drivers/can_anagate_win32/can_anagate_win32.c
author greg
Wed, 16 Sep 2009 15:19:58 +0200
changeset 592 b98df76c6fd5
parent 494 aa36efce6e78
child 631 08b6b903f84a
permissions -rw-r--r--
fix warnings with msvc compiler
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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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#define _CRT_SECURE_NO_DEPRECATE
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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 "can_driver.h"
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#include "AnaGateDllCan.h"
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typedef struct SAnaGatePort
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{
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int		hHandle;
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HANDLE	hAnaRecEvent;
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HANDLE	hFesticalRecAcknowledge;
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Message sMsgBuffer;
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struct SAnaGatePort *pNext;
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struct SAnaGatePort *pPrev;
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} SAnaGatePort;
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SAnaGatePort *pFirstAnaGatePort=NULL;
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/********* AnaGate API CAN receive callback Funciton  ****************/
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void WINAPI AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
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{
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	SAnaGatePort *pAnaGatePort = pFirstAnaGatePort;
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   int           i;
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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 == pFirstAnaGatePort )
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		{
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			pAnaGatePort = NULL;
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			printf("AnaGateReceiveCallBack (AnaGate_Win32): 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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	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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	SetEvent(pAnaGatePort->hAnaRecEvent);
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	WaitForSingleObject(pAnaGatePort->hFesticalRecAcknowledge,INFINITE);
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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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	SAnaGatePort*  pAnaGatePort = (SAnaGatePort*)fd0;
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   int            i;
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	WaitForSingleObject(			// Wait for receive event
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		pAnaGatePort->hAnaRecEvent, // event handle
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		INFINITE);				    // indefinite wait
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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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	SetEvent(pAnaGatePort->hFesticalRecAcknowledge);	//Set Acknollede event
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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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	SAnaGatePort*  pAnaCanPort = (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_Win32) %s \n",nRetCode);
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	  //printf("canSend_driver (AnaGate_Win32) %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_Win32): %s\n", cErrorMsg);
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      printf("canChangeBaudRate_drive (AnaGate_Win32): %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 PortNr;
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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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    char bBusnameValid = TRUE;
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	unsigned int nBusnameLen; 
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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 = FALSE;  // check minimum length of busname
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   if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = FALSE;  // 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'): PortNr = 0; break;
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		   case ('B'): PortNr = 1; break;
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		   case ('C'): PortNr = 2; break;
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		   case ('D'): PortNr = 3; break;
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		   default :   bBusnameValid = FALSE; break;
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	   }
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      if (board->busname[nBusnameLen-2] != ':' )    bBusnameValid = FALSE;   // 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 = (SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
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	if (pFirstAnaGatePort == NULL)
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	{
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		pFirstAnaGatePort = 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 =  pFirstAnaGatePort;
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		pNewAnaGatePort->pPrev =  pFirstAnaGatePort->pPrev;
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		pFirstAnaGatePort->pPrev->pNext = pNewAnaGatePort;
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		pFirstAnaGatePort->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,		/*confirmation*/ 
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								1,		/*Monitor*/ 
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								PortNr,
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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_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
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		//printf( "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
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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_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
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		//printf("canOpen_driver (AnaGate_Win32): %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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	// 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_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
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		//printf("canOpen_driver (AnaGate_Win32): %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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	SAnaGatePort*  pAnaCanPort = (SAnaGatePort*)fd0;
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	char cErrorMsg[100];
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	int nRetCode;
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	SetEvent	(pAnaCanPort->hAnaRecEvent);
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	CloseHandle (pAnaCanPort->hAnaRecEvent);
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	CloseHandle (pAnaCanPort->hFesticalRecAcknowledge);
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	if ( nRetCode = CANCloseDevice(pAnaCanPort->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 (pAnaCanPort->pNext == pAnaCanPort)
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	{
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		 free (pAnaCanPort);
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		 pFirstAnaGatePort=NULL;
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	}
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	else
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	{   pAnaCanPort->pNext->pPrev = pAnaCanPort->pPrev;
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		pAnaCanPort->pPrev->pNext = pAnaCanPort->pNext;
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		free (pAnaCanPort);
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	}
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	return 0;
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}
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