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1 // can_copcican_win32.cpp : Defines the exported functions for the DLL application. |
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2 // |
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3 |
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4 |
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5 #include "stdafx.h" |
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6 |
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7 /* |
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8 This file is part of CanFestival, a library implementing CanOpen Stack. |
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9 |
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10 Copyright (C): Cosateq GmbH & Co.KG |
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11 http://www.cosateq.com/ |
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12 http://www.scale-rt.com/ |
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13 |
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14 See COPYING file for copyrights details. |
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15 |
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16 This library is free software; you can redistribute it and/or |
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17 modify it under the terms of the GNU Lesser General Public |
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18 License as published by the Free Software Foundation; either |
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19 version 2.1 of the License, or (at your option) any later version. |
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20 |
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21 This library is distributed in the hope that it will be useful, |
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22 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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23 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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24 Lesser General Public License for more details. |
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25 |
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26 You should have received a copy of the GNU Lesser General Public |
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27 License along with this library; if not, write to the Free Software |
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28 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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29 */ |
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30 |
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31 /* |
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32 CAN driver interface for CO-PCICAN card. |
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33 */ |
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34 |
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35 #include <stdio.h> |
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36 //#include <unistd.h> |
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37 #include <fcntl.h> |
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38 |
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39 //#define NEED_PRINT_MESSAGE |
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40 static int initdone = 0; |
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41 |
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42 inline void * maskDevID(int devId){ return ((void*)( (devId & 0x0000000F) | 0xC05A0000)); } |
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43 inline int unmaskDevID(void * Ptr){ return ((int)((int)Ptr & 0x0000000F)); } |
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44 |
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45 /* at the moment not threadsafe :-( */ |
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46 static unsigned char selectedChannelRx = 1, selectedChannelTx = 1; |
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47 |
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48 static cosateq::devices::can::co_baudrate_t TranslateBaudRate( char* optarg ) |
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49 { |
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50 /* values see documentation of CO-PCICAN */ |
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51 if( !strcmp( optarg, "1M" ) ) return cosateq::devices::can::CO_BAUD_1M; |
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52 if( !strcmp( optarg, "800K" ) ) return cosateq::devices::can::CO_BAUD_800k; |
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53 if( !strcmp( optarg, "500K" ) ) return cosateq::devices::can::CO_BAUD_500k; |
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54 if( !strcmp( optarg, "250K" ) ) return cosateq::devices::can::CO_BAUD_250k; |
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55 if( !strcmp( optarg, "125K" ) ) return cosateq::devices::can::CO_BAUD_125k; |
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56 if( !strcmp( optarg, "100K" ) ) return cosateq::devices::can::CO_BAUD_100k; |
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57 if( !strcmp( optarg, "83.3K" ) ) return cosateq::devices::can::CO_BAUD_83k; |
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58 if( !strcmp( optarg, "10K" ) ) return cosateq::devices::can::CO_BAUD_10k; |
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59 |
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60 return (cosateq::devices::can::co_baudrate_t)-1; |
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61 } |
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62 |
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63 int co_pcican_select_channel( const unsigned char channel, const unsigned int direction ) |
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64 { |
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65 if( channel >= CHANNELS ) |
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66 { |
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67 MSG("can_copcican_linux: co_pcican_select_channel(): invalid channel\n"); |
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68 return -1; |
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69 } |
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70 |
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71 /* at the moment not threadsafe :-( */ |
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72 switch( direction ) |
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73 { |
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74 case cosateq::devices::can::CO_CAN_RX: selectedChannelRx = channel; |
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75 break; |
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76 case cosateq::devices::can::CO_CAN_TX: selectedChannelTx = channel; |
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77 break; |
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78 default: return -1; |
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79 } |
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80 |
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81 return 0; |
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82 } |
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83 |
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84 int co_pcican_configure_selected_channel( const int fd, s_BOARD *board, const unsigned int direction ) |
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85 { |
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86 unsigned int selectedChannel; |
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87 int ret = 0; |
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88 |
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89 if( fd < 0 ) |
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90 { |
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91 MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid file descriptor\n"); |
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92 return -1; |
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93 } |
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94 |
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95 if( board == NULL ) |
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96 { |
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97 MSG("can_copcican_linux: co_pcican_configure_selected_channel(): board is NULL\n"); |
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98 return -1; |
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99 } |
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100 |
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101 if( board->baudrate == NULL ) |
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102 { |
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103 MSG("can_copcican_linux: co_pcican_configure_selected_channel(): baudrate is NULL\n"); |
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104 return -1; |
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105 } |
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106 |
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107 switch( direction ) |
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108 { |
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109 case cosateq::devices::can::CO_CAN_RX: selectedChannel = selectedChannelRx; |
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110 break; |
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111 case cosateq::devices::can::CO_CAN_TX: selectedChannel = selectedChannelTx; |
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112 break; |
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113 default: selectedChannel = 0xff; |
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114 } |
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115 |
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116 if( selectedChannel >= CHANNELS ) |
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117 { |
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118 MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid channel selected\n"); |
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119 return -1; |
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120 } |
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121 |
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122 ret = can_setChannelConfig( TranslateBaudRate( board->baudrate ),0x0,unmaskDevID((void*)fd),selectedChannel); |
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123 if ( ret != 0 ) { |
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124 can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2); |
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125 return -ret; |
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126 }else{ |
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127 ret = can_setIrqMode(unmaskDevID((void*)fd),selectedChannel); |
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128 can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2); |
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129 } |
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130 return ret; |
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131 } |
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132 |
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133 /*********functions which permit to communicate with the board****************/ |
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134 |
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135 UNS8 __stdcall canReceive_driver( CAN_HANDLE fd0, Message *m ) |
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136 { |
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137 cosateq::devices::can::co_can_packet_t p; |
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138 int ret = 0; |
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139 |
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140 if ( !m ) |
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141 return 0; |
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142 |
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143 memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t)); |
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144 ret = can_receive(&p,unmaskDevID(fd0),selectedChannelRx); |
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145 //printf("rec: %d\n",ret); |
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146 if ( ret != 0 ) |
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147 return 1; |
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148 |
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149 //printf("rec2: %d\n",ret); |
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150 if ( p.size > 8 ) |
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151 p.size = 8; |
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152 |
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153 if ( !(p.type & MSG_RTR ) ) |
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154 memcpy(m->data,p.data,p.size); |
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155 |
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156 m->cob_id = p.id; |
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157 m->len = p.size; |
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158 m->rtr = p.type & MSG_RTR; |
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159 |
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160 return 0; |
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161 } |
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162 |
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163 /***************************************************************************/ |
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164 |
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165 UNS8 __stdcall canSend_driver( CAN_HANDLE fd0, Message *m ) |
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166 { |
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167 cosateq::devices::can::co_can_packet_t p; |
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168 |
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169 if ( !m ) |
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170 return 0; |
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171 memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t)); |
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172 p.id = m->cob_id; |
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173 p.size = (m->len > 8) ? 8 : m->len; |
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174 p.type = ( m->rtr ) ? 0x2:0x0; |
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175 if ( p.id > 0x800 ) |
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176 p.type |= MSG_EXT; |
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177 memcpy(p.data,m->data,p.size); |
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178 |
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179 return can_send(&p,unmaskDevID(fd0),selectedChannelTx); |
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180 } |
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181 |
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182 |
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183 |
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184 /***************************************************************************/ |
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185 |
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186 UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud ) |
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187 { |
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188 UNS8 ret = 0; |
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189 |
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190 ret = can_enterCfgMode(unmaskDevID(fd0),0); |
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191 if ( ret != 0) |
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192 MSG("Enter config mode for Channelpair 0 failed in Function %s! Error: %d\n",__FUNCTION__,ret); |
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193 ret = can_enterCfgMode(unmaskDevID(fd0),1); |
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194 if ( ret != 0) |
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195 MSG("Enter config mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret); |
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196 |
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197 for ( int i = 0; i < 4; i++ ) { |
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198 ret = can_setChannelConfig(TranslateBaudRate(baud),0x0,unmaskDevID(fd0),i); |
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199 if ( ret != 0) |
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200 MSG("Set config for channel %d failed in Function %s! Error: %d\n",i,__FUNCTION__,ret); |
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201 can_setIrqMode(unmaskDevID(fd0),i); |
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202 } |
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203 ret = can_enterRunMode(unmaskDevID(fd0),0); |
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204 if ( ret != 0) |
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205 MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret); |
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206 |
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207 ret = can_enterRunMode(unmaskDevID(fd0),1); |
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208 if ( ret != 0) |
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209 MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret); |
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210 |
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211 return ret; |
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212 } |
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213 |
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214 CAN_HANDLE __stdcall canOpen_driver( s_BOARD *board ) |
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215 { |
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216 int ret = 0; |
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217 int devId = 0; |
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218 if ( !board ) |
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219 return NULL; |
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220 if ( !board->busname ) |
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221 return NULL; |
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222 //TODO find out how boardname resolves |
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223 |
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224 //printf("BOARD: 0x%x %s\n",board,board->busname); |
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225 //sscanf_s(board->busname,"%d",&devId); |
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226 |
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227 if ( devId < 0 || devId > 15 ) |
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228 return NULL; |
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229 |
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230 //return (can_HANDLE)NULL; |
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231 if ( !initdone ) { |
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232 can_init(); |
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233 initdone = 1; |
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234 } |
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235 |
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236 ret = can_open(devId); |
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237 if ( ret < 0 ) |
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238 return (CAN_HANDLE)NULL; |
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239 |
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240 canChangeBaudRate_driver( maskDevID(devId),board->baudrate ); |
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241 |
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242 return maskDevID(devId); |
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243 } |
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244 |
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245 int __stdcall canClose_driver(CAN_HANDLE fd0 ) |
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246 { |
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247 return can_close(unmaskDevID(fd0)); |
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248 } |
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249 |