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int channel, baud;

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canStatus retval = canOK;

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    fd0--;

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    sscanf(board->busname, "%d", &channel);  

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    baud = TranslateBaudRate(board->baudrate);

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    if (baud == 0)

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    {

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        sscanf(board->baudrate, "%d", &baud);

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    }

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    fd0 = canOpenChannel(channel, canWANT_EXCLUSIVE|canWANT_EXTENDED);

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    if (fd0 < 0)

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    {

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  	    fprintf(stderr, "canOpen_driver (Kvaser) : error opening channel %d\n", channel);

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        return (CAN_HANDLE)(fd0+1);

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    }

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    canBusOff(fd0);

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    /* values for tseg1, tseg2, sjw, noSamp and  syncmode

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     * come from canlib example "simplewrite.c". The doc

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     * says that default values will be taken if baud is one of

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     * the BAUD_* values

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     */ 

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    retval = canSetBusParams(fd0, baud, 4, 3, 1, 1, 0);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canOpen_driver (Kvaser) :  canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud);

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        canClose((int)fd0);

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        return (CAN_HANDLE)retval;

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    }

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    canSetBusOutputControl(fd0, canDRIVER_NORMAL);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canOpen_driver (Kvaser) :  canSetBusOutputControl() error, returned value = %d\n", retval);

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        canClose((int)fd0);

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        return (CAN_HANDLE)retval;

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    }

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    retval = canBusOn(fd0);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canOpen_driver (Kvaser) :  canBusOn() error, returned value = %d\n", retval);

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        canClose((int)fd0);

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        return (CAN_HANDLE)retval;

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    }

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    return (CAN_HANDLE)(fd0+1);

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}

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UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)

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{

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int baudrate;

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canStatus retval = canOK;

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    baudrate = TranslateBaudRate(baud);

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    if (baudrate == 0)

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    {

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        sscanf(baud, "%d", &baudrate);

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    }

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    fprintf(stderr, "%x-> changing to baud rate %s[%d]\n", (int)fd0, baud, baudrate); 

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    canBusOff((int)fd0);

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    /* values for tseg1, tseg2, sjw, noSamp and  syncmode

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     * come from canlib example "simplewrite.c". The doc

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     * says that default values will be taken if baud is one of

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     * the BAUD_* values

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     */ 

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    retval = canSetBusParams((int)fd0, baudrate, 4, 3, 1, 1, 0);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canChangeBaudRate_driver (Kvaser) :  canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud);

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        canClose((int)fd0);

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        return (UNS8)retval;

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    }

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    canSetBusOutputControl((int)fd0, canDRIVER_NORMAL);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canChangeBaudRate_driver (Kvaser) :  canSetBusOutputControl() error, returned value = %d\n", retval);

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        canClose((int)fd0);

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        return (UNS8)retval;

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    }

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    retval = canBusOn((int)fd0);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canChangeBaudRate_driver (Kvaser) :  canBusOn() error, returned value = %d\n", retval);

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        canClose((int)fd0);

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        return (UNS8)retval;

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    }

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    return 0;

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}

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/**

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 *

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 * CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0

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 * so fd0 needs to be decremented before use.

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 */ 

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int canClose_driver(CAN_HANDLE fd0)

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{

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canStatus retval = canOK;

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    fd0--;

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    retval = canBusOff((int)fd0);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canClose_driver (Kvaser) :  canBusOff() error, returned value = %d\n", retval);

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        canClose((int)fd0);

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        return retval;

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    }

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    retval = canClose((int)fd0);

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    if (retval != canOK)

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    {

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  	    fprintf(stderr, "canClose_driver (Kvaser) :  canClose() error, returned value = %d\n", retval);

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        return retval;

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    }

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    return retval;

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}

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