drivers/can_peak_win32/can_peak_win32.c
author etisserant
Fri, 21 Sep 2007 17:50:20 +0200
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parent 267 96c688ebcde7
child 301 f4b64aa848e1
permissions -rw-r--r--
added config.py.in, filled by configure, so that python program using objdictedit can gat compilation params. Reomved old dead files.
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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): Edouard TISSERANT and Francis DUPIN
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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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#if defined(WIN32) && !defined(__CYGWIN__)
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#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
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#else
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#include <stdio.h>
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#include <string.h>
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#include <errno.h>
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#include <fcntl.h>
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#endif
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#include "cancfg.h"
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#include "can_driver.h"
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#include "def.h"
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#ifndef extra_PCAN_init_params
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	#define extra_PCAN_init_params /**/
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#else
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	#define extra_PCAN_init_params\
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		,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\
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		,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\
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		,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0
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#endif
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static s_BOARD *first_board = NULL;
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#ifdef PCAN2_HEADER_
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static s_BOARD *second_board = NULL;
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#endif
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//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER;
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// Define for rtr CAN message
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#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR
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/***************************************************************************/
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int TranslateBaudeRate(char* optarg){
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	if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
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	if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
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	if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
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	if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
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	if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
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	if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
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	if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
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	if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
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	if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
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	if(!strcmp( optarg, "none")) return 0;
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	return 0x0000;
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}
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#define MyCase(fc) case fc: printf(#fc);break;
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void print_message(Message *m)
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{
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	int i;
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	switch(m->cob_id.w >> 7)
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	{
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		MyCase(SYNC)
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		MyCase(TIME_STAMP)
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		MyCase(PDO1tx)
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		MyCase(PDO1rx)
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		MyCase(PDO2tx)
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		MyCase(PDO2rx)
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		MyCase(PDO3tx)
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		MyCase(PDO3rx)
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		MyCase(PDO4tx)
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		MyCase(PDO4rx)
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		MyCase(SDOtx)
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		MyCase(SDOrx)
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		MyCase(NODE_GUARD)
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		MyCase(NMT)
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	}
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	printf(" rtr:%d", m->rtr);
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	printf(" len:%d", m->len);
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	for (i = 0 ; i < m->len ; i++)
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		printf(" %02x", m->data[i]);
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	printf("\n");
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}
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void
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canInit (s_BOARD *board)
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{
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	int baudrate;
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//#ifdef PCAN2_HEADER_
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	// if not the first handler
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	if(second_board == (s_BOARD *)board)
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		if(baudrate = TranslateBaudeRate(board->baudrate))
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			CAN2_Init (baudrate,
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			  CAN_INIT_TYPE_ST extra_PCAN_init_params);
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//#endif
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	if(first_board == (s_BOARD *)board)
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		if(baudrate = TranslateBaudeRate(board->baudrate))
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			CAN_Init (baudrate,
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			  CAN_INIT_TYPE_ST extra_PCAN_init_params);
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}
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/*********functions which permit to communicate with the board****************/
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UNS8
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canReceive_driver (CAN_HANDLE fd0, Message * m)
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{
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	UNS8 data;
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	TPCANMsg peakMsg;
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	DWORD Res;
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	do{
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		// We read the queue looking for messages.
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		// 
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		//pthread_mutex_lock (&PeakCan_mutex);
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#ifdef PCAN2_HEADER_
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		// if not the first handler
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		if(second_board == (s_BOARD *)fd0)
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			Res = CAN2_Read (&peakMsg);
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		else
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#endif
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		if(first_board == (s_BOARD *)fd0)
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			Res = CAN_Read (&peakMsg);
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   134
		else
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			Res = CAN_ERR_BUSOFF;
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		// A message was received
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		// We process the message(s)
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   138
		// 
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   139
		if (Res == CAN_ERR_OK)
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		{
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			// if something different that 11bit or rtr... problem
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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			if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR))
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   143
			{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   144
				if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
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   145
				{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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					printf ("!!! Peak board read : re-init\n");
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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					canInit((s_BOARD*) fd0);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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					usleep (10000);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   149
				}
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   150
	
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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				// If status, return status if 29bit, return overrun
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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				//pthread_mutex_unlock (&PeakCan_mutex);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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				return peakMsg.MSGTYPE ==
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					MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
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   155
			}
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			m->cob_id.w = peakMsg.ID;
267
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   157
			
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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			if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)	/* bits of MSGTYPE_ */
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   159
				m->rtr = 0;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   160
			else
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   161
				m->rtr = 1;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   162
			m->len = peakMsg.LEN;	/* count of data bytes (0..8) */
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			for (data = 0; data < peakMsg.LEN; data++)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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				m->data[data] = peakMsg.DATA[data];	/* data bytes, up to 8 */
267
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diff changeset
   165
		
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   166
		}else{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   167
		//pthread_mutex_unlock (&PeakCan_mutex);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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		//if (Res != CAN_ERR_OK)
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   169
		//{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   170
			if (!
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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				(Res & CAN_ERR_QRCVEMPTY || Res & CAN_ERR_BUSLIGHT
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   172
				 || Res & CAN_ERR_BUSHEAVY))
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   173
			{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   174
				printf ("canReceive returned error (%d)\n", Res);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   175
				return 1;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   176
			}
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   177
			usleep (1000);		
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   178
		}
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   179
	}while(Res != CAN_ERR_OK);
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   180
	return 0;
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   181
}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   182
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   183
/***************************************************************************/
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   184
UNS8
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   185
canSend_driver (CAN_HANDLE fd0, Message * m)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   186
{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   187
	UNS8 data;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   188
	TPCANMsg peakMsg;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   189
	peakMsg.ID = m->cob_id.w;	/* 11/29 bit code */
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   190
	if (m->rtr == 0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   191
		peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;	/* bits of MSGTYPE_ */
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   192
	else
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   193
	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   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.
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diff changeset
   195
	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   196
	peakMsg.LEN = m->len;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   197
	/* count of data bytes (0..8) */
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   198
	for (data = 0; data < m->len; data++)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   199
		peakMsg.DATA[data] = m->data[data];	/* data bytes, up to 8 */
267
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diff changeset
   200
	
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   201
	do
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   202
	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   203
#ifdef PCAN2_HEADER_
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   204
		// if not the first handler
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   205
		if(second_board == (s_BOARD *)fd0)
267
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   206
		{
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   207
			errno = CAN2_Write (&peakMsg);
267
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   208
		}
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   209
		else 
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   210
#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   211
		if(first_board == (s_BOARD *)fd0)
267
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   212
			{
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
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   213
				errno = CAN_Write (&peakMsg);
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diff changeset
   214
			}
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   215
		else 
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   216
			goto fail;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   217
		if (errno)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   218
		{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   219
			if (errno == CAN_ERR_BUSOFF)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   220
			{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   221
				printf ("!!! Peak board write : re-init\n");
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   222
				canInit((s_BOARD*)fd0);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   223
				usleep (10000);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   224
			}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   225
			usleep (1000);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   226
		}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   227
	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   228
	while (errno != CAN_ERR_OK);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   229
	return 0;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   230
fail:
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff changeset
   231
	return 1;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   232
}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   233
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   234
/***************************************************************************/
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   235
CAN_HANDLE
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   236
canOpen_driver (s_BOARD * board)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   237
{
267
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   238
  char busname[64];
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   239
  char* pEnd;
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   240
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   241
  //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
   242
  if (strtol(board->busname, &pEnd,0) == 0)
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents: 145
diff changeset
   243
  {
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   244
      first_board = board;
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   245
      printf ("First Board selected\n");
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   246
  }
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
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diff changeset
   247
  if (strtol(board->busname, &pEnd,0) == 1)
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents: 145
diff changeset
   248
  {
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
greg
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diff changeset
   249
     second_board = board;
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
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diff changeset
   250
     printf ("Second Board selected\n");
96c688ebcde7 Add win32 target (--can=win32) to compile with msys and mingw32
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diff changeset
   251
  }
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   252
	canInit(board);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   253
	
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   254
	return (CAN_HANDLE)board;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   255
}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff changeset
   256
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   257
/***************************************************************************/
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   258
int
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   259
canClose_driver (CAN_HANDLE fd0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   260
{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   261
#ifdef PCAN2_HEADER_
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   262
	// if not the first handler
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff changeset
   263
	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
   264
	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   265
		CAN2_Close ();
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   266
		second_board = (s_BOARD *)NULL;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff changeset
   267
	}else	
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff changeset
   268
#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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	if(first_board == (s_BOARD *)fd0)
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	{
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		CAN_Close ();
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		first_board = (s_BOARD *)NULL;
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	}
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	return 0;
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}