--- a/drivers/can_ixxat_win32/ixxat.cpp Tue May 14 20:22:06 2013 +0200
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,417 +0,0 @@
-/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
-
-CanFestival Copyright (C): Edouard TISSERANT and Francis DUPIN
-CanFestival Win32 port Copyright (C) 2007 Leonid Tochinski, ChattenAssociates, Inc.
-
-See COPYING file for copyrights details.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-*/
-// pragma based message
-// http://www.codeproject.com/macro/location_pragma.asp
-#define __STR2__(x) #x
-#define __STR1__(x) __STR2__(x)
-#define __LOC2__ __FILE__ "("__STR1__(__LINE__)") : "
-
-
-#pragma message("*********************************************************************************")
-#pragma message(" NOTE: IXXAT Win32 drivers and API should be installed in order to build this project!")
-#pragma message(__LOC2__ "See IXXAT.Cpp header for details.")
-#pragma message("*********************************************************************************")
-
-
-// IXXAT adapter driver for CanFestival-3 Win32 port
-//
-// Notes
-//--------------------------------------------
-// For building of this project you will need
-// the following IXXAT API files
-// Vci2.h
-// Vci11un6.lib
-//
-// IXXAT Win32 drivers and API can be downloaded from
-// http://www.ixxat.com/download_vci_en,7547,5873.html
-//
-// Copy Vci2.h & Vci11un6.lib files to can_ixxat_win32 folder of add path to them in Project settings.
-
-
-#include <stdio.h>
-extern "C" {
-#include "applicfg.h"
-#include "can_driver.h"
-#include "def.h"
-}
-#include "VCI2.h"
-#include "async_access_que.h"
-
-#define CAN_NUM 0
-
-class IXXAT
- {
- public:
- class error
- {
- };
- IXXAT(s_BOARD *board);
- ~IXXAT();
- bool send(const Message *m);
- bool receive(Message *m);
-
- static bool isDriverClosed() {return m_driverClosed;}
- private:
- bool open(int board_number, const char* baud_rate);
- bool close();
- void receive_queuedata(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ* p_obj);
- // VCI2 handler
- static void VCI_CALLBACKATTR message_handler(char *msg_str);
- static void VCI_CALLBACKATTR receive_queuedata_handler(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ* p_obj);
- static void VCI_CALLBACKATTR exception_handler(VCI_FUNC_NUM func_num, INT32 err_code, UINT16 ext_err, char* err_str);
-
- static void CALLBACK canBusWatchdog(HWND hwnd, UINT msg, UINT_PTR idEvent, DWORD dwTime);
- void watchdog();
- private:
- UINT16 m_BoardHdl;
- UINT16 m_TxQueHdl;
- UINT16 m_RxQueHdl;
- async_access_que<VCI_CAN_OBJ> m_RX_Que;
- static IXXAT* m_callbackPtr;
-
- static bool m_driverClosed;
- static UINT_PTR m_watchdogTimerId;
- static const unsigned int CAN_BUS_WATCHDOG_INTERVAL_MSEC = 10000;
-
- /** Bitmask inside sts from VCI_ReadCanStatus() that defines the can bus off state.*/
- static const unsigned char STS_CAN_BUS_OFF = 0x80;
-
- /** Bitmask inside sts from VCI_ReadCanStatus() that defines the can data overrun state.*/
- static const unsigned char STS_CAN_DATA_OVERRUN = 0x20;
-
- /** Bitmask inside sts from VCI_ReadCanStatus() that defines the remote queue overrun state.*/
- static const unsigned char STS_REMOTE_QUEUE_OVERRUN = 0x04;
- };
-
-IXXAT *IXXAT::m_callbackPtr = NULL;
-
-UINT_PTR IXXAT::m_watchdogTimerId = 0;
-
-bool IXXAT::m_driverClosed = false;
-
-IXXAT::IXXAT(s_BOARD *board) : m_BoardHdl(0xFFFF),
- m_TxQueHdl(0xFFFF),
- m_RxQueHdl(0xFFFF)
-
- {
- if (!board)
- {
- close();
- throw error();
- }
-
- long board_number = 0;
-
- if (board->busname)
- {
- board_number = atol(board->busname);
- }
-
- if (!open(board_number, board->baudrate))
- {
- close();
- throw error();
- }
- m_callbackPtr = this;
- }
-
-IXXAT::~IXXAT()
- {
- close();
- m_callbackPtr = 0;
- }
-
-bool IXXAT::send(const Message *m)
- {
- if (m_BoardHdl == 0xFFFF)
- return true; // true -> NOT OK
- long res = VCI_ERR;
- if (m->rtr == NOT_A_REQUEST)
- res = VCI_TransmitObj(m_BoardHdl, m_TxQueHdl, m->cob_id, m->len, const_cast<unsigned char*>(m->data));
- else
- res = VCI_RequestObj(m_BoardHdl, m_TxQueHdl, m->cob_id, m->len);
-
- return (res == VCI_OK);
- }
-
-
-bool IXXAT::receive(Message *m)
- {
- if (m_BoardHdl == 0xFFFF)
- return false;
- VCI_CAN_OBJ obj;
- if (m_RX_Que.extract_top(obj))
- {
- m->cob_id = static_cast<UNS16>(obj.id); //valid for 11Bit ids
- m->len = obj.len;
- m->rtr = (obj.rtr == VCI_RX_BUF) ? NOT_A_REQUEST : REQUEST;
- if (m->rtr == NOT_A_REQUEST)
- ::memcpy(m->data, obj.a_data, m->len);
- return true;
- }
- return false;
- }
-
-bool IXXAT::open(int board_number, const char* baud_rate)
- {
- // check, if baudrate is supported
- struct IXXAT_baud_rate_param
- {
- UINT8 bt0;
- UINT8 bt1;
- };
- struct IXXAT_look_up_table
- {
- char baud_rate[20];
- IXXAT_baud_rate_param bt;
- };
- static const IXXAT_look_up_table br_lut[] = {
- {"10K",{VCI_10KB}},
- {"20K",{VCI_20KB}},
- {"50K",{VCI_50KB}},
- {"100K",{VCI_100KB}},
- {"125K",{VCI_125KB}},
- {"250K",{VCI_250KB}},
- {"500K",{VCI_500KB}},
- {"800K",{VCI_800KB}},
- {"1M",{VCI_1000KB}}
- };
- static const long br_lut_size = sizeof (br_lut)/sizeof(IXXAT_look_up_table);
- int index;
- for (index = 0; index < br_lut_size; ++index)
- {
- if (::strcmp(br_lut[index].baud_rate,baud_rate)==0)
- break;
- }
- if (index == br_lut_size)
- {
- MSG_ERR_DRV("IXXAT::open: The given baudrate %S is invalid.", baud_rate);
- return false;
- }
- // close existing board
- close();
- // init IXXAT board
- long res = VCI2_PrepareBoard( 0, // board type, unused in VCI2
- board_number, // unique board index, see XAT_EnumHwEntry() and XAT_GetConfig()
- NULL, // pointer to buffer for additional info
- 0, // length of additional info buffer
- message_handler, // pointer to msg-callbackhandler
- receive_queuedata_handler, // pointer to receive-callbackhandler
- exception_handler); // pointer to exception-callbackhandler
- if (res < 0)
- {
- MSG_ERR_DRV("IXXAT::open: VCI2_PrepareBoard failed with code '%d'.", res);
- return false;
- }
- m_BoardHdl = (UINT16)res;
-
- VCI_ResetBoard(m_BoardHdl);
-
- // init CAN parameters
-
- // initialize CAN-Controller
- res = VCI_InitCan(m_BoardHdl, CAN_NUM, br_lut[index].bt.bt0,br_lut[index].bt.bt1, VCI_11B);
-
- // definition of Acceptance-Mask (define to receive all IDs)
- res = VCI_SetAccMask(m_BoardHdl, CAN_NUM, 0x0UL, 0x0UL);
-
- // definition of Transmit Queue
- res = VCI_ConfigQueue(m_BoardHdl, CAN_NUM, VCI_TX_QUE, 100 , 0, 0, 0, &m_TxQueHdl);
-
- // definition of Receive Queue (interrupt mode)
- res = VCI_ConfigQueue(m_BoardHdl, CAN_NUM, VCI_RX_QUE, 500, 1, 0, 100, &m_RxQueHdl);
-
- // assign the all IDs to the Receive Queue
- res = VCI_AssignRxQueObj(m_BoardHdl, m_RxQueHdl ,VCI_ACCEPT, 0, 0);
-
- // And now start the CAN
- res = VCI_StartCan(m_BoardHdl, CAN_NUM);
-
- //Start CAN Bus-Off watchdog
- m_watchdogTimerId = SetTimer(NULL, NULL, IXXAT::CAN_BUS_WATCHDOG_INTERVAL_MSEC, IXXAT::canBusWatchdog);
-
- m_driverClosed = false;
-
- return true;
- }
-
-bool IXXAT::close()
- {
- m_driverClosed = true;
- if (m_BoardHdl == 0xFFFF)
- return true;
- VCI_ResetBoard(m_BoardHdl);
- VCI_CancelBoard(m_BoardHdl);
- m_BoardHdl =
- m_TxQueHdl =
- m_RxQueHdl = 0xFFFF;
- return true;
- }
-
-void IXXAT::receive_queuedata(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ *p_obj)
- {
- for (int i = 0; i < count; ++i)
- m_RX_Que.append(p_obj[i]); // can packet
- }
-
-void VCI_CALLBACKATTR IXXAT::receive_queuedata_handler(UINT16 que_hdl, UINT16 count, VCI_CAN_OBJ *p_obj)
- {
- if (m_callbackPtr != NULL)
- m_callbackPtr->receive_queuedata(que_hdl, count, p_obj);
- }
-
-void VCI_CALLBACKATTR IXXAT::message_handler(char *msg_str)
- {
- MSG_ERR_DRV("IXXAT Message: [%S]", msg_str);
- }
-
-void VCI_CALLBACKATTR IXXAT::exception_handler(VCI_FUNC_NUM func_num, INT32 err_code, UINT16 ext_err, char* err_str)
- {
- static const char* Num2Function[] =
- {
- "VCI_Init",
- "VCI_Searchboard",
- "VCI_Prepareboard",
- "VCI_Cancel_board",
- "VCI_Testboard",
- "VCI_ReadBoardInfo",
- "VCI_ReadBoardStatus",
- "VCI_Resetboard",
- "VCI_ReadCANInfo",
- "VCI_ReadCANStatus",
- "VCI_InitCAN",
- "VCI_SetAccMask",
- "VCI_ResetCAN",
- "VCI_StartCAN",
- "VCI_ResetTimeStamps",
- "VCI_ConfigQueue",
- "VCI_AssignRxQueObj",
- "VCI_ConfigBuffer",
- "VCI_ReconfigBuffer",
- "VCI_ConfigTimer",
- "VCI_ReadQueStatus",
- "VCI_ReadQueObj",
- "VCI_ReadBufStatus",
- "VCI_ReadBufData",
- "VCI_TransmitObj",
- "VCI_RequestObj",
- "VCI_UpdateBufObj",
- "VCI_CciReqData"
- };
-
- MSG_ERR_DRV("IXXAT Exception: %S (%i / %u) [%S]", Num2Function[func_num], err_code, ext_err, err_str);
- }
-
- void IXXAT::watchdog()
- {
- VCI_CAN_STS sts;
- long res = VCI_ReadCanStatus(m_BoardHdl, CAN_NUM, &sts);
-
- if (res < 0)
- {
- MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Reading the can state failed!");
- }
- else
- {
- if (sts.sts & (STS_CAN_BUS_OFF | STS_CAN_DATA_OVERRUN | STS_REMOTE_QUEUE_OVERRUN))
- {
- if (sts.sts & STS_CAN_BUS_OFF)
- {
- MSG_ERR_DRV("IXXAT canBusWatchdog: CAN bus off detected!");
- }
- if (sts.sts & STS_CAN_DATA_OVERRUN)
- {
- MSG_ERR_DRV("IXXAT canBusWatchdog: CAN data overrun detected!");
- }
- if (sts.sts & STS_REMOTE_QUEUE_OVERRUN)
- {
- MSG_ERR_DRV("IXXAT canBusWatchdog: Remote queue overrun detected!");
- }
-
- res = VCI_ResetCan(m_BoardHdl, CAN_NUM);
- if (res <= 0)
- {
- MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Resetting the can module failed with code '%d'!", res);
- }
-
- res = VCI_StartCan(m_BoardHdl, CAN_NUM);
- if (res <= 0)
- {
- MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Restaring the can module failed with code '%d'!", res);
- }
- }
- }
-
- if (SetTimer(NULL, m_watchdogTimerId, IXXAT::CAN_BUS_WATCHDOG_INTERVAL_MSEC, IXXAT::canBusWatchdog) == 0)
- {
- MSG_ERR_DRV("IXXAT canBusWatchdog: ERROR: Creation of the watchdog timer failed!");
- }
- }
-
-void CALLBACK IXXAT::canBusWatchdog(HWND hwnd, UINT msg, UINT_PTR idEvent, DWORD dwTime)
-{
- if (m_callbackPtr != NULL)
- m_callbackPtr->watchdog();
-}
-
-//------------------------------------------------------------------------
-extern "C"
- UNS8 __stdcall canReceive_driver(CAN_HANDLE inst, Message *m)
- {
- if (IXXAT::isDriverClosed()) return 0;
- return reinterpret_cast<IXXAT*>(inst)->receive(m) ? 0 : 1;
- }
-
-extern "C"
- UNS8 __stdcall canSend_driver(CAN_HANDLE inst, Message const *m)
- {
- if (IXXAT::isDriverClosed()) return 0;
- return reinterpret_cast<IXXAT*>(inst)->send(m) ? 0 : 1;
- }
-
-extern "C"
- CAN_HANDLE __stdcall canOpen_driver(s_BOARD *board)
- {
- try
- {
- return new IXXAT(board);
- }
- catch (IXXAT::error&)
- {
- return 0;
- }
- }
-
-extern "C"
- int __stdcall canClose_driver(CAN_HANDLE inst)
- {
- delete reinterpret_cast<IXXAT*>(inst);
- return 1;
- }
-
-extern "C"
- UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
- {
- //printf("canChangeBaudRate not yet supported by this driver\n");
- return 0;
- }