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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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#include <stdio.h>
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#include <string.h>
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#include <errno.h>
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#include <fcntl.h>
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#include "can_driver.h"
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struct SAnaGatePort
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{
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int hHandle;
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Message sMsgBuffer;
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struct SAnaGatePort *pNext;
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struct SAnaGatePort *pPrev;
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int bBufferFull;
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};
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struct SAnaGatePort *pFistAnaGatePort = NULL;
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/********* AnaGate API CAN receive callback Funciton ****************/
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void AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
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{
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int i;
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struct SAnaGatePort *pAnaGatePort = pFistAnaGatePort;
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while (pAnaGatePort->hHandle != hHandle )
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{
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pAnaGatePort = pAnaGatePort->pNext;
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if (pAnaGatePort == pFistAnaGatePort )
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{
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pAnaGatePort = NULL;
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printf("AnaGateReceiveCallBack (AnaGate_Linux): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
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return;
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}
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}
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while (pAnaGatePort->bBufferFull)
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{
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usleep(5000);
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}
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pAnaGatePort->sMsgBuffer.cob_id = nIdentifier;
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pAnaGatePort->sMsgBuffer.len= nBufferLen;
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if (nFlags == 2)
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pAnaGatePort->sMsgBuffer.rtr = 1;
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else
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pAnaGatePort->sMsgBuffer.rtr = 0;
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for (i = 0 ; i < nBufferLen; i++)
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{
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pAnaGatePort->sMsgBuffer.data[i] = pcBuffer[i];
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}
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pAnaGatePort->bBufferFull = 1;
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}
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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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int i;
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struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
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while (pAnaGatePort->bBufferFull == 0)
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{
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usleep (5000);
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}
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m->cob_id = pAnaGatePort->sMsgBuffer.cob_id;
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m->len = pAnaGatePort->sMsgBuffer.len;
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m->rtr = pAnaGatePort->sMsgBuffer.rtr;
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for (i = 0 ; i < pAnaGatePort->sMsgBuffer.len; i++)
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{
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m->data[i] = pAnaGatePort->sMsgBuffer.data[i];
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}
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pAnaGatePort->bBufferFull = 0;
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return 0;
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}
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/***************************************************************************/
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UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
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{
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struct SAnaGatePort* pAnaCanPort = (struct SAnaGatePort*)fd0;
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char cErrorMsg[100];
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int nRetCode;
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int nMsgTyp;
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if (m->rtr == 0)
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{
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nMsgTyp = 0; //Normal;
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}
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else
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{
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nMsgTyp = 2; //Remote frame;
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}
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if ( (nRetCode = CANWrite(pAnaCanPort->hHandle , m->cob_id,(const char*) m->data, m->len, nMsgTyp) ) )
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{
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CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
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fprintf(stderr,"canSend_driver (AnaGate_Linux) %s \n",nRetCode);
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//printf("canSend_driver (AnaGate_Linux) %s \n",nRetCode);
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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 1000000;
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if(!strcmp( optarg, "800K")) return 800000;
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if(!strcmp( optarg, "500K")) return 500000;
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if(!strcmp( optarg, "250K")) return 250000;
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if(!strcmp( optarg, "125K")) return 125000;
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if(!strcmp( optarg, "100K")) return 100000;
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if(!strcmp( optarg, "50K")) return 50000;
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if(!strcmp( optarg, "20K")) return 20000;
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if(!strcmp( optarg, "10K")) return 10000;
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return 0x0000;
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}
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/***************************************************************************/
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UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
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{
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int nRetCode;
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char cErrorMsg[100];
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struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
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if (nRetCode = CANSetGlobals (pAnaGatePort->hHandle, TranslateBaudeRate(baud), 0, 0, 1) )
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{
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CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
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fprintf(stderr, "canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
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//printf("canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
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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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/* To open a connection to AnaGate CAN the s_BOARD board->busname must be
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the AnaGate IP-Adresse followed from the CAN-Port (A or B) you want to use
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For example "192.168.1.254:A"
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*/
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CAN_HANDLE canOpen_driver(s_BOARD *board)
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{
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int nPortNr;
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char cErrorMsg[100];
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int nRetCode;
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char sIPAddress[16];
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struct SAnaGatePort *pNewAnaGatePort;
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unsigned int nBusnameLen;
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char bBusnameValid = 1;
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///////////////////////////////////////////
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// Do some checkings concerning the busname
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// format should be IP-Adress:Port
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// e.g. 192.168.1.254:A
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///////////////////////////////////////////
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nBusnameLen = strlen(board->busname);
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if ( nBusnameLen < strlen( "1.2.3.4:A" ) ) bBusnameValid = 0; // check minimum length of busname
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if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = 0; // check maximum length of busname
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if ( bBusnameValid )
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{
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switch (board->busname[nBusnameLen-1]) // check Portname of busname
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{
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case ('A'): nPortNr = 0; break;
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case ('B'): nPortNr = 1; break;
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case ('C'): nPortNr = 2; break;
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case ('D'): nPortNr = 3; break;
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default : bBusnameValid = 0; break;
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}
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if (board->busname[nBusnameLen-2] != ':' ) bBusnameValid = 0; // check Colon before Portname
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}
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if ( ! bBusnameValid )
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{
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fprintf(stderr, "canOpen_driver (AnaGate_Win32): busname (\"%s\") has a wrong format. Use IPAddr:CANPort for example \"192.168.1.254:A\"\n",board->busname);
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return (CAN_HANDLE) NULL;
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}
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board->busname[nBusnameLen-2] = 0; // NULL Terminator for IP Address string
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strcpy (sIPAddress, board->busname);
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pNewAnaGatePort = (struct SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
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if (pFistAnaGatePort == NULL)
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{
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pFistAnaGatePort = pNewAnaGatePort;
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pNewAnaGatePort->pNext = pNewAnaGatePort;
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pNewAnaGatePort->pPrev = pNewAnaGatePort;
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}
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else
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{ pNewAnaGatePort->pNext = pFistAnaGatePort;
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pNewAnaGatePort->pPrev = pFistAnaGatePort->pPrev;
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pFistAnaGatePort->pPrev->pNext = pNewAnaGatePort;
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pFistAnaGatePort->pPrev = pNewAnaGatePort;
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}
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// Connect to AnaGate
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if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle,
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0, /*confimation off*/
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1, /*Monitor on*/
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nPortNr,
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sIPAddress,
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1000 /*TimeOut*/ ) )
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{
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CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
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fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
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//printf( "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
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return (CAN_HANDLE) NULL;
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}
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// Inizial Baudrate
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if (nRetCode = CANSetGlobals (pNewAnaGatePort->hHandle,
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TranslateBaudeRate(board->baudrate),
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0,/*OperatingMode = normal*/
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0,/*CAN-Termination = off*/
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1 /*HighSpeedMode = on*/) )
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{
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CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
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fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
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//printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
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return (CAN_HANDLE) NULL;
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}
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// Creat receive and receive-acknoledge event
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/*pNewAnaGatePort->hAnaRecEvent = CreateEvent(
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NULL, // default security attributes
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FALSE, // manual-reset event
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FALSE, // initial state is nonsignaled
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NULL // object name
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);
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pNewAnaGatePort->hFesticalRecAcknowledge = CreateEvent(
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NULL, // default security attributes
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FALSE, // manual-reset event
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FALSE, // initial state is nonsignaled
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NULL // object name
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);
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*/
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pNewAnaGatePort->bBufferFull = 0;
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// Install receive callback funktion
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if (nRetCode = CANSetCallback(pNewAnaGatePort->hHandle, AnaGateReceiveCallBack) )
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{
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canClose_driver (pNewAnaGatePort);
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CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
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fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
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//printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
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return (CAN_HANDLE) NULL;
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}
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return (CAN_HANDLE)pNewAnaGatePort;
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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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struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
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char cErrorMsg[100];
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int nRetCode;
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pAnaGatePort->bBufferFull = 1;
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if ( nRetCode = CANCloseDevice(pAnaGatePort->hHandle) )
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{
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CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
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fprintf(stderr, "canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
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printf("canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
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}
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if (pAnaGatePort->pNext == pAnaGatePort)
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{
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free (pAnaGatePort);
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pFistAnaGatePort=NULL;
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}
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else
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{
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pAnaGatePort->pNext->pPrev = pAnaGatePort->pPrev;
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pAnaGatePort->pPrev->pNext = pAnaGatePort->pNext;
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free (pAnaGatePort);
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}
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return 0;
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}
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