/*
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))
#define _CRT_SECURE_NO_DEPRECATE
#else
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>
#endif
#include "can_driver.h"
#include "AnaGateDllCan.h"
typedef struct SAnaGatePort
{
int hHandle;
HANDLE hAnaRecEvent;
HANDLE hFesticalRecAcknowledge;
Message sMsgBuffer;
struct SAnaGatePort *pNext;
struct SAnaGatePort *pPrev;
} SAnaGatePort;
SAnaGatePort *pFirstAnaGatePort=NULL;
/********* AnaGate API CAN receive callback Funciton ****************/
void WINAPI AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
{
SAnaGatePort *pAnaGatePort = pFirstAnaGatePort;
int i;
while (pAnaGatePort->hHandle != hHandle )
{
pAnaGatePort = pAnaGatePort->pNext;
if (pAnaGatePort == pFirstAnaGatePort )
{
pAnaGatePort = NULL;
printf("AnaGateReceiveCallBack (AnaGate_Win32): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
return;
}
}
pAnaGatePort->sMsgBuffer.cob_id = nIdentifier;
pAnaGatePort->sMsgBuffer.len= nBufferLen;
if (nFlags == 2)
pAnaGatePort->sMsgBuffer.rtr = 1;
else
pAnaGatePort->sMsgBuffer.rtr = 0;
for (i = 0 ; i < nBufferLen; i++)
{
pAnaGatePort->sMsgBuffer.data[i] = pcBuffer[i];
}
SetEvent(pAnaGatePort->hAnaRecEvent);
WaitForSingleObject(pAnaGatePort->hFesticalRecAcknowledge,INFINITE);
}
/*********functions which permit to communicate with the board****************/
UNS8 __stdcall canReceive_driver(CAN_HANDLE fd0, Message *m)
{
SAnaGatePort* pAnaGatePort = (SAnaGatePort*)fd0;
int i;
WaitForSingleObject( // Wait for receive event
pAnaGatePort->hAnaRecEvent, // event handle
INFINITE); // indefinite wait
m->cob_id = pAnaGatePort->sMsgBuffer.cob_id;
m->len = pAnaGatePort->sMsgBuffer.len;
m->rtr = pAnaGatePort->sMsgBuffer.rtr;
for (i = 0 ; i < pAnaGatePort->sMsgBuffer.len; i++)
{
m->data[i] = pAnaGatePort->sMsgBuffer.data[i];
}
SetEvent(pAnaGatePort->hFesticalRecAcknowledge); //Set Acknollede event
return 0;
}
/***************************************************************************/
UNS8 __stdcall canSend_driver(CAN_HANDLE fd0, Message const *m)
{
SAnaGatePort* pAnaCanPort = (SAnaGatePort*)fd0;
char cErrorMsg[100];
int nRetCode;
int nMsgTyp;
if (m->rtr == 0)
{
nMsgTyp = 0; //Normal;
}
else
{
nMsgTyp = 2; //Remote frame;
}
if ( (nRetCode = CANWrite(pAnaCanPort->hHandle , m->cob_id,(const char*) m->data, m->len, nMsgTyp) ) )
{
CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
fprintf(stderr,"canSend_driver (AnaGate_Win32) %s \n",nRetCode);
//printf("canSend_driver (AnaGate_Win32) %s \n",nRetCode);
return 1;
}
return 0;
}
/***************************************************************************/
int TranslateBaudeRate(char* optarg){
if(!strcmp( optarg, "1M")) return 1000000;
if(!strcmp( optarg, "800K")) return 800000;
if(!strcmp( optarg, "500K")) return 500000;
if(!strcmp( optarg, "250K")) return 250000;
if(!strcmp( optarg, "125K")) return 125000;
if(!strcmp( optarg, "100K")) return 100000;
if(!strcmp( optarg, "50K")) return 50000;
if(!strcmp( optarg, "20K")) return 20000;
if(!strcmp( optarg, "10K")) return 10000;
return 0x0000;
}
/****************************************************************************/
UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
{
int nRetCode;
char cErrorMsg[100];
struct SAnaGatePort* pAnaGatePort = (struct SAnaGatePort*)fd0;
if (nRetCode = CANSetGlobals (pAnaGatePort->hHandle, TranslateBaudeRate(baud), 0, 0, 1, 0) )
{
CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
fprintf(stderr, "canChangeBaudRate_drive (AnaGate_Win32): %s\n", cErrorMsg);
printf("canChangeBaudRate_drive (AnaGate_Win32): %s\n", cErrorMsg);
return 1;
}
return 0;
}
/***************************************************************************/
/* To open a connection to AnaGate CAN the s_BOARD board->busname must be
the AnaGate IP-Adresse followed from the CAN-Port (A or B) you want to use
For example "192.168.1.254:A"
*/
CAN_HANDLE __stdcall canOpen_driver(s_BOARD *board)
{
int PortNr;
char cErrorMsg[100];
int nRetCode;
char sIPAddress[16];
struct SAnaGatePort *pNewAnaGatePort;
char bBusnameValid = TRUE;
unsigned int nBusnameLen;
///////////////////////////////////////////
// Do some checkings concerning the busname
// format should be IP-Adress:Port
// e.g. 192.168.1.254:A
///////////////////////////////////////////
nBusnameLen = strlen(board->busname);
if ( nBusnameLen < strlen( "1.2.3.4:A" ) ) bBusnameValid = FALSE; // check minimum length of busname
if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = FALSE; // check maximum length of busname
if ( bBusnameValid )
{
switch (board->busname[nBusnameLen-1]) // check Portname of busname
{
case ('A'): PortNr = 0; break;
case ('B'): PortNr = 1; break;
case ('C'): PortNr = 2; break;
case ('D'): PortNr = 3; break;
default : bBusnameValid = FALSE; break;
}
if (board->busname[nBusnameLen-2] != ':' ) bBusnameValid = FALSE; // check Colon before Portname
}
if ( ! bBusnameValid )
{
fprintf(stderr, "canOpen_driver (AnaGate_Win32): busname (\"%s\") has a wrong format. Use IPAddr:CANPort for example \"192.168.1.254:A\"\n",board->busname);
return (CAN_HANDLE) NULL;
}
board->busname[nBusnameLen-2] = 0; // NULL Terminator for IP Address string
strcpy (sIPAddress, board->busname);
pNewAnaGatePort = (SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
if (pFirstAnaGatePort == NULL)
{
pFirstAnaGatePort = pNewAnaGatePort;
pNewAnaGatePort->pNext = pNewAnaGatePort;
pNewAnaGatePort->pPrev = pNewAnaGatePort;
}
else
{ pNewAnaGatePort->pNext = pFirstAnaGatePort;
pNewAnaGatePort->pPrev = pFirstAnaGatePort->pPrev;
pFirstAnaGatePort->pPrev->pNext = pNewAnaGatePort;
pFirstAnaGatePort->pPrev = pNewAnaGatePort;
}
// Connect to AnaGate
if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle,
0, /*confirmation*/
1, /*Monitor*/
PortNr,
sIPAddress,
1000 /*TimeOut*/ ) )
{
CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
//printf( "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
return (CAN_HANDLE) NULL;
}
// Inizial Baudrate
if (nRetCode = CANSetGlobals (pNewAnaGatePort->hHandle,
TranslateBaudeRate(board->baudrate),
0,/*OperatingMode = normal*/
0,/*CAN-Termination = off*/
1, /*HighSpeedMode = on*/
0 /*Timestamps = off*/) )
{
CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
//printf("canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
return (CAN_HANDLE) NULL;
}
// Creat receive and receive-acknoledge event
pNewAnaGatePort->hAnaRecEvent = CreateEvent(
NULL, // default security attributes
FALSE, // manual-reset event
FALSE, // initial state is nonsignaled
NULL // object name
);
pNewAnaGatePort->hFesticalRecAcknowledge = CreateEvent(
NULL, // default security attributes
FALSE, // manual-reset event
FALSE, // initial state is nonsignaled
NULL // object name
);
// Install receive callback funktion
if (nRetCode = CANSetCallback(pNewAnaGatePort->hHandle, AnaGateReceiveCallBack) )
{
canClose_driver (pNewAnaGatePort);
CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
//printf("canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
return (CAN_HANDLE) NULL;
}
return (CAN_HANDLE)pNewAnaGatePort;
}
/***************************************************************************/
int __stdcall canClose_driver(CAN_HANDLE fd0)
{
SAnaGatePort* pAnaCanPort = (SAnaGatePort*)fd0;
char cErrorMsg[100];
int nRetCode;
SetEvent (pAnaCanPort->hAnaRecEvent);
CloseHandle (pAnaCanPort->hAnaRecEvent);
CloseHandle (pAnaCanPort->hFesticalRecAcknowledge);
if ( nRetCode = CANCloseDevice(pAnaCanPort->hHandle) )
{
CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
fprintf(stderr, "canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
//printf("canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
}
if (pAnaCanPort->pNext == pAnaCanPort)
{
free (pAnaCanPort);
pFirstAnaGatePort=NULL;
}
else
{ pAnaCanPort->pNext->pPrev = pAnaCanPort->pPrev;
pAnaCanPort->pPrev->pNext = pAnaCanPort->pNext;
free (pAnaCanPort);
}
return 0;
}