Send timeout is set to 10 ms. Without timeout PLC can be blocked by CAN driver: if CAN bus is not connected to controller CAN driver never returns and therfore PLC application halts. This is a temporary solution.
// can_copcican_win32.cpp : Defines the exported functions for the DLL application.
//
#include "stdafx.h"
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Cosateq GmbH & Co.KG
http://www.cosateq.com/
http://www.scale-rt.com/
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
*/
/*
CAN driver interface for CO-PCICAN card.
*/
#include <stdio.h>
//#include <unistd.h>
#include <fcntl.h>
//#define NEED_PRINT_MESSAGE
static int initdone = 0;
inline void * maskDevID(int devId){ return ((void*)( (devId & 0x0000000F) | 0xC05A0000)); }
inline int unmaskDevID(void * Ptr){ return ((int)((int)Ptr & 0x0000000F)); }
/* at the moment not threadsafe :-( */
static unsigned char selectedChannelRx = 1, selectedChannelTx = 1;
static cosateq::devices::can::co_baudrate_t TranslateBaudRate( char* optarg )
{
/* values see documentation of CO-PCICAN */
if( !strcmp( optarg, "1M" ) ) return cosateq::devices::can::CO_BAUD_1M;
if( !strcmp( optarg, "800K" ) ) return cosateq::devices::can::CO_BAUD_800k;
if( !strcmp( optarg, "500K" ) ) return cosateq::devices::can::CO_BAUD_500k;
if( !strcmp( optarg, "250K" ) ) return cosateq::devices::can::CO_BAUD_250k;
if( !strcmp( optarg, "125K" ) ) return cosateq::devices::can::CO_BAUD_125k;
if( !strcmp( optarg, "100K" ) ) return cosateq::devices::can::CO_BAUD_100k;
if( !strcmp( optarg, "83.3K" ) ) return cosateq::devices::can::CO_BAUD_83k;
if( !strcmp( optarg, "10K" ) ) return cosateq::devices::can::CO_BAUD_10k;
return (cosateq::devices::can::co_baudrate_t)-1;
}
int co_pcican_select_channel( const unsigned char channel, const unsigned int direction )
{
if( channel >= CHANNELS )
{
MSG("can_copcican_linux: co_pcican_select_channel(): invalid channel\n");
return -1;
}
/* at the moment not threadsafe :-( */
switch( direction )
{
case cosateq::devices::can::CO_CAN_RX: selectedChannelRx = channel;
break;
case cosateq::devices::can::CO_CAN_TX: selectedChannelTx = channel;
break;
default: return -1;
}
return 0;
}
int co_pcican_configure_selected_channel( const int fd, s_BOARD *board, const unsigned int direction )
{
unsigned int selectedChannel;
int ret = 0;
if( fd < 0 )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid file descriptor\n");
return -1;
}
if( board == NULL )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): board is NULL\n");
return -1;
}
if( board->baudrate == NULL )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): baudrate is NULL\n");
return -1;
}
switch( direction )
{
case cosateq::devices::can::CO_CAN_RX: selectedChannel = selectedChannelRx;
break;
case cosateq::devices::can::CO_CAN_TX: selectedChannel = selectedChannelTx;
break;
default: selectedChannel = 0xff;
}
if( selectedChannel >= CHANNELS )
{
MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid channel selected\n");
return -1;
}
ret = can_setChannelConfig( TranslateBaudRate( board->baudrate ),0x0,unmaskDevID((void*)fd),selectedChannel);
if ( ret != 0 ) {
can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2);
return -ret;
}else{
ret = can_setIrqMode(unmaskDevID((void*)fd),selectedChannel);
can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2);
}
return ret;
}
/*********functions which permit to communicate with the board****************/
UNS8 __stdcall canReceive_driver( CAN_HANDLE fd0, Message *m )
{
cosateq::devices::can::co_can_packet_t p;
int ret = 0;
if ( !m )
return 0;
memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t));
ret = can_receive(&p,unmaskDevID(fd0),selectedChannelRx);
//printf("rec: %d\n",ret);
if ( ret != 0 )
return 1;
//printf("rec2: %d\n",ret);
if ( p.size > 8 )
p.size = 8;
if ( !(p.type & MSG_RTR ) )
memcpy(m->data,p.data,p.size);
m->cob_id = p.id;
m->len = p.size;
m->rtr = p.type & MSG_RTR;
return 0;
}
/***************************************************************************/
UNS8 __stdcall canSend_driver( CAN_HANDLE fd0, Message *m )
{
cosateq::devices::can::co_can_packet_t p;
if ( !m )
return 0;
memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t));
p.id = m->cob_id;
p.size = (m->len > 8) ? 8 : m->len;
p.type = ( m->rtr ) ? 0x2:0x0;
if ( p.id > 0x800 )
p.type |= MSG_EXT;
memcpy(p.data,m->data,p.size);
return can_send(&p,unmaskDevID(fd0),selectedChannelTx);
}
/***************************************************************************/
UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud )
{
UNS8 ret = 0;
ret = can_enterCfgMode(unmaskDevID(fd0),0);
if ( ret != 0)
MSG("Enter config mode for Channelpair 0 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
ret = can_enterCfgMode(unmaskDevID(fd0),1);
if ( ret != 0)
MSG("Enter config mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
for ( int i = 0; i < 4; i++ ) {
ret = can_setChannelConfig(TranslateBaudRate(baud),0x0,unmaskDevID(fd0),i);
if ( ret != 0)
MSG("Set config for channel %d failed in Function %s! Error: %d\n",i,__FUNCTION__,ret);
can_setIrqMode(unmaskDevID(fd0),i);
}
ret = can_enterRunMode(unmaskDevID(fd0),0);
if ( ret != 0)
MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
ret = can_enterRunMode(unmaskDevID(fd0),1);
if ( ret != 0)
MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
return ret;
}
CAN_HANDLE __stdcall canOpen_driver( s_BOARD *board )
{
int ret = 0;
int devId = 0;
if ( !board )
return NULL;
if ( !board->busname )
return NULL;
//TODO find out how boardname resolves
//printf("BOARD: 0x%x %s\n",board,board->busname);
//sscanf_s(board->busname,"%d",&devId);
if ( devId < 0 || devId > 15 )
return NULL;
//return (can_HANDLE)NULL;
if ( !initdone ) {
can_init();
initdone = 1;
}
ret = can_open(devId);
if ( ret < 0 )
return (CAN_HANDLE)NULL;
canChangeBaudRate_driver( maskDevID(devId),board->baudrate );
return maskDevID(devId);
}
int __stdcall canClose_driver(CAN_HANDLE fd0 )
{
return can_close(unmaskDevID(fd0));
}