greg@494: /*
greg@494: This file is part of CanFestival, a library implementing CanOpen Stack. 
greg@494: 
greg@494: Copyright (C): Edouard TISSERANT and Francis DUPIN
greg@494: 
greg@494: See COPYING file for copyrights details.
greg@494: 
greg@494: This library is free software; you can redistribute it and/or
greg@494: modify it under the terms of the GNU Lesser General Public
greg@494: License as published by the Free Software Foundation; either
greg@494: version 2.1 of the License, or (at your option) any later version.
greg@494: 
greg@494: This library is distributed in the hope that it will be useful,
greg@494: but WITHOUT ANY WARRANTY; without even the implied warranty of
greg@494: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
greg@494: Lesser General Public License for more details.
greg@494: 
greg@494: You should have received a copy of the GNU Lesser General Public
greg@494: License along with this library; if not, write to the Free Software
greg@494: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
greg@494: */
greg@494: 
greg@494: #if defined(WIN32) && !defined(__CYGWIN__)
greg@494: #define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
greg@494: #define _CRT_SECURE_NO_DEPRECATE
greg@494: #else
greg@494: #include <stdio.h>
greg@494: #include <string.h>
greg@494: #include <errno.h>
greg@494: #include <fcntl.h>
greg@494: #endif
greg@494: 
greg@494: #include "can_driver.h"
greg@494: #include "AnaGateDllCan.h"
greg@494: 
greg@494: 
greg@494: typedef struct SAnaGatePort
greg@494: {
greg@494: int		hHandle;
greg@494: HANDLE	hAnaRecEvent;
greg@494: HANDLE	hFesticalRecAcknowledge;
greg@494: Message sMsgBuffer;
greg@494: struct SAnaGatePort *pNext;
greg@494: struct SAnaGatePort *pPrev;
greg@494: } SAnaGatePort;
greg@494: 
greg@494: 
greg@494: SAnaGatePort *pFirstAnaGatePort=NULL;
greg@494: 
greg@494: 
greg@494: /********* AnaGate API CAN receive callback Funciton  ****************/
greg@494: void WINAPI AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
greg@494: {
greg@494: 	SAnaGatePort *pAnaGatePort = pFirstAnaGatePort;
greg@494:    int           i;
greg@494: 	
greg@494: 	while (pAnaGatePort->hHandle != hHandle )
greg@494: 	{
greg@494: 		pAnaGatePort = pAnaGatePort->pNext;
greg@494: 		if (pAnaGatePort == pFirstAnaGatePort )
greg@494: 		{
greg@494: 			pAnaGatePort = NULL;
greg@494: 			printf("AnaGateReceiveCallBack (AnaGate_Win32): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
greg@494: 			return;
greg@494: 		}
greg@494: 	}
greg@494: 	
greg@494: 	pAnaGatePort->sMsgBuffer.cob_id =   nIdentifier;
greg@494: 	pAnaGatePort->sMsgBuffer.len= nBufferLen;
greg@494: 	if (nFlags == 2)
greg@494: 	 pAnaGatePort->sMsgBuffer.rtr = 1;
greg@494: 	else
greg@494: 	 pAnaGatePort->sMsgBuffer.rtr = 0;
greg@494: 
greg@494: 	for (i = 0 ; i < nBufferLen; i++)
greg@494: 	{
greg@494: 		pAnaGatePort->sMsgBuffer.data[i] = pcBuffer[i];
greg@494: 	}
greg@494: 
greg@494: 	SetEvent(pAnaGatePort->hAnaRecEvent);
greg@494: 
greg@494: 	WaitForSingleObject(pAnaGatePort->hFesticalRecAcknowledge,INFINITE);
greg@494: }
greg@494: 
greg@494: 
greg@494: /*********functions which permit to communicate with the board****************/
greg@494: UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
greg@494: {
greg@494: 	SAnaGatePort*  pAnaGatePort = (SAnaGatePort*)fd0;
greg@494:    int            i;
greg@494: 
greg@494: 	WaitForSingleObject(			// Wait for receive event
greg@494: 		pAnaGatePort->hAnaRecEvent, // event handle
greg@494: 		INFINITE);				    // indefinite wait
greg@494: 
greg@494: 
greg@494: 	m->cob_id = pAnaGatePort->sMsgBuffer.cob_id;
greg@494: 	m->len	  = pAnaGatePort->sMsgBuffer.len;
greg@494: 	m->rtr	  = pAnaGatePort->sMsgBuffer.rtr;
greg@494: 	for (i = 0 ; i < pAnaGatePort->sMsgBuffer.len; i++)
greg@494: 	{
greg@494: 	  m->data[i] = pAnaGatePort->sMsgBuffer.data[i];
greg@494: 	}
greg@494: 
greg@494: 	SetEvent(pAnaGatePort->hFesticalRecAcknowledge);	//Set Acknollede event
greg@494: 
greg@494: 	return 0;
greg@494: }
greg@494: 
greg@494: /***************************************************************************/
greg@494: UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
greg@494: {
greg@494: 	SAnaGatePort*  pAnaCanPort = (SAnaGatePort*)fd0;
greg@494: 	char cErrorMsg[100];
greg@494: 	int nRetCode;
greg@494: 	int nMsgTyp;
greg@494: 
greg@494: 	if (m->rtr == 0)
greg@494: 	{
greg@494: 	  nMsgTyp = 0; //Normal;
greg@494: 	}
greg@494: 	else
greg@494: 	{
greg@494: 	  nMsgTyp = 2; //Remote frame;
greg@494: 	}
greg@494: 
greg@494: 	if ( (nRetCode = CANWrite(pAnaCanPort->hHandle , m->cob_id,(const char*) m->data, m->len, nMsgTyp) ) )
greg@494: 	{
greg@494: 	  CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
greg@494: 	  fprintf(stderr,"canSend_driver (AnaGate_Win32) %s \n",nRetCode);
greg@494: 	  //printf("canSend_driver (AnaGate_Win32) %s \n",nRetCode);
greg@494: 	  return 1;
greg@494: 	}
greg@494: 
greg@494: 	return 0;
greg@494: }
greg@494: 
greg@494: 
greg@494: /***************************************************************************/
greg@494: int TranslateBaudeRate(char* optarg){
greg@494: 	if(!strcmp( optarg, "1M"))   return 1000000;
greg@494:     if(!strcmp( optarg, "800K")) return  800000;
greg@494:     if(!strcmp( optarg, "500K")) return  500000;
greg@494:     if(!strcmp( optarg, "250K")) return  250000;
greg@494:     if(!strcmp( optarg, "125K")) return  125000;
greg@494: 	if(!strcmp( optarg, "100K")) return  100000;
greg@494: 	if(!strcmp( optarg, "50K"))  return   50000;
greg@494: 	if(!strcmp( optarg, "20K"))  return   20000;
greg@494: 	if(!strcmp( optarg, "10K"))  return   10000;
greg@494:  
greg@494: 	return 0x0000;
greg@494: }
greg@494: /****************************************************************************/
greg@494: 
greg@494: UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
greg@494: {
greg@494:    int nRetCode;
greg@494:    char cErrorMsg[100];
greg@494:    struct SAnaGatePort*  pAnaGatePort = (struct SAnaGatePort*)fd0;
greg@494:    
greg@494:    if (nRetCode = CANSetGlobals (pAnaGatePort->hHandle, TranslateBaudeRate(baud), 0, 0, 1) ) 
greg@494:    {
greg@494:       CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
greg@494:       fprintf(stderr, "canChangeBaudRate_drive (AnaGate_Win32): %s\n", cErrorMsg);
greg@494:       printf("canChangeBaudRate_drive (AnaGate_Win32): %s\n", cErrorMsg);
greg@494:       return 1;
greg@494:    }
greg@494:    return 0;
greg@494: }
greg@494: 
greg@494: /***************************************************************************/
greg@494: /* To open a connection to AnaGate CAN the s_BOARD board->busname must be 
greg@494:  the AnaGate IP-Adresse followed from the CAN-Port (A or B) you want to use 
greg@494:  For example "192.168.1.254:A"
greg@494: */
greg@494: 
greg@494: CAN_HANDLE canOpen_driver(s_BOARD *board)
greg@494: {
greg@494: 	int PortNr;
greg@494: 	char cErrorMsg[100];
greg@494: 	int nRetCode;
greg@494: 	char sIPAddress[16];
greg@494: 	struct SAnaGatePort *pNewAnaGatePort;
greg@494:     char bBusnameValid = TRUE;
greg@494: 	unsigned int nBusnameLen; 
greg@494: 
greg@494:    ///////////////////////////////////////////
greg@494:    // Do some checkings concerning the busname
greg@494:    // format should be IP-Adress:Port
greg@494:    // e.g. 192.168.1.254:A
greg@494:    ///////////////////////////////////////////
greg@494:    nBusnameLen = strlen(board->busname);
greg@494:    
greg@494:    if ( nBusnameLen < strlen( "1.2.3.4:A" ) )         bBusnameValid = FALSE;  // check minimum length of busname
greg@494:    if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = FALSE;  // check maximum length of busname
greg@494:    if ( bBusnameValid )
greg@494:    {
greg@494:       switch (board->busname[nBusnameLen-1])                                 // check Portname of busname
greg@494: 	   {
greg@494: 		   case ('A'): PortNr = 0; break;
greg@494: 		   case ('B'): PortNr = 1; break;
greg@494: 		   case ('C'): PortNr = 2; break;
greg@494: 		   case ('D'): PortNr = 3; break;
greg@494: 		   default :   bBusnameValid = FALSE; break;
greg@494: 	   }
greg@494:       if (board->busname[nBusnameLen-2] != ':' )    bBusnameValid = FALSE;   // check Colon before Portname
greg@494:    }
greg@494: 
greg@494:    if ( ! bBusnameValid )
greg@494:    {
greg@494: 	   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);
greg@494: 	   return (CAN_HANDLE) NULL;
greg@494:    }
greg@494: 
greg@494:    board->busname[nBusnameLen-2] = 0; // NULL Terminator for IP Address string
greg@494: 	strcpy (sIPAddress, board->busname);
greg@494: 
greg@494: 	pNewAnaGatePort = (SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
greg@494: 	if (pFirstAnaGatePort == NULL)
greg@494: 	{
greg@494: 		pFirstAnaGatePort = pNewAnaGatePort;
greg@494: 		pNewAnaGatePort->pNext =  pNewAnaGatePort;
greg@494: 		pNewAnaGatePort->pPrev =  pNewAnaGatePort;
greg@494: 	}
greg@494: 	else
greg@494: 	{   pNewAnaGatePort->pNext =  pFirstAnaGatePort;
greg@494: 		pNewAnaGatePort->pPrev =  pFirstAnaGatePort->pPrev;
greg@494: 		pFirstAnaGatePort->pPrev->pNext = pNewAnaGatePort;
greg@494: 		pFirstAnaGatePort->pPrev = pNewAnaGatePort;
greg@494: 
greg@494: 	}
greg@494: 	// Connect to AnaGate
greg@494: 	if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle, 
greg@494: 		 						0,		/*confirmation*/ 
greg@494: 								1,		/*Monitor*/ 
greg@494: 								PortNr,
greg@494: 								sIPAddress, 
greg@494: 								1000	/*TimeOut*/ )  )
greg@494: 	{
greg@494: 		CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
greg@494: 		fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494: 		//printf( "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494: 		return (CAN_HANDLE) NULL;
greg@494: 	}
greg@494: 
greg@494: 	// Inizial Baudrate
greg@494: 	if (nRetCode = CANSetGlobals (pNewAnaGatePort->hHandle, 
greg@494: 							   TranslateBaudeRate(board->baudrate), 
greg@494: 							   0,/*OperatingMode = normal*/ 
greg@494: 							   0,/*CAN-Termination = off*/ 
greg@494: 							   1 /*HighSpeedMode = on*/) ) 
greg@494: 	{
greg@494: 		CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
greg@494: 		fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494: 		//printf("canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494: 		return (CAN_HANDLE) NULL;
greg@494: 	}
greg@494: 	
greg@494: 	// Creat receive and receive-acknoledge event 
greg@494: 	pNewAnaGatePort->hAnaRecEvent = CreateEvent(	
greg@494: 												NULL,  // default security attributes
greg@494: 												FALSE, // manual-reset event
greg@494: 												FALSE, // initial state is nonsignaled
greg@494: 												NULL  // object name
greg@494: 												); 
greg@494: 
greg@494: 	pNewAnaGatePort->hFesticalRecAcknowledge = CreateEvent( 
greg@494: 												NULL,  // default security attributes
greg@494: 												FALSE, // manual-reset event
greg@494: 												FALSE, // initial state is nonsignaled
greg@494: 												NULL   // object name
greg@494: 												); 
greg@494: 
greg@494: 	// Install receive callback funktion
greg@494: 	if (nRetCode = CANSetCallback(pNewAnaGatePort->hHandle,  AnaGateReceiveCallBack) ) 
greg@494: 	{
greg@494: 		canClose_driver (pNewAnaGatePort);
greg@494: 		CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
greg@494: 		fprintf(stderr, "canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494: 		//printf("canOpen_driver (AnaGate_Win32): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494: 		return (CAN_HANDLE) NULL;
greg@494: 	}
greg@494: 
greg@494:   return (CAN_HANDLE)pNewAnaGatePort;
greg@494: }
greg@494: 
greg@494: /***************************************************************************/
greg@494: int canClose_driver(CAN_HANDLE fd0)
greg@494: {
greg@494: 	SAnaGatePort*  pAnaCanPort = (SAnaGatePort*)fd0;
greg@494: 	char cErrorMsg[100];
greg@494: 	int nRetCode;
greg@494: 
greg@494: 
greg@494: 	SetEvent	(pAnaCanPort->hAnaRecEvent);
greg@494: 	CloseHandle (pAnaCanPort->hAnaRecEvent);
greg@494: 	CloseHandle (pAnaCanPort->hFesticalRecAcknowledge);
greg@494: 
greg@494: 	if ( nRetCode = CANCloseDevice(pAnaCanPort->hHandle) )
greg@494: 	{
greg@494: 	  CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
greg@494: 	  fprintf(stderr, "canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
greg@494: 	  //printf("canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
greg@494: 	}
greg@494: 
greg@494: 	if (pAnaCanPort->pNext == pAnaCanPort)
greg@494: 	{
greg@494: 		 free (pAnaCanPort);
greg@494: 		 pFirstAnaGatePort=NULL;
greg@494: 	}
greg@494: 	else
greg@494: 	{   pAnaCanPort->pNext->pPrev = pAnaCanPort->pPrev;
greg@494: 		pAnaCanPort->pPrev->pNext = pAnaCanPort->pNext;
greg@494: 		free (pAnaCanPort);
greg@494: 	}
greg@494: 
greg@494: 	return 0;
greg@494: }
greg@494: 
greg@494: 
greg@494: 
greg@494: 
greg@494: