etisserant@38: /*
greg@563: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@145: 
etisserant@145: Copyright (C): Edouard TISSERANT and Francis DUPIN
JaFojtik@696: Modified by: Jaroslav Fojtik
etisserant@145: 
etisserant@145: See COPYING file for copyrights details.
etisserant@145: 
etisserant@145: This library is free software; you can redistribute it and/or
etisserant@145: modify it under the terms of the GNU Lesser General Public
etisserant@145: License as published by the Free Software Foundation; either
etisserant@145: version 2.1 of the License, or (at your option) any later version.
etisserant@145: 
etisserant@145: This library is distributed in the hope that it will be useful,
etisserant@145: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@145: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@145: Lesser General Public License for more details.
etisserant@145: 
etisserant@145: You should have received a copy of the GNU Lesser General Public
etisserant@145: License along with this library; if not, write to the Free Software
etisserant@145: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@38: */
etisserant@38: 
etisserant@145: #if defined(WIN32) && !defined(__CYGWIN__)
etisserant@145: #define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
etisserant@145: #else
etisserant@145: #include <stdio.h>
etisserant@145: #include <string.h>
etisserant@145: #include <errno.h>
etisserant@145: #include <fcntl.h>
etisserant@145: #endif
etisserant@145: 
etisserant@145: #include "cancfg.h"
etisserant@145: #include "can_driver.h"
greg@267: #include "def.h"
JaFojtik@713: 
JaFojtik@713: 
JaFojtik@713: #define VERSION_2
JaFojtik@713: 
JaFojtik@713: /* dummy implementation for older version. */
JaFojtik@713: #ifndef VERSION_2
JaFojtik@713: void CAN_SetRcvEvent(HANDLE hEventx)
JaFojtik@713: {
JaFojtik@713:   SetEvent(hEventx);
JaFojtik@713: }
JaFojtik@713: #endif
JaFojtik@713: 
JaFojtik@713: 
JaFojtik@713: 
JaFojtik@713: 
etisserant@41: #ifndef extra_PCAN_init_params
etisserant@145: 	#define extra_PCAN_init_params /**/
etisserant@145: #else
greg@574: 	long int print_getenv(const char* pcanparam)
greg@574: 	{
greg@574: 		char* param=NULL;
greg@574: 		long int res=0;
greg@574: 
greg@574: 		param = getenv(pcanparam);
greg@574: 		if(param != NULL){
greg@574: 			res = strtol(param,NULL,0);
greg@574: 		}
greg@574: 		else
greg@574: 			printf("Environment variable %s not defined !\n", pcanparam);
greg@574: 		printf("Found environment variable %s : %ld\n", pcanparam ,res);
greg@574: 		return res;
greg@574: 	}
etisserant@145: 	#define extra_PCAN_init_params\
greg@574: 		,print_getenv("PCANHwType")\
greg@574: 		,print_getenv("PCANIO_Port")\
greg@574: 		,print_getenv("PCANInterupt")
etisserant@145: #endif
etisserant@145: 
JaFojtik@713: 
etisserant@145: static s_BOARD *first_board = NULL;
greg@563: //Create the Event for the first board
greg@563: HANDLE hEvent1 = NULL;
JaFojtik@713: CRITICAL_SECTION InitLock1;
JaFojtik@713: CRITICAL_SECTION InitLock2;
greg@563: 
greg@563: 
greg@563: #ifdef PCAN2_HEADER_
JaFojtik@713:   static s_BOARD *second_board = NULL;
JaFojtik@713:   HANDLE hEvent2 = NULL;
greg@563: #endif
etisserant@145: 
etisserant@145: // Define for rtr CAN message
etisserant@145: #define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR
etisserant@145: 
etisserant@145: /***************************************************************************/
JaFojtik@713: static int TranslateBaudeRate(char* optarg)
JaFojtik@713: {
etisserant@145: 	if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
etisserant@145: 	if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
etisserant@145: 	if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
etisserant@145: 	if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
etisserant@145: 	if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
etisserant@145: 	if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
etisserant@145: 	if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
etisserant@145: 	if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
etisserant@145: 	if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
etisserant@145: 	if(!strcmp( optarg, "none")) return 0;
etisserant@145: 	return 0x0000;
etisserant@145: }
etisserant@145: 
JaFojtik@713: static UNS8 canInit (s_BOARD *board)
etisserant@145: {
etisserant@145: 	int baudrate;
greg@566: 	int ret = 0;
greg@563: 
greg@329: #ifdef PCAN2_HEADER_
etisserant@145: 	// if not the first handler
greg@563: 	if(second_board == (s_BOARD *)board) {
JaFojtik@713: 		if(hEvent2==NULL)
JaFojtik@713: 		{	/* Create the Event for the first board */
JaFojtik@713: 		  hEvent2 = CreateEvent(NULL, // lpEventAttributes
JaFojtik@713: 							FALSE,  // bManualReset
JaFojtik@713: 							FALSE,  // bInitialState
JaFojtik@713: 							"");    // lpName
JaFojtik@713: 		  InitializeCriticalSection(&InitLock2);
JaFojtik@713: 		}
JaFojtik@713: 
JaFojtik@713: 		EnterCriticalSection(&InitLock2);
etisserant@145: 		if(baudrate = TranslateBaudeRate(board->baudrate))
greg@566: 		{
JaFojtik@713: 		  ret = CAN2_Init(baudrate, CAN_INIT_TYPE_ST extra_PCAN_init_params);
JaFojtik@713: 		  if(ret != CAN_ERR_OK)
JaFojtik@713: 		  {
JaFojtik@713: 		    LeaveCriticalSection(&InitLock2);
JaFojtik@713: 		    return 0;
JaFojtik@713: 		  }
edouard@625: 		}
greg@563: 		//Set Event Handle for CANReadExt
greg@563: 		CAN2_SetRcvEvent(hEvent2);
JaFojtik@713: 		LeaveCriticalSection(&InitLock2);
greg@563: 	}
greg@563: 	else
greg@563: #endif
greg@563: 	if(first_board == (s_BOARD *)board) {
JaFojtik@713: 		//Create the Event for the first board
JaFojtik@713: 		if(hEvent1==NULL)
JaFojtik@713: 		{
JaFojtik@713: 		  hEvent1 = CreateEvent(NULL, // lpEventAttributes
JaFojtik@713: 							FALSE,  // bManualReset
JaFojtik@713: 							FALSE,  // bInitialState
JaFojtik@713: 							"");    // lpName
JaFojtik@713: 		  InitializeCriticalSection(&InitLock1);
JaFojtik@713:                 }
JaFojtik@713: 
JaFojtik@713: 		EnterCriticalSection(&InitLock1);
etisserant@145: 		if(baudrate = TranslateBaudeRate(board->baudrate))
greg@566: 		{
JaFojtik@713: 		  ret = CAN_Init(baudrate, CAN_INIT_TYPE_ST extra_PCAN_init_params);
JaFojtik@713: 		  if(ret != CAN_ERR_OK)
JaFojtik@713: 		  {
JaFojtik@713: 		    LeaveCriticalSection(&InitLock1);
JaFojtik@713: 		    return 0;
JaFojtik@713: 		  }
edouard@625: 		}
greg@563: 		//Set Event Handle for CANReadExt
greg@563: 		CAN_SetRcvEvent(hEvent1);
JaFojtik@713: 		LeaveCriticalSection(&InitLock1);
greg@563: 	}
greg@566: 	return 1;
greg@563: }
greg@563: 
greg@563: /********* functions which permit to communicate with the board ****************/
JaFojtik@713: UNS8 LIBAPI canReceive_driver(CAN_HANDLE fd0, Message * m)
JaFojtik@713: {
JaFojtik@713: static int HeavyCounter = 0;
greg@563: 	int ret=0;
etisserant@145: 	UNS8 data;
etisserant@145: 	TPCANMsg peakMsg;
JaFojtik@713: #ifdef CAN_READ_EX
greg@563: 	TPCANTimestamp peakRcvTime;
JaFojtik@713: #endif
etisserant@145: 	DWORD Res;
greg@563: 	DWORD result;
greg@570: 	// loop until valid message or fatal error
greg@570: 	do{
greg@570: #ifdef PCAN2_HEADER_
greg@570: 		// if not the first handler
greg@570: 		if(second_board == (s_BOARD *)fd0) {
greg@570: 			//wait for CAN msg...
greg@570: 			result = WaitForSingleObject(hEvent2, INFINITE);
greg@570: 			if (result == WAIT_OBJECT_0)
greg@570: 				Res = CAN2_ReadEx(&peakMsg, &peakRcvTime);
greg@570: 				// Exit receive thread when handle is no more valid
JaFojtik@713: 				if(Res & CAN_ERRMASK_ILLHANDLE)
greg@570: 					return 1;
greg@570: 		}
greg@570: 		else
greg@570: #endif
greg@570: 
greg@570: 		// We read the queue looking for messages.
JaFojtik@713: 		if(first_board == (s_BOARD *)fd0) 
JaFojtik@713: 		{
JaFojtik@713: #ifdef VERSION_2
greg@570: 			result = WaitForSingleObject(hEvent1, INFINITE);
greg@570: 			if (result == WAIT_OBJECT_0)
JaFojtik@713: #endif
greg@570: 			{
JaFojtik@713: #ifdef CAN_READ_EX
greg@570: 				Res = CAN_ReadEx(&peakMsg, &peakRcvTime);
JaFojtik@713: #else
JaFojtik@713: 				Res = CAN_Read(&peakMsg);
JaFojtik@713: #endif
greg@570: 				// Exit receive thread when handle is no more valid
JaFojtik@713: #ifdef CAN_ERRMASK_ILLHANDLE
JaFojtik@713: 				if(Res & CAN_ERRMASK_ILLHANDLE) return 1;
JaFojtik@713: #else
JaFojtik@713: 				if(Res & CAN_ERR_ILLHANDLE) return 1;
JaFojtik@713: #endif				
JaFojtik@713: 
JaFojtik@713: #ifndef VERSION_2
JaFojtik@713: 				if(Res != CAN_ERR_OK) 
JaFojtik@713: 					result = WaitForSingleObject(hEvent1, 1);  	//pooling
JaFojtik@713: #endif
greg@570: 			}
greg@570: 		}
JaFojtik@713: #ifdef VERSION_2
greg@570: 		else
greg@570: 			Res = CAN_ERR_BUSOFF;
JaFojtik@713: #endif
JaFojtik@713: 		
greg@570: 		// A message was received : we process the message(s)
JaFojtik@713: 		if(Res == CAN_ERR_OK)
JaFojtik@713: 		{			
JaFojtik@713: 		  switch(peakMsg.MSGTYPE)
JaFojtik@713: 		  {
JaFojtik@713: 		    case MSGTYPE_STATUS:
JaFojtik@713: 			  switch(peakMsg.DATA[3])
JaFojtik@713: 		          {
JaFojtik@713: 			    case CAN_ERR_BUSHEAVY: 
JaFojtik@713: 				      break;
JaFojtik@713: 		            case CAN_ERR_BUSOFF: 
JaFojtik@713: 			              printf ("Peak board read BUSOFF: re-init!!!\n");
JaFojtik@713: 				      canInit((s_BOARD*)fd0);
JaFojtik@713: 				      usleep(33);
JaFojtik@713: 				      break;
JaFojtik@713: 			  }
JaFojtik@713: 			  return peakMsg.DATA[3];	/* if something different that 11bit or rtr... problem */
JaFojtik@713: 
JaFojtik@713: 		    case MSGTYPE_STANDARD:		/* bits of MSGTYPE_ */
JaFojtik@713: 		    case MSGTYPE_EXTENDED:
JaFojtik@713: 			  m->rtr = 0;
JaFojtik@713: 			  break;
JaFojtik@713: 
JaFojtik@713: 		    case MSGTYPE_RTR:			/* bits of MSGTYPE_ */
JaFojtik@713: 			  m->rtr = 1;
JaFojtik@713: 			  break;
JaFojtik@713: 
JaFojtik@713: 		    default: return CAN_ERR_OVERRUN;	/* If status, return status if 29bit, return overrun. */
JaFojtik@713: 		    
JaFojtik@713: 		    }
JaFojtik@713: 
JaFojtik@713: 		   m->cob_id = peakMsg.ID;				
JaFojtik@713: 		   if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)  /* bits of MSGTYPE_ */
JaFojtik@713:                      m->rtr = 0;
JaFojtik@713: 		   else
JaFojtik@713: 		     m->rtr = 1;
JaFojtik@713: 		   m->len = peakMsg.LEN;		/* count of data bytes (0..8) */
JaFojtik@713: 		   for (data = 0; data < peakMsg.LEN; data++)
hacking@730: 			m->data[data] = peakMsg.DATA[data];	/* data bytes, up to 8 */
greg@570: #if defined DEBUG_MSG_CONSOLE_ON
greg@570: 			MSG("in : ");
greg@570: 			print_message(m);
greg@570: #endif
greg@570: 		}
greg@570: 		else
greg@570: 		{
greg@570: 			// not benign error => fatal error
greg@570: 			if (!(Res & CAN_ERR_QRCVEMPTY
greg@570: 					|| Res & CAN_ERR_BUSLIGHT
greg@570: 					|| Res & CAN_ERR_BUSHEAVY))
greg@570: 			{
greg@570: 				printf ("canReceive returned error (%d)\n", Res);
greg@566: 				return 1;
greg@566: 			}
greg@570: 		}
JaFojtik@713: 	} while(Res != CAN_ERR_OK);
greg@563: 	return 0;
greg@563: }
greg@563: 
greg@563: /***************************************************************************/
JaFojtik@713: UNS8 LIBAPI canSend_driver(CAN_HANDLE fd0, Message const *m)
etisserant@145: {
etisserant@145: 	UNS8 data;
etisserant@145: 	TPCANMsg peakMsg;
etisserant@365: 	peakMsg.ID = m->cob_id;	/* 11/29 bit code */
etisserant@145: 	if (m->rtr == 0)
etisserant@145: 	{
JaFojtik@713: 	  if(peakMsg.ID > 0x7FF)
JaFojtik@713: 		peakMsg.MSGTYPE = MSGTYPE_EXTENDED;	/* bits of MSGTYPE_ */
JaFojtik@713: 	  else
JaFojtik@713: 		peakMsg.MSGTYPE = MSGTYPE_STANDARD;	/* bits of MSGTYPE_ */
JaFojtik@713: 	}
JaFojtik@713: 	else	
JaFojtik@713: 		peakMsg.MSGTYPE = MSGTYPE_RTR;		/* bits of MSGTYPE_ */
JaFojtik@713: 	
etisserant@145: 	peakMsg.LEN = m->len;
etisserant@145: 	/* count of data bytes (0..8) */
etisserant@145: 	for (data = 0; data < m->len; data++)
hacking@730: 		peakMsg.DATA[data] = m->data[data];	/* data bytes, up to 8 */
greg@563: 
etisserant@145: 	do
etisserant@145: 	{
etisserant@145: #ifdef PCAN2_HEADER_
etisserant@145: 		// if not the first handler
etisserant@145: 		if(second_board == (s_BOARD *)fd0)
greg@267: 		{
JaFojtik@713: 			errno = CAN2_Write (&peakMsg);
greg@267: 		}
greg@563: 		else
etisserant@145: #endif
etisserant@145: 		if(first_board == (s_BOARD *)fd0)
greg@267: 			{
JaFojtik@713: 				errno = CAN_Write (&peakMsg);
greg@267: 			}
greg@563: 		else
etisserant@145: 			goto fail;
JaFojtik@713: 		if (errno)
JaFojtik@713: 		{
JaFojtik@713: 			if (errno == CAN_ERR_BUSOFF)
etisserant@145: 			{
etisserant@145: 				printf ("!!! Peak board write : re-init\n");
etisserant@145: 				canInit((s_BOARD*)fd0);
etisserant@145: 				usleep (10000);
etisserant@145: 			}
etisserant@145: 			usleep (1000);
etisserant@145: 		}
etisserant@145: 	}
JaFojtik@713: 	while (errno != CAN_ERR_OK);
etisserant@341: #if defined DEBUG_MSG_CONSOLE_ON
greg@454: 	MSG("out : ");
etisserant@341: 	print_message(m);
etisserant@341: #endif
etisserant@145: 	return 0;
etisserant@145: fail:
etisserant@145: 	return 1;
etisserant@145: }
etisserant@145: 
etisserant@145: /***************************************************************************/
JaFojtik@713: UNS8 LIBAPI canChangeBaudRate_driver(CAN_HANDLE fd, char* baud)
groke6@384: {
groke6@384: 	printf("canChangeBaudRate not yet supported by this driver\n");
groke6@384: 	return 0;
groke6@384: }
groke6@384: 
groke6@384: /***************************************************************************/
JaFojtik@713: LIBPUBLIC CAN_HANDLE LIBAPI canOpen_driver(s_BOARD * board)
JaFojtik@713: {
greg@267:   char* pEnd;
greg@566:   int ret;
greg@563: 
greg@267:   //printf ("Board Busname=%d.\n",strtol(board->busname, &pEnd,0));
greg@267:   if (strtol(board->busname, &pEnd,0) == 0)
greg@267:   {
greg@267:       first_board = board;
greg@566:       //printf ("First Board selected\n");
greg@566:       ret = canInit(board);
greg@566:       if(ret)
greg@566:     	  return (CAN_HANDLE)board;
greg@267:   }
greg@329:   #ifdef PCAN2_HEADER_
greg@267:   if (strtol(board->busname, &pEnd,0) == 1)
greg@267:   {
greg@329:       second_board = board;
greg@566:       //printf ("Second Board selected\n");
greg@566:       ret = canInit(board);
greg@566:       if(ret)
greg@566:     	  return (CAN_HANDLE)board;
greg@267:   }
greg@329:   #endif
greg@329:   return NULL;
etisserant@145: }
etisserant@145: 
JaFojtik@713: 
etisserant@145: /***************************************************************************/
JaFojtik@713: int LIBAPI canClose_driver(CAN_HANDLE fd0)
etisserant@145: {
etisserant@145: #ifdef PCAN2_HEADER_
JaFojtik@713: 	// if not the first handler
JaFojtik@713: 	if(second_board == (s_BOARD *)fd0)
JaFojtik@713: 	{
JaFojtik@713: 		CAN2_SetRcvEvent(NULL);
JaFojtik@713: 		CAN2_Close ();		
JaFojtik@713: 		if(hEvent2)
JaFojtik@713: 		{
JaFojtik@713: 		  SetEvent(hEvent2);
JaFojtik@713: 		  CloseHandle(hEvent2);		
JaFojtik@713: 		  hEvent2 = NULL;
JaFojtik@713: 		}
JaFojtik@713: 		second_board = (s_BOARD *)NULL;
JaFojtik@713: 	}else
JaFojtik@713: #endif
JaFojtik@713: 	if(first_board == (s_BOARD *)fd0)
JaFojtik@713: 	{
JaFojtik@713: 		CAN_SetRcvEvent(NULL);
JaFojtik@713: 		CAN_Close ();		
JaFojtik@713: 		if(hEvent1) 
JaFojtik@713: 		{
JaFojtik@713:                   SetEvent(hEvent1);
JaFojtik@713: 		  CloseHandle(hEvent1);
JaFojtik@713: 		  hEvent1 = NULL;
JaFojtik@713:                 }
JaFojtik@713: 		first_board = (s_BOARD *)NULL;
JaFojtik@713: 	}
JaFojtik@713: 	return 0;
JaFojtik@713: }