drivers/can_peak_win32/can_peak_win32.c
author lbessard
Wed, 08 Aug 2007 14:55:15 +0200
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parent 145 e747d2e26af0
child 267 96c688ebcde7
permissions -rw-r--r--
Cleaning code for using only wxPython 2.6 class naming
Adding sizers to all dialogs
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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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#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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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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		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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		// 
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		if (Res == CAN_ERR_OK)
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		{
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			// if something different that 11bit or rtr... problem
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			if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR))
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			{
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				if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
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				{
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					printf ("!!! Peak board read : re-init\n");
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					canInit((s_BOARD*) fd0);
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					usleep (10000);
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				}
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				// If status, return status if 29bit, return overrun
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				//pthread_mutex_unlock (&PeakCan_mutex);
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				return peakMsg.MSGTYPE ==
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					MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
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			}
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			m->cob_id.w = peakMsg.ID;
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			if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)	/* bits of MSGTYPE_ */
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				m->rtr = 0;
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   134
			else
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				m->rtr = 1;
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			m->len = peakMsg.LEN;	/* count of data bytes (0..8) */
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			for (data = 0; data < peakMsg.LEN; data++)
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				m->data[data] = peakMsg.DATA[data];	/* data bytes, up to 8 */
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		}else{
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		//pthread_mutex_unlock (&PeakCan_mutex);
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		//if (Res != CAN_ERR_OK)
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		//{
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			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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				 || Res & CAN_ERR_BUSHEAVY))
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			{
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				printf ("canReceive returned error (%d)\n", Res);
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				return 1;
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   150
			}
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			usleep (1000);		
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		}
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	}while(Res != CAN_ERR_OK);
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	return 0;
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   155
}
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/***************************************************************************/
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UNS8
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canSend_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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	peakMsg.ID = m->cob_id.w;	/* 11/29 bit code */
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	if (m->rtr == 0)
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		peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;	/* bits of MSGTYPE_ */
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	else
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	{
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		peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;	/* bits of MSGTYPE_ */
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	}
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	peakMsg.LEN = m->len;
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	/* count of data bytes (0..8) */
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	for (data = 0; data < m->len; data++)
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		peakMsg.DATA[data] = m->data[data];	/* data bytes, up to 8 */
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	do
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	{
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   176
#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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			errno = CAN2_Write (&peakMsg);
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		else 
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   181
#endif
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		if(first_board == (s_BOARD *)fd0)
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			errno = CAN_Write (&peakMsg);
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   184
		else 
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			goto fail;
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   186
		if (errno)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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		{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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			if (errno == CAN_ERR_BUSOFF)
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   189
			{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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				printf ("!!! Peak board write : re-init\n");
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				canInit((s_BOARD*)fd0);
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				usleep (10000);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   193
			}
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   194
			usleep (1000);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   195
		}
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   196
	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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	while (errno != CAN_ERR_OK);
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	return 0;
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   199
fail:
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   200
	return 1;
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   201
}
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   202
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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/***************************************************************************/
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CAN_HANDLE
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canOpen_driver (s_BOARD * board)
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   206
{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   207
#ifdef PCAN2_HEADER_
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	if(first_board != NULL && second_board != NULL)
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   209
#else
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   210
	if(first_board != NULL)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   211
#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   212
	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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		fprintf (stderr, "Open failed.\n");
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   214
		fprintf (stderr,
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   215
				 "can_peak_win32.c: no more can port available with this pcan library\n");
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   216
		fprintf (stderr,
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   217
				 "can_peak_win32.c: please link another executable with another pcan lib\n");
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   218
		return NULL;
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   219
	}
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
#ifdef PCAN2_HEADER_
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	if(first_board == NULL)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   223
		first_board = board;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   224
	else
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   225
		second_board = board; 
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   226
#else
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   227
	first_board = board;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   228
#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   229
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   230
	canInit(board);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   231
	
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   232
	return (CAN_HANDLE)board;
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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
/***************************************************************************/
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   236
int
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   237
canClose_driver (CAN_HANDLE fd0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   238
{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   239
#ifdef PCAN2_HEADER_
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   240
	// if not the first handler
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   241
	if(second_board == (s_BOARD *)fd0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   242
	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   243
		CAN2_Close ();
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   244
		second_board = (s_BOARD *)NULL;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   245
	}else	
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   246
#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   247
	if(first_board == (s_BOARD *)fd0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   248
	{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   249
		CAN_Close ();
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   250
		first_board = (s_BOARD *)NULL;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   251
	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   252
	return 0;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   253
}