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/*

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This file is part of CanFestival, a library implementing CanOpen Stack.

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CanFestival Copyright (C): Edouard TISSERANT and Francis DUPIN

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CanFestival Win32 port Copyright (C) 2007 Leonid Tochinski, ChattenAssociates, Inc.

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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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// pragma based message

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// http://www.codeproject.com/macro/location_pragma.asp

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#define __STR2__(x) #x

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#define __STR1__(x) __STR2__(x)

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#define __LOC2__ __FILE__ "("__STR1__(__LINE__)") : "

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#pragma message("*********************************************************************************")

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#pragma message("  NOTE: IXXAT Win32 drivers and API should be installed in order to build this project!")

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#pragma message(__LOC2__ "See IXXAT.Cpp header for details.")

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#pragma message("*********************************************************************************")

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// IXXAT adapter driver for CanFestival-3 Win32 port

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//

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// Notes

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//--------------------------------------------

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// For building of this project you will need 

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// the following IXXAT API files

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// Vci2.h

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// Vci11un6.lib

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//

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// IXXAT Win32 drivers and API can be downloaded from

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// http://www.ixxat.com/download_vci_en,7547,5873.html

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//

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// Copy Vci2.h & Vci11un6.lib files to can_ixxat_win32 folder of add path to them in Project settings.

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#include <stdio.h>

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extern "C" {

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#include "applicfg.h"

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#include "can_driver.h"

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#include "def.h"

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}

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#include "VCI2.h"

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#include "async_access_que.h"

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#define CAN_NUM 0

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class IXXAT

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   {

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   public:

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      class error

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        {

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        };

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      IXXAT(s_BOARD *board);

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      ~IXXAT();

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      bool send(const Message *m);

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      bool receive(Message *m);

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   private:

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      bool open(int board_number, const char* baud_rate);

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      bool close();

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      void receive_queuedata(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ* p_obj);

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      // VCI2 handler      

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      static void VCI_CALLBACKATTR message_handler(char *msg_str);

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      static void VCI_CALLBACKATTR receive_queuedata_handler(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ* p_obj);

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      static void VCI_CALLBACKATTR exception_handler(VCI_FUNC_NUM func_num, INT32 err_code, UINT16 ext_err, char* err_str);

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      static void CALLBACK canBusWatchdog(HWND hwnd, UINT msg, UINT_PTR idEvent, DWORD dwTime);

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      void watchdog();

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   private:

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      UINT16 m_BoardHdl;

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      UINT16 m_TxQueHdl;

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      UINT16 m_RxQueHdl;

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      async_access_que<VCI_CAN_OBJ> m_RX_Que;

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      static IXXAT* m_callbackPtr;

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      static UINT_PTR m_watchdogTimerId;

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      static const unsigned int CAN_BUS_WATCHDOG_INTERVAL_MSEC = 10000;

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      /** Bitmask inside sts from VCI_ReadCanStatus() that defines the can bus off state.*/

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      static const unsigned char STS_CAN_BUS_OFF = 0x80;

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      /** Bitmask inside sts from VCI_ReadCanStatus() that defines the can data overrun state.*/

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      static const unsigned char STS_CAN_DATA_OVERRUN = 0x20;

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      /** Bitmask inside sts from VCI_ReadCanStatus() that defines the remote queue overrun state.*/

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      static const unsigned char STS_REMOTE_QUEUE_OVERRUN = 0x04;

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   };

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IXXAT *IXXAT::m_callbackPtr = NULL;

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UINT_PTR IXXAT::m_watchdogTimerId = 0;

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IXXAT::IXXAT(s_BOARD *board) : m_BoardHdl(0xFFFF),

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                               m_TxQueHdl(0xFFFF),

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                               m_RxQueHdl(0xFFFF)

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   {

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   if (!board)

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      {

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      close();

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      throw error();

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      }

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   long board_number = 0;

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   if (board->busname)

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      {

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      board_number = atol(board->busname);

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      }

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   if (!open(board_number, board->baudrate))

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      {

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      close();

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      throw error();

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      }

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   m_callbackPtr = this;

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   }

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IXXAT::~IXXAT()

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   {

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   close();

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   m_callbackPtr = 0;

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   }

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bool IXXAT::send(const Message *m)

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   {

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   if (m_BoardHdl == 0xFFFF)

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      return true; // true -> NOT OK

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   long res = VCI_ERR;

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   if (m->rtr == NOT_A_REQUEST)

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      res = VCI_TransmitObj(m_BoardHdl, m_TxQueHdl, m->cob_id, m->len, const_cast<unsigned char*>(m->data));

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   else

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      res = VCI_RequestObj(m_BoardHdl, m_TxQueHdl, m->cob_id, m->len);

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   return (res == VCI_OK);

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   }

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bool IXXAT::receive(Message *m)

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   {

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   if (m_BoardHdl == 0xFFFF)

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      return false;

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   VCI_CAN_OBJ obj;

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   if (m_RX_Que.extract_top(obj))

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      {

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      m->cob_id = static_cast<UNS16>(obj.id); //valid for 11Bit ids

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      m->len = obj.len;

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      m->rtr = (obj.rtr == VCI_RX_BUF) ? NOT_A_REQUEST : REQUEST;

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      if (m->rtr == NOT_A_REQUEST)

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         ::memcpy(m->data, obj.a_data, m->len);

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      return true;

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      }

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   return false;

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   }

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bool IXXAT::open(int board_number, const char* baud_rate)

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   {

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   // check, if baudrate is supported

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   struct IXXAT_baud_rate_param 

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     { 

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     UINT8  bt0; 

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     UINT8  bt1;

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     };

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   struct IXXAT_look_up_table

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     {

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     char baud_rate[20];

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     IXXAT_baud_rate_param bt;

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     };

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   static const IXXAT_look_up_table br_lut[] = {

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               {"10K",{VCI_10KB}},

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               {"20K",{VCI_20KB}},

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               {"50K",{VCI_50KB}},

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               {"100K",{VCI_100KB}},

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               {"125K",{VCI_125KB}},

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               {"250K",{VCI_250KB}},

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               {"500K",{VCI_500KB}},

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               {"800K",{VCI_800KB}},

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               {"1M",{VCI_1000KB}}

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               };

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   static const long br_lut_size = sizeof (br_lut)/sizeof(IXXAT_look_up_table);

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   int index;

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   for (index = 0; index < br_lut_size; ++index)

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       {

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       if (::strcmp(br_lut[index].baud_rate,baud_rate)==0)

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          break;

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       }

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   if (index == br_lut_size)

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   {

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      MSG_ERR_DRV("IXXAT::open: The given baudrate %S is invalid.", baud_rate);

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      return false;

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   }

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   // close existing board   

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   close();

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   // init IXXAT board

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   long res = VCI2_PrepareBoard(   0,                         // board type, unused in VCI2

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                                   board_number,              // unique board index, see XAT_EnumHwEntry() and XAT_GetConfig()

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                                   NULL,                      // pointer to buffer for additional info 

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                                   0,                         // length of additional info buffer

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                                   message_handler,           // pointer to msg-callbackhandler

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                                   receive_queuedata_handler, // pointer to receive-callbackhandler

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                                   exception_handler);        // pointer to exception-callbackhandler

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   if (res < 0)

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   {

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      MSG_ERR_DRV("IXXAT::open: VCI2_PrepareBoard failed with code '%d'.", res);

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      return false;

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   }

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   m_BoardHdl = (UINT16)res;

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   VCI_ResetBoard(m_BoardHdl);

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   // init CAN parameters

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   // initialize CAN-Controller

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   res = VCI_InitCan(m_BoardHdl, CAN_NUM, br_lut[index].bt.bt0,br_lut[index].bt.bt1, VCI_11B);

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   //  definition of Acceptance-Mask (define to receive all IDs)

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   res = VCI_SetAccMask(m_BoardHdl, CAN_NUM, 0x0UL, 0x0UL);

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   // definition of Transmit Queue

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   res = VCI_ConfigQueue(m_BoardHdl, CAN_NUM, VCI_TX_QUE, 100 , 0, 0, 0,  &m_TxQueHdl);

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   //  definition of Receive Queue (interrupt mode)

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   res = VCI_ConfigQueue(m_BoardHdl, CAN_NUM, VCI_RX_QUE, 500, 1, 0, 100,  &m_RxQueHdl);

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   //  assign the all IDs to the Receive Queue

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   res = VCI_AssignRxQueObj(m_BoardHdl, m_RxQueHdl ,VCI_ACCEPT, 0, 0);

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   //  And now start the CAN

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   res = VCI_StartCan(m_BoardHdl, CAN_NUM);

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   //Start CAN Bus-Off watchdog

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   m_watchdogTimerId = SetTimer(NULL, NULL, IXXAT::CAN_BUS_WATCHDOG_INTERVAL_MSEC, IXXAT::canBusWatchdog);

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   return true;

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   }

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bool IXXAT::close()

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   {

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   if (m_BoardHdl == 0xFFFF)

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      return true;

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   VCI_ResetBoard(m_BoardHdl);   

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   VCI_CancelBoard(m_BoardHdl);

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   m_BoardHdl = 

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   m_TxQueHdl = 

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   m_RxQueHdl = 0xFFFF;

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   return true;

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   }

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void IXXAT::receive_queuedata(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ *p_obj)

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   {

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   for (int i = 0; i < count; ++i)

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       m_RX_Que.append(p_obj[i]); // can packet

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   }

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void VCI_CALLBACKATTR IXXAT::receive_queuedata_handler(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ *p_obj)

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  {

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   if (m_callbackPtr != NULL)

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      m_callbackPtr->receive_queuedata(que_hdl, count, p_obj);

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  }

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void VCI_CALLBACKATTR IXXAT::message_handler(char *msg_str)

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  {

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  MSG_ERR_DRV("IXXAT Message: [%S]", msg_str);

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  }

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void VCI_CALLBACKATTR IXXAT::exception_handler(VCI_FUNC_NUM func_num, INT32 err_code, UINT16 ext_err, char* err_str)

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  {

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  static const char* Num2Function[] =

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    {

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    "VCI_Init",

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    "VCI_Searchboard",

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    "VCI_Prepareboard",

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    "VCI_Cancel_board",

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    "VCI_Testboard",

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    "VCI_ReadBoardInfo",

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    "VCI_ReadBoardStatus",

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    "VCI_Resetboard",

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    "VCI_ReadCANInfo",

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    "VCI_ReadCANStatus",

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    "VCI_InitCAN",

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    "VCI_SetAccMask",

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    "VCI_ResetCAN",

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    "VCI_StartCAN",

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    "VCI_ResetTimeStamps",

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    "VCI_ConfigQueue",

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    "VCI_AssignRxQueObj",

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    "VCI_ConfigBuffer",

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    "VCI_ReconfigBuffer",

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    "VCI_ConfigTimer",

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    "VCI_ReadQueStatus",

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    "VCI_ReadQueObj",

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    "VCI_ReadBufStatus",

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    "VCI_ReadBufData",

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    "VCI_TransmitObj",

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    "VCI_RequestObj",

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    "VCI_UpdateBufObj",

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    "VCI_CciReqData"

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    };

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  MSG_ERR_DRV("IXXAT Exception: %S (%i / %u) [%S]", Num2Function[func_num], err_code, ext_err, err_str);

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  }

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  void IXXAT::watchdog()

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  {

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    VCI_CAN_STS sts;

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    long res = VCI_ReadCanStatus(m_BoardHdl, CAN_NUM, &sts);

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   321

    if (res < 0)

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    {

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      MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Reading the can state failed!");

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    }

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    else

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    {

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      if (sts.sts & (STS_CAN_BUS_OFF | STS_CAN_DATA_OVERRUN | STS_REMOTE_QUEUE_OVERRUN))

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      {

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        if (sts.sts & STS_CAN_BUS_OFF)

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        {

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          MSG_ERR_DRV("IXXAT canBusWatchdog: CAN bus off detected!");

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        }

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        if (sts.sts & STS_CAN_DATA_OVERRUN)

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        {

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          MSG_ERR_DRV("IXXAT canBusWatchdog: CAN data overrun detected!");

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        }

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        if (sts.sts & STS_REMOTE_QUEUE_OVERRUN)

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        {

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          MSG_ERR_DRV("IXXAT canBusWatchdog: Remote queue overrun detected!");

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        }

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        res = VCI_ResetCan(m_BoardHdl, CAN_NUM);

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        if (res <= 0)

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        {

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          MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Resetting the can module failed with code '%d'!", res);

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        }

   347

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        res = VCI_StartCan(m_BoardHdl, CAN_NUM);

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        if (res <= 0)

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        {

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          MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Restaring the can module failed with code '%d'!", res);

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        }

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      }

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    }

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    if (SetTimer(NULL, m_watchdogTimerId, IXXAT::CAN_BUS_WATCHDOG_INTERVAL_MSEC, IXXAT::canBusWatchdog) == 0)

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    {

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      MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Creation of the watchdog timer failed!");

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    }

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  }

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void CALLBACK IXXAT::canBusWatchdog(HWND hwnd, UINT msg, UINT_PTR idEvent, DWORD dwTime)

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{

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   if (m_callbackPtr != NULL)

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      m_callbackPtr->watchdog();

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}

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//------------------------------------------------------------------------

   369

extern "C"

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   UNS8 __stdcall canReceive_driver(CAN_HANDLE inst, Message *m)

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   {

   372

     return reinterpret_cast<IXXAT*>(inst)->receive(m) ? 0 : 1;

   373

   }

   374

   375

extern "C"

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   UNS8 __stdcall canSend_driver(CAN_HANDLE inst, Message const *m)

   377

   {

   378

     return reinterpret_cast<IXXAT*>(inst)->send(m) ? 0 : 1;

   379

   }

   380

   381

extern "C"

   382

   CAN_HANDLE __stdcall canOpen_driver(s_BOARD *board)

   383

   {

   384

   try

   385

      {

   386

      return new IXXAT(board);

   387

      }

   388

   catch (IXXAT::error&)

   389

      {

   390

      return 0;

   391

      }

   392

   }

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   394

extern "C"

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   int __stdcall canClose_driver(CAN_HANDLE inst)

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   {

   397

   delete reinterpret_cast<IXXAT*>(inst);

   398

   return 1;

   399

   }

   400

   401

extern "C"

   402

   UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)

   403

	{

   404

	//printf("canChangeBaudRate not yet supported by this driver\n");

   405

	return 0;

   406

	}