/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
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
*/
#if defined(WIN32) && !defined(__CYGWIN__)
#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
#else
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>
#endif
#include "cancfg.h"
#include "can_driver.h"
#include "def.h"
#ifndef extra_PCAN_init_params
#define extra_PCAN_init_params /**/
#else
long int print_getenv(const char* pcanparam)
{
char* param=NULL;
long int res=0;
param = getenv(pcanparam);
if(param != NULL){
res = strtol(param,NULL,0);
}
else
printf("Environment variable %s not defined !\n", pcanparam);
printf("Found environment variable %s : %ld\n", pcanparam ,res);
return res;
}
#define extra_PCAN_init_params\
,print_getenv("PCANHwType")\
,print_getenv("PCANIO_Port")\
,print_getenv("PCANInterupt")
#endif
static s_BOARD *first_board = NULL;
//Create the Event for the first board
HANDLE hEvent1 = NULL;
#ifdef PCAN2_HEADER_
static s_BOARD *second_board = NULL;
HANDLE hEvent2 = NULL;
#endif
// Define for rtr CAN message
#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR
/***************************************************************************/
int TranslateBaudeRate(char* optarg){
if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
if(!strcmp( optarg, "none")) return 0;
return 0x0000;
}
UNS8 canInit (s_BOARD *board)
{
int baudrate;
int ret = 0;
#ifdef PCAN2_HEADER_
// if not the first handler
if(second_board == (s_BOARD *)board) {
if(baudrate = TranslateBaudeRate(board->baudrate))
{
ret = CAN2_Init(baudrate, CAN_INIT_TYPE_ST extra_PCAN_init_params);
if(ret != CAN_ERR_OK)
return 0;
}
//Create the Event for the first board
if(hEvent2 != NULL){
hEvent2 = CreateEvent(NULL, // lpEventAttributes
FALSE, // bManualReset
FALSE, // bInitialState
""); // lpName
}
//Set Event Handle for CANReadExt
CAN2_SetRcvEvent(hEvent2);
}
else
#endif
if(first_board == (s_BOARD *)board) {
if(baudrate = TranslateBaudeRate(board->baudrate))
{
ret = CAN_Init(baudrate, CAN_INIT_TYPE_ST extra_PCAN_init_params);
if(ret != CAN_ERR_OK)
return 0;
}
//Create the Event for the first board
if(hEvent1 != NULL){
hEvent1 = CreateEvent(NULL, // lpEventAttributes
FALSE, // bManualReset
FALSE, // bInitialState
""); // lpName
}
//Set Event Handle for CANReadExt
CAN_SetRcvEvent(hEvent1);
}
return 1;
}
/********* functions which permit to communicate with the board ****************/
UNS8 canReceive_driver (CAN_HANDLE fd0, Message * m)
{
int ret=0;
UNS8 data;
TPCANMsg peakMsg;
TPCANTimestamp peakRcvTime;
DWORD Res;
DWORD result;
// loop until valid message or fatal error
do{
#ifdef PCAN2_HEADER_
// if not the first handler
if(second_board == (s_BOARD *)fd0) {
//wait for CAN msg...
result = WaitForSingleObject(hEvent2, INFINITE);
if (result == WAIT_OBJECT_0)
Res = CAN2_ReadEx(&peakMsg, &peakRcvTime);
// Exit receive thread when handle is no more valid
if(Res & CAN_ERRMASK_ILLHANDLE)
return 1;
}
else
#endif
// We read the queue looking for messages.
if(first_board == (s_BOARD *)fd0) {
result = WaitForSingleObject(hEvent1, INFINITE);
if (result == WAIT_OBJECT_0)
{
Res = CAN_ReadEx(&peakMsg, &peakRcvTime);
// Exit receive thread when handle is no more valid
if(Res & CAN_ERRMASK_ILLHANDLE)
return 1;
}
}
else
Res = CAN_ERR_BUSOFF;
// A message was received : we process the message(s)
if (Res == CAN_ERR_OK)
{
// if something different that 11bit or rtr... problem
if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR))
{
if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
{
printf ("!!! Peak board read : re-init\n");
canInit((s_BOARD*) fd0);
usleep (10000);
}
// If status, return status if 29bit, return overrun
return peakMsg.MSGTYPE ==
MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
}
m->cob_id = peakMsg.ID;
if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */
m->rtr = 0;
else
m->rtr = 1;
m->len = peakMsg.LEN; /* count of data bytes (0..8) */
for (data = 0; data < peakMsg.LEN; data++)
m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */
#if defined DEBUG_MSG_CONSOLE_ON
MSG("in : ");
print_message(m);
#endif
}
else
{
// not benign error => fatal error
if (!(Res & CAN_ERR_QRCVEMPTY
|| Res & CAN_ERR_BUSLIGHT
|| Res & CAN_ERR_BUSHEAVY))
{
printf ("canReceive returned error (%d)\n", Res);
return 1;
}
}
}while(Res != CAN_ERR_OK);
return 0;
}
/***************************************************************************/
UNS8 canSend_driver (CAN_HANDLE fd0, Message * m)
{
UNS8 data;
DWORD localerrno;
TPCANMsg peakMsg;
peakMsg.ID = m->cob_id; /* 11/29 bit code */
if (m->rtr == 0)
peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_ */
else
{
peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_ */
}
peakMsg.LEN = m->len;
/* count of data bytes (0..8) */
for (data = 0; data < m->len; data++)
peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */
do
{
#ifdef PCAN2_HEADER_
// if not the first handler
if(second_board == (s_BOARD *)fd0)
{
errno = localerrno = CAN2_Write (&peakMsg);
}
else
#endif
if(first_board == (s_BOARD *)fd0)
{
errno = localerrno = CAN_Write (&peakMsg);
}
else
goto fail;
if (localerrno)
{
if (localerrno == CAN_ERR_BUSOFF)
{
printf ("!!! Peak board write : re-init\n");
canInit((s_BOARD*)fd0);
usleep (10000);
}
usleep (1000);
}
}
while (localerrno != CAN_ERR_OK);
#if defined DEBUG_MSG_CONSOLE_ON
MSG("out : ");
print_message(m);
#endif
return 0;
fail:
return 1;
}
/***************************************************************************/
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
{
printf("canChangeBaudRate not yet supported by this driver\n");
return 0;
}
/***************************************************************************/
CAN_HANDLE canOpen_driver (s_BOARD * board)
{
char busname[64];
char* pEnd;
int ret;
//printf ("Board Busname=%d.\n",strtol(board->busname, &pEnd,0));
if (strtol(board->busname, &pEnd,0) == 0)
{
first_board = board;
//printf ("First Board selected\n");
ret = canInit(board);
if(ret)
return (CAN_HANDLE)board;
}
#ifdef PCAN2_HEADER_
if (strtol(board->busname, &pEnd,0) == 1)
{
second_board = board;
//printf ("Second Board selected\n");
ret = canInit(board);
if(ret)
return (CAN_HANDLE)board;
}
#endif
return NULL;
}
/***************************************************************************/
int canClose_driver (CAN_HANDLE fd0)
{
#ifdef PCAN2_HEADER_
// if not the first handler
if(second_board == (s_BOARD *)fd0)
{
CAN2_SetRcvEvent(NULL);
CAN2_Close ();
if(hEvent2)
{
SetEvent(hEvent2);
CloseHandle(hEvent2);
hEvent2 = NULL;
}
second_board = (s_BOARD *)NULL;
}else
#endif
if(first_board == (s_BOARD *)fd0)
{
CAN_SetRcvEvent(NULL);
CAN_Close ();
if(hEvent1)
{
SetEvent(hEvent1);
CloseHandle(hEvent1);
hEvent1 = NULL;
}
first_board = (s_BOARD *)NULL;
}
return 0;
}