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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): VScom
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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_vscom.c
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* @author VScom (http://www.vscom.de)
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* @date 17/04/08
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*
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* This file implements interface between CanFestival and the VSCAN API
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* (supported VScom products SER-CAN, USB-CAN, NET-CAN).
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*
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* To build this interface following files will needed:
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* vs_can_api.h
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* va_can_api.lib (for Windows builds)
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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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// VSCAN API header
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#include "vs_can_api.h" // for CAN_HANDLE
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#include "can_driver.h"
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/*********functions which permit to communicate with the board****************/
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UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
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{
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VSCAN_MSG Msg[1];
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UNS8 i;
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DWORD dwRead; /* number of read frames */
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if (VSCAN_Read((VSCAN_HANDLE)fd0, Msg, 1, &dwRead) != VSCAN_ERR_OK)
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{
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printf("canReceive_driver (VScom): error receiving frame)\n");
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return 1;
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}
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/* identifier of the CAN frame */
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m->cob_id = Msg[0].Id;
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/* CAN frame type */
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if (Msg[0].Flags == VSCAN_FLAGS_STANDARD)
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m->rtr = 0;
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else
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m->rtr = 1;
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/* width of the data bytes */
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m->len = Msg[0].Size;
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/* copy data bytes from the CAN frame, up to 8 */
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for(i = 0 ; i < Msg[0].Size ; i++)
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{
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m->data[i] = Msg[0].Data[i];
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}
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return 0;
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}
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/***************************************************************************/
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631
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UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)
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{
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VSCAN_MSG Msg[1];
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UNS8 i;
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DWORD dwWritten; /* number of written frames */
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/* identifier of the CAN frame */
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Msg[0].Id = m->cob_id;
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/* CAN frame type */
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if(m->rtr == 0)
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Msg[0].Flags = VSCAN_FLAGS_STANDARD;
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else
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Msg[0].Flags = VSCAN_FLAGS_REMOTE;
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/* width of the data bytes */
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Msg[0].Size = m->len;
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/* copy data bytes to the CAN frame, up to 8 */
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for(i = 0 ; i < m->len; i++)
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Msg[0].Data[i] = m->data[i];
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/* copy CAN frame to the output buffer */
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if (!(VSCAN_Write((VSCAN_HANDLE)fd0, Msg, (DWORD)1, &dwWritten) == VSCAN_ERR_OK && dwWritten))
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{
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perror("canSend_driver (VScom): error writing to output buffer.\n");
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return 1;
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}
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/* really send CAN frame */
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if(VSCAN_Flush((VSCAN_HANDLE)fd0) != VSCAN_ERR_OK)
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{
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perror("canSend_driver (VScom): error flushing.\n");
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return 1;
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}
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return 0;
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}
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/***************************************************************************/
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int TranslateBaudeRate(char* optarg){
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if(!strcmp( optarg, "1M")) return (int)VSCAN_SPEED_1M;
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if(!strcmp( optarg, "500K")) return (int)VSCAN_SPEED_500K;
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if(!strcmp( optarg, "250K")) return (int)VSCAN_SPEED_250K;
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if(!strcmp( optarg, "125K")) return (int)VSCAN_SPEED_125K;
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if(!strcmp( optarg, "100K")) return (int)VSCAN_SPEED_100K;
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if(!strcmp( optarg, "50K")) return (int)VSCAN_SPEED_50K;
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if(!strcmp( optarg, "20K")) return (int)VSCAN_SPEED_20K;
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if(!strcmp( optarg, "none")) return 0;
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return 0x0000;
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}
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UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
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{
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int baudrate;
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baudrate = TranslateBaudeRate(baud);
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if(baudrate == 0)
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return 0;
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if (VSCAN_Ioctl((VSCAN_HANDLE)fd, VSCAN_IOCTL_SET_SPEED, (void *)baudrate) != VSCAN_ERR_OK)
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{
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fprintf(stderr, "canOpen_driver (VScom): IOCTL set speed failed\n");
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return 0;
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}
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return 1;
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}
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/***************************************************************************/
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CAN_HANDLE canOpen_driver(s_BOARD *board)
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{
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VSCAN_HANDLE fd0 = 0;
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char busname[64];
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char* pEnd;
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int i;
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int baudrate;
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printf("bus %s ", board->busname);
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fd0 = VSCAN_Open(board->busname, VSCAN_MODE_NORMAL);
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if(fd0 <= 0)
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{
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fprintf(stderr, "canOpen_driver (VScom): error opening %s\n", board->busname);
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return (CAN_HANDLE)fd0;
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}
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printf("(fd = %d)\n", fd0);
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baudrate = TranslateBaudeRate(board->baudrate);
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if(baudrate == 0)
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return 0;
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if (VSCAN_Ioctl((VSCAN_HANDLE)fd0, VSCAN_IOCTL_SET_SPEED, (void *)baudrate) != VSCAN_ERR_OK)
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{
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fprintf(stderr, "canOpen_driver (VScom): IOCTL set speed failed\n");
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return 0;
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}
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return (CAN_HANDLE)fd0;
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}
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/***************************************************************************/
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int canClose_driver(CAN_HANDLE fd0)
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{
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VSCAN_Close((VSCAN_HANDLE)fd0);
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return 0;
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}
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