drivers/can_copcican_win32/can_copcican_win32.cpp
author edouard
Sat, 13 Nov 2010 23:08:34 +0100
changeset 633 2c43383a1d57
parent 629 b9274b595650
permissions -rw-r--r--
Fix mingw32 cross build for can_peak_win32 and can_tcp_win32 server.
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// can_copcican_win32.cpp : Defines the exported functions for the DLL application.
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//
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#include "stdafx.h"
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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): Cosateq GmbH & Co.KG
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               http://www.cosateq.com/
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               http://www.scale-rt.com/
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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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	CAN driver interface for CO-PCICAN card.
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*/
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#include <stdio.h>
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//#include <unistd.h>
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#include <fcntl.h>
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//#define NEED_PRINT_MESSAGE
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static int initdone = 0;
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inline void * maskDevID(int devId){	return ((void*)( (devId & 0x0000000F) | 0xC05A0000)); }
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inline int unmaskDevID(void * Ptr){	return ((int)((int)Ptr & 0x0000000F)); }
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/* at the moment not threadsafe :-( */
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static unsigned char selectedChannelRx = 1, selectedChannelTx = 1;
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static cosateq::devices::can::co_baudrate_t TranslateBaudRate( char* optarg )
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{
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  /* values see documentation of CO-PCICAN */
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	if( !strcmp( optarg, "1M"    ) ) return cosateq::devices::can::CO_BAUD_1M;
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	if( !strcmp( optarg, "800K"  ) ) return cosateq::devices::can::CO_BAUD_800k;
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	if( !strcmp( optarg, "500K"  ) ) return cosateq::devices::can::CO_BAUD_500k;
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  if( !strcmp( optarg, "250K"  ) ) return cosateq::devices::can::CO_BAUD_250k;
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  if( !strcmp( optarg, "125K"  ) ) return cosateq::devices::can::CO_BAUD_125k;
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  if( !strcmp( optarg, "100K"  ) ) return cosateq::devices::can::CO_BAUD_100k;
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  if( !strcmp( optarg, "83.3K" ) ) return cosateq::devices::can::CO_BAUD_83k;
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  if( !strcmp( optarg, "10K"   ) ) return cosateq::devices::can::CO_BAUD_10k;
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  return (cosateq::devices::can::co_baudrate_t)-1;
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}
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int co_pcican_select_channel( const unsigned char channel, const unsigned int direction )
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{
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  if( channel >= CHANNELS )
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  {
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    MSG("can_copcican_linux: co_pcican_select_channel(): invalid channel\n");
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    return -1;
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  }
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  /* at the moment not threadsafe :-( */
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  switch( direction )
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  {
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    case cosateq::devices::can::CO_CAN_RX: selectedChannelRx = channel;
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             break;
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    case cosateq::devices::can::CO_CAN_TX: selectedChannelTx = channel;
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             break;
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    default: return -1;
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  }
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  return 0;
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}
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int co_pcican_configure_selected_channel( const int fd, s_BOARD *board, const unsigned int direction )
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{
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  unsigned int selectedChannel;
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  int ret = 0;
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  if( fd < 0 )
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  {
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    MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid file descriptor\n");
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    return -1;
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  }
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  if( board == NULL )
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  {
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    MSG("can_copcican_linux: co_pcican_configure_selected_channel(): board is NULL\n");
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    return -1;
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  }
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  if( board->baudrate == NULL )
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  {
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    MSG("can_copcican_linux: co_pcican_configure_selected_channel(): baudrate is NULL\n");
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    return -1;
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  }
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  switch( direction )
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  {
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    case cosateq::devices::can::CO_CAN_RX: selectedChannel = selectedChannelRx;
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             break;
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    case cosateq::devices::can::CO_CAN_TX: selectedChannel = selectedChannelTx;
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             break;
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    default: selectedChannel = 0xff;
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  }
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  if( selectedChannel >= CHANNELS )
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  {
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    MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid channel selected\n");
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    return -1;
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  }
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  ret = can_setChannelConfig( TranslateBaudRate( board->baudrate ),0x0,unmaskDevID((void*)fd),selectedChannel);
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  if ( ret != 0 ) {
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	  can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2);
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	  return -ret;
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  }else{
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	  ret = can_setIrqMode(unmaskDevID((void*)fd),selectedChannel);
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	  can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2);
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  }
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  return ret;
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}
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/*********functions which permit to communicate with the board****************/
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UNS8 __stdcall canReceive_driver( CAN_HANDLE fd0, Message *m )
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{
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  cosateq::devices::can::co_can_packet_t p;
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  int ret = 0;
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  if ( !m )
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	  return 0;
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  memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t));
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  ret = can_receive(&p,unmaskDevID(fd0),selectedChannelRx);
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  //printf("rec: %d\n",ret);
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  if ( ret != 0 )
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	  return 1;
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  //printf("rec2: %d\n",ret);
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  if ( p.size > 8 )
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	  p.size = 8;
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  if ( !(p.type & MSG_RTR ) )
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    memcpy(m->data,p.data,p.size);
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  m->cob_id = p.id;
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  m->len = p.size;
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  m->rtr = p.type & MSG_RTR;
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  return 0;
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}
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/***************************************************************************/
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UNS8 __stdcall canSend_driver( CAN_HANDLE fd0, Message *m )
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{
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  cosateq::devices::can::co_can_packet_t p;
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  if ( !m )
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	  return 0;
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  memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t));
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  p.id = m->cob_id;
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  p.size = (m->len > 8) ? 8 : m->len;
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  p.type = ( m->rtr ) ? 0x2:0x0;
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  if ( p.id > 0x800 )
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	  p.type |= MSG_EXT;
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  memcpy(p.data,m->data,p.size);
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  return can_send(&p,unmaskDevID(fd0),selectedChannelTx);
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}
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/***************************************************************************/
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UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud )
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{
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  UNS8 ret = 0;
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  ret = can_enterCfgMode(unmaskDevID(fd0),0);
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  if ( ret != 0)
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    MSG("Enter config mode for Channelpair 0 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
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  ret = can_enterCfgMode(unmaskDevID(fd0),1);
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  if ( ret != 0)
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    MSG("Enter config mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
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  for ( int i = 0; i < 4; i++ ) {
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      ret = can_setChannelConfig(TranslateBaudRate(baud),0x0,unmaskDevID(fd0),i);
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      if ( ret != 0)
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        MSG("Set config for channel %d failed in Function %s! Error: %d\n",i,__FUNCTION__,ret);
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	  can_setIrqMode(unmaskDevID(fd0),i);
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  }
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  ret = can_enterRunMode(unmaskDevID(fd0),0);
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  if ( ret != 0)
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    MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
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  ret = can_enterRunMode(unmaskDevID(fd0),1);
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  if ( ret != 0)
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    MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
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  return ret;
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}
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CAN_HANDLE __stdcall canOpen_driver( s_BOARD *board )
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{
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	int ret = 0;
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	int devId = 0;
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	if ( !board )
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		return NULL;
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	if ( !board->busname )
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		return NULL;
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	//TODO find out how boardname resolves
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	//printf("BOARD: 0x%x %s\n",board,board->busname);
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	//sscanf_s(board->busname,"%d",&devId);
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	if ( devId < 0 || devId > 15 )
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		return NULL;
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	//return (can_HANDLE)NULL;
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	if ( !initdone ) {
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		can_init();
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		initdone = 1;
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	}
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	ret = can_open(devId);
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	if ( ret < 0 )
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		return (CAN_HANDLE)NULL;
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	canChangeBaudRate_driver( maskDevID(devId),board->baudrate );
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	return maskDevID(devId);
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}
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int __stdcall canClose_driver(CAN_HANDLE fd0 )
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{
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	return can_close(unmaskDevID(fd0));
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}
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   249