/*
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);
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 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;
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);
return true;
}
bool IXXAT::close()
{
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)
{
return reinterpret_cast<IXXAT*>(inst)->receive(m) ? 0 : 1;
}
extern "C"
UNS8 __stdcall canSend_driver(CAN_HANDLE inst, Message const *m)
{
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;
}