canfestival: drivers/can_peak_win32/can_peak_win32.c@394440e3b6e4 (annotated)

38 9b5bb1dcb4f5 Cygwin port. Still untested. Compiles and link. etisserant parents: diff changeset	1	/*
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	2	This file is part of CanFestival, a library implementing CanOpen Stack.
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	3
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	4	Copyright (C): Edouard TISSERANT and Francis DUPIN
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	5
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	6	See COPYING file for copyrights details.
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	7
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	8	This library is free software; you can redistribute it and/or
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	9	modify it under the terms of the GNU Lesser General Public
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	10	License as published by the Free Software Foundation; either
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	11	version 2.1 of the License, or (at your option) any later version.
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	12
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	13	This library is distributed in the hope that it will be useful,
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	14	but WITHOUT ANY WARRANTY; without even the implied warranty of
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	15	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	16	Lesser General Public License for more details.
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	17
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	18	You should have received a copy of the GNU Lesser General Public
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	19	License along with this library; if not, write to the Free Software
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	20	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
38 9b5bb1dcb4f5 Cygwin port. Still untested. Compiles and link. etisserant parents: diff changeset	21	*/
9b5bb1dcb4f5 Cygwin port. Still untested. Compiles and link. etisserant parents: diff changeset	22
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	23	#if defined(WIN32) && !defined(__CYGWIN__)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	24	#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	25	#else
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	26	#include <stdio.h>
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	27	#include <string.h>
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	28	#include <errno.h>
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	29	#include <fcntl.h>
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	30	#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	31
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	32	#include "cancfg.h"
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	33	#include "can_driver.h"
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	34	#include "def.h"
41 e70439f50539 First working cygwin/pcan_light commit. can_peak_win32.c is obfuscated. etisserant parents: 38 diff changeset	35	#ifndef extra_PCAN_init_params
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	36	#define extra_PCAN_init_params /**/
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	37	#else
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	38	#define extra_PCAN_init_params\
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	39	,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	40	,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	41	,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	42	#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	43
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	44	static s_BOARD *first_board = NULL;
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	45
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	46	//Create the Event for the first board
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	47	HANDLE hEvent1 = NULL;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	48
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	49
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	50	#ifdef PCAN2_HEADER_
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	51	static s_BOARD *second_board = NULL;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	52	HANDLE hEvent2 = NULL;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	53	#endif
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	54
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	55	// Define for rtr CAN message
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	56	#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD \| MSGTYPE_RTR
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	57
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	58	/***************************************************************************/
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	59	int TranslateBaudeRate(char* optarg){
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	60	if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	61	if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	62	if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	63	if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	64	if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	65	if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	66	if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	67	if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	68	if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	69	if(!strcmp( optarg, "none")) return 0;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	70	return 0x0000;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	71	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	72
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	73	void canInit (s_BOARD *board)
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	74	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	75	int baudrate;
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	76
329 7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	77	#ifdef PCAN2_HEADER_
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	78	// if not the first handler
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	79	if(second_board == (s_BOARD *)board) {
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	80	if(baudrate = TranslateBaudeRate(board->baudrate))
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	81	CAN2_Init (baudrate,
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	82	CAN_INIT_TYPE_ST extra_PCAN_init_params);
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	83
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	84	//Create the Event for the first board
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	85	hEvent2 = CreateEvent(NULL, // lpEventAttributes
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	86	FALSE, // bManualReset
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	87	FALSE, // bInitialState
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	88	""); // lpName
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	89
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	90	//Set Event Handle for CANReadExt
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	91	CAN2_SetRcvEvent(hEvent2);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	92	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	93	else
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	94	#endif
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	95	if(first_board == (s_BOARD *)board) {
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	96	if(baudrate = TranslateBaudeRate(board->baudrate))
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	97	CAN_Init (baudrate,
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	98	CAN_INIT_TYPE_ST extra_PCAN_init_params);
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	99
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	100	//Create the Event for the first board
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	101	hEvent1 = CreateEvent(NULL, // lpEventAttributes
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	102	FALSE, // bManualReset
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	103	FALSE, // bInitialState
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	104	""); // lpName
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	105	//Set Event Handle for CANReadExt
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	106	CAN_SetRcvEvent(hEvent1);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	107	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	108	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	109
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	110	/******* functions which permit to communicate with the board **************/
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	111	UNS8 canReceive_driver (CAN_HANDLE fd0, Message * m)
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	112	{
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	113	int ret=0;
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	114	UNS8 data;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	115	TPCANMsg peakMsg;
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	116	TPCANTimestamp peakRcvTime;
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	117	DWORD Res;
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	118	DWORD result;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	119
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	120	#ifdef PCAN2_HEADER_
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	121	// if not the first handler
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	122	if(second_board == (s_BOARD *)fd0) {
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	123	//wait for CAN msg...
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	124	result = WaitForSingleObject(hEvent2, INFINITE);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	125	if (result == WAIT_OBJECT_0)
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	126	Res = CAN2_ReadEx(&peakMsg, &peakRcvTime);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	127	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	128	else
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	129	#endif
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	130
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	131	// We read the queue looking for messages.
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	132	if(first_board == (s_BOARD *)fd0) {
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	133	result = WaitForSingleObject(hEvent1, INFINITE);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	134	if (result == WAIT_OBJECT_0)
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	135	Res = CAN_ReadEx(&peakMsg, &peakRcvTime);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	136	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	137	else
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	138	Res = CAN_ERR_BUSOFF;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	139
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	140	// A message was received : we process the message(s)
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	141	if (Res == CAN_ERR_OK)
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	142	{
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	143	// if something different that 11bit or rtr... problem
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	144	if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD \| MSGTYPE_RTR))
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	145	{
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	146	if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	147	{
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	148	printf ("!!! Peak board read : re-init\n");
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	149	canInit((s_BOARD*) fd0);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	150	usleep (10000);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	151	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	152
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	153	// If status, return status if 29bit, return overrun
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	154	return peakMsg.MSGTYPE ==
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	155	MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	156	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	157	m->cob_id = peakMsg.ID;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	158
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	159	if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	160	m->rtr = 0;
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	161	else
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	162	m->rtr = 1;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	163	m->len = peakMsg.LEN; /* count of data bytes (0..8) */
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	164	for (data = 0; data < peakMsg.LEN; data++)
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	165	m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */
341 7ff01f109bbc Windows related enhancements etisserant parents: 329 diff changeset	166	#if defined DEBUG_MSG_CONSOLE_ON
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	167	MSG("in : ");
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	168	print_message(m);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	169	#endif
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	170	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	171	else
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	172	{
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	173	if (!(Res & CAN_ERR_QRCVEMPTY
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	174	\|\| Res & CAN_ERR_BUSLIGHT
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	175	\|\| Res & CAN_ERR_BUSHEAVY))
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	176	{
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	177	printf ("canReceive returned error (%d)\n", Res);
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	178	return 1;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	179	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	180	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	181	return 0;
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	182	}
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	183
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	184	/***************************************************************************/
394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	185	UNS8 canSend_driver (CAN_HANDLE fd0, Message * m)
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	186	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	187	UNS8 data;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	188	TPCANMsg peakMsg;
365 9b76e0881beb Changed cob_id from struct{UNS32} to UNS16 etisserant parents: 341 diff changeset	189	peakMsg.ID = m->cob_id; /* 11/29 bit code */
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	190	if (m->rtr == 0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	191	peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_ */
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	192	else
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	193	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	194	peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_ */
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	195	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	196	peakMsg.LEN = m->len;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	197	/* count of data bytes (0..8) */
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	198	for (data = 0; data < m->len; data++)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	199	peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	200
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	201	do
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	202	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	203	#ifdef PCAN2_HEADER_
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	204	// if not the first handler
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	205	if(second_board == (s_BOARD *)fd0)
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	206	{
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	207	errno = CAN2_Write (&peakMsg);
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	208	}
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	209	else
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	210	#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	211	if(first_board == (s_BOARD *)fd0)
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	212	{
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	213	errno = CAN_Write (&peakMsg);
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	214	}
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	215	else
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	216	goto fail;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	217	if (errno)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	218	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	219	if (errno == CAN_ERR_BUSOFF)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	220	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	221	printf ("!!! Peak board write : re-init\n");
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	222	canInit((s_BOARD*)fd0);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	223	usleep (10000);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	224	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	225	usleep (1000);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	226	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	227	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	228	while (errno != CAN_ERR_OK);
341 7ff01f109bbc Windows related enhancements etisserant parents: 329 diff changeset	229	#if defined DEBUG_MSG_CONSOLE_ON
454 bc000083297a - add RTAI support greg parents: 384 diff changeset	230	MSG("out : ");
341 7ff01f109bbc Windows related enhancements etisserant parents: 329 diff changeset	231	print_message(m);
7ff01f109bbc Windows related enhancements etisserant parents: 329 diff changeset	232	#endif
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	233	return 0;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	234	fail:
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	235	return 1;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	236	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	237
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	238	/***************************************************************************/
384 83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 365 diff changeset	239	UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 365 diff changeset	240	{
83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 365 diff changeset	241	printf("canChangeBaudRate not yet supported by this driver\n");
83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 365 diff changeset	242	return 0;
83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 365 diff changeset	243	}
83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 365 diff changeset	244
83793fc7ce48 added canChangeBaudRate to the driver interface groke6 parents: 365 diff changeset	245	/***************************************************************************/
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	246	CAN_HANDLE canOpen_driver (s_BOARD * board)
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	247	{
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	248	char busname[64];
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	249	char* pEnd;
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	250
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	251	//printf ("Board Busname=%d.\n",strtol(board->busname, &pEnd,0));
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	252	if (strtol(board->busname, &pEnd,0) == 0)
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	253	{
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	254	first_board = board;
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	255	printf ("First Board selected\n");
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	256	canInit(board);
329 7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	257	return (CAN_HANDLE)board;
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	258	}
329 7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	259	#ifdef PCAN2_HEADER_
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	260	if (strtol(board->busname, &pEnd,0) == 1)
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	261	{
329 7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	262	second_board = board;
7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	263	printf ("Second Board selected\n");
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	264	canInit(board);
329 7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	265	return (CAN_HANDLE)board;
267 96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32 greg parents: 145 diff changeset	266	}
329 7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	267	#endif
7717252e3ed9 Changes to compile for win32 greg parents: 301 diff changeset	268	return NULL;
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	269	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	270
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	271	/***************************************************************************/
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	272	int canClose_driver (CAN_HANDLE fd0)
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	273	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	274	#ifdef PCAN2_HEADER_
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	275	// if not the first handler
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	276	if(second_board == (s_BOARD *)fd0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	277	{
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	278	ResetEvent(hEvent2);
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	279	CAN2_Close ();
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	280	second_board = (s_BOARD *)NULL;
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	281	}else
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	282	#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	283	if(first_board == (s_BOARD *)fd0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	284	{
563 394440e3b6e4 update canReceive_driver to match with Peak new read function (event) greg parents: 454 diff changeset	285	ResetEvent(hEvent1);
145 e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	286	CAN_Close ();
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	287	first_board = (s_BOARD *)NULL;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	288	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	289	return 0;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32. etisserant parents: 42 diff changeset	290	}

author	greg
	Thu, 16 Jul 2009 11:53:07 +0200
changeset 563	394440e3b6e4
parent 454	bc000083297a
child 566	365d555fc0c6
permissions	-rwxr-xr-x