edouard@629: // can_copcican_win32.cpp : Defines the exported functions for the DLL application.
edouard@629: //
edouard@629: 
edouard@629: 
edouard@629: #include "stdafx.h"
edouard@629: 
edouard@629: /*
edouard@629: This file is part of CanFestival, a library implementing CanOpen Stack.
edouard@629: 
edouard@629: Copyright (C): Cosateq GmbH & Co.KG
edouard@629:                http://www.cosateq.com/
edouard@629:                http://www.scale-rt.com/
edouard@629: 
edouard@629: See COPYING file for copyrights details.
edouard@629: 
edouard@629: This library is free software; you can redistribute it and/or
edouard@629: modify it under the terms of the GNU Lesser General Public
edouard@629: License as published by the Free Software Foundation; either
edouard@629: version 2.1 of the License, or (at your option) any later version.
edouard@629: 
edouard@629: This library is distributed in the hope that it will be useful,
edouard@629: but WITHOUT ANY WARRANTY; without even the implied warranty of
edouard@629: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
edouard@629: Lesser General Public License for more details.
edouard@629: 
edouard@629: You should have received a copy of the GNU Lesser General Public
edouard@629: License along with this library; if not, write to the Free Software
edouard@629: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
edouard@629: */
edouard@629: 
edouard@629: /*
edouard@629: 	CAN driver interface for CO-PCICAN card.
edouard@629: */
edouard@629: 
edouard@629: #include <stdio.h>
edouard@629: //#include <unistd.h>
edouard@629: #include <fcntl.h>
edouard@629: 
edouard@629: //#define NEED_PRINT_MESSAGE
edouard@629: static int initdone = 0;
edouard@629: 
edouard@629: inline void * maskDevID(int devId){	return ((void*)( (devId & 0x0000000F) | 0xC05A0000)); }
edouard@629: inline int unmaskDevID(void * Ptr){	return ((int)((int)Ptr & 0x0000000F)); }
edouard@629: 
edouard@629: /* at the moment not threadsafe :-( */
edouard@629: static unsigned char selectedChannelRx = 1, selectedChannelTx = 1;
edouard@629: 
edouard@629: static cosateq::devices::can::co_baudrate_t TranslateBaudRate( char* optarg )
edouard@629: {
edouard@629:   /* values see documentation of CO-PCICAN */
edouard@629: 	if( !strcmp( optarg, "1M"    ) ) return cosateq::devices::can::CO_BAUD_1M;
edouard@629: 	if( !strcmp( optarg, "800K"  ) ) return cosateq::devices::can::CO_BAUD_800k;
edouard@629: 	if( !strcmp( optarg, "500K"  ) ) return cosateq::devices::can::CO_BAUD_500k;
edouard@629:   if( !strcmp( optarg, "250K"  ) ) return cosateq::devices::can::CO_BAUD_250k;
edouard@629:   if( !strcmp( optarg, "125K"  ) ) return cosateq::devices::can::CO_BAUD_125k;
edouard@629:   if( !strcmp( optarg, "100K"  ) ) return cosateq::devices::can::CO_BAUD_100k;
edouard@629:   if( !strcmp( optarg, "83.3K" ) ) return cosateq::devices::can::CO_BAUD_83k;
edouard@629:   if( !strcmp( optarg, "10K"   ) ) return cosateq::devices::can::CO_BAUD_10k;
edouard@629: 
edouard@629:   return (cosateq::devices::can::co_baudrate_t)-1;
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_select_channel( const unsigned char channel, const unsigned int direction )
edouard@629: {
edouard@629:   if( channel >= CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_select_channel(): invalid channel\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   /* at the moment not threadsafe :-( */
edouard@629:   switch( direction )
edouard@629:   {
edouard@629:     case cosateq::devices::can::CO_CAN_RX: selectedChannelRx = channel;
edouard@629:              break;
edouard@629:     case cosateq::devices::can::CO_CAN_TX: selectedChannelTx = channel;
edouard@629:              break;
edouard@629:     default: return -1;
edouard@629:   }
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_configure_selected_channel( const int fd, s_BOARD *board, const unsigned int direction )
edouard@629: {
edouard@629:   unsigned int selectedChannel;
edouard@629:   int ret = 0;
edouard@629: 
edouard@629:   if( fd < 0 )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid file descriptor\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   if( board == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): board is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   if( board->baudrate == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): baudrate is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   switch( direction )
edouard@629:   {
edouard@629:     case cosateq::devices::can::CO_CAN_RX: selectedChannel = selectedChannelRx;
edouard@629:              break;
edouard@629:     case cosateq::devices::can::CO_CAN_TX: selectedChannel = selectedChannelTx;
edouard@629:              break;
edouard@629:     default: selectedChannel = 0xff;
edouard@629:   }
edouard@629: 
edouard@629:   if( selectedChannel >= CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_linux: co_pcican_configure_selected_channel(): invalid channel selected\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   ret = can_setChannelConfig( TranslateBaudRate( board->baudrate ),0x0,unmaskDevID((void*)fd),selectedChannel);
edouard@629:   if ( ret != 0 ) {
edouard@629: 	  can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2);
edouard@629: 	  return -ret;
edouard@629:   }else{
edouard@629: 	  ret = can_setIrqMode(unmaskDevID((void*)fd),selectedChannel);
edouard@629: 	  can_enterRunMode(unmaskDevID((void*)fd),selectedChannel/2);
edouard@629:   }
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: /*********functions which permit to communicate with the board****************/
edouard@629: 
edouard@629: UNS8 __stdcall canReceive_driver( CAN_HANDLE fd0, Message *m )
edouard@629: {
edouard@629:   cosateq::devices::can::co_can_packet_t p;
edouard@629:   int ret = 0;
edouard@629: 
edouard@629:   if ( !m )
edouard@629: 	  return 0;
edouard@629: 
edouard@629:   memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t));
edouard@629:   ret = can_receive(&p,unmaskDevID(fd0),selectedChannelRx);
edouard@629:   //printf("rec: %d\n",ret);
edouard@629:   if ( ret != 0 )
edouard@629: 	  return 1;
edouard@629: 
edouard@629:   //printf("rec2: %d\n",ret);
edouard@629:   if ( p.size > 8 )
edouard@629: 	  p.size = 8;
edouard@629: 
edouard@629:   if ( !(p.type & MSG_RTR ) )
edouard@629:     memcpy(m->data,p.data,p.size);
edouard@629: 
edouard@629:   m->cob_id = p.id;
edouard@629:   m->len = p.size;
edouard@629:   m->rtr = p.type & MSG_RTR;
edouard@629:   
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: 
edouard@629: UNS8 __stdcall canSend_driver( CAN_HANDLE fd0, Message *m )
edouard@629: {
edouard@629:   cosateq::devices::can::co_can_packet_t p;
edouard@629:   
edouard@629:   if ( !m )
edouard@629: 	  return 0;
edouard@629:   memset(&p,0,sizeof(cosateq::devices::can::co_can_packet_t));
edouard@629:   p.id = m->cob_id;
edouard@629:   p.size = (m->len > 8) ? 8 : m->len;
edouard@629:   p.type = ( m->rtr ) ? 0x2:0x0;
edouard@629:   if ( p.id > 0x800 )
edouard@629: 	  p.type |= MSG_EXT;
edouard@629:   memcpy(p.data,m->data,p.size);
edouard@629: 
edouard@629:   return can_send(&p,unmaskDevID(fd0),selectedChannelTx);
edouard@629: }
edouard@629: 
edouard@629: 
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: 
edouard@629: UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud )
edouard@629: {
edouard@629:   UNS8 ret = 0;
edouard@629: 
edouard@629:   ret = can_enterCfgMode(unmaskDevID(fd0),0);
edouard@629:   if ( ret != 0)
edouard@629:     MSG("Enter config mode for Channelpair 0 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
edouard@629:   ret = can_enterCfgMode(unmaskDevID(fd0),1);
edouard@629:   if ( ret != 0)
edouard@629:     MSG("Enter config mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
edouard@629: 
edouard@629:   for ( int i = 0; i < 4; i++ ) {
edouard@629:       ret = can_setChannelConfig(TranslateBaudRate(baud),0x0,unmaskDevID(fd0),i);
edouard@629:       if ( ret != 0)
edouard@629:         MSG("Set config for channel %d failed in Function %s! Error: %d\n",i,__FUNCTION__,ret);
edouard@629: 	  can_setIrqMode(unmaskDevID(fd0),i);
edouard@629:   }
edouard@629:   ret = can_enterRunMode(unmaskDevID(fd0),0);
edouard@629:   if ( ret != 0)
edouard@629:     MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
edouard@629: 
edouard@629:   ret = can_enterRunMode(unmaskDevID(fd0),1);
edouard@629:   if ( ret != 0)
edouard@629:     MSG("Enter run mode for Channelpair 1 failed in Function %s! Error: %d\n",__FUNCTION__,ret);
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: CAN_HANDLE __stdcall canOpen_driver( s_BOARD *board )
edouard@629: {
edouard@629: 	int ret = 0;
edouard@629: 	int devId = 0;
edouard@629: 	if ( !board )
edouard@629: 		return NULL;
edouard@629: 	if ( !board->busname )
edouard@629: 		return NULL;
edouard@629: 	//TODO find out how boardname resolves
edouard@629: 
edouard@629: 	//printf("BOARD: 0x%x %s\n",board,board->busname);
edouard@629: 	//sscanf_s(board->busname,"%d",&devId);
edouard@629: 
edouard@629: 	if ( devId < 0 || devId > 15 )
edouard@629: 		return NULL;
edouard@629: 
edouard@629: 	//return (can_HANDLE)NULL;
edouard@629: 	if ( !initdone ) {
edouard@629: 		can_init();
edouard@629: 		initdone = 1;
edouard@629: 	}
edouard@629: 
edouard@629: 	ret = can_open(devId);
edouard@629: 	if ( ret < 0 )
edouard@629: 		return (CAN_HANDLE)NULL;
edouard@629: 	
edouard@629: 	canChangeBaudRate_driver( maskDevID(devId),board->baudrate );
edouard@629: 	
edouard@629: 	return maskDevID(devId);
edouard@629: }
edouard@629: 
edouard@629: int __stdcall canClose_driver(CAN_HANDLE fd0 )
edouard@629: {
edouard@629: 	return can_close(unmaskDevID(fd0));
edouard@629: }
edouard@629: