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: 
greg@494: #include <stdio.h>
greg@494: #include <string.h>
greg@494: #include <errno.h>
greg@494: #include <fcntl.h>
greg@494: 
greg@494: 
greg@494: #include "can_driver.h"
greg@494: 
greg@494: struct SAnaGatePort
greg@494: {
greg@494:    int      hHandle;
greg@494:    Message  sMsgBuffer;
greg@494:    struct   SAnaGatePort *pNext;
greg@494:    struct   SAnaGatePort *pPrev;
greg@494:    int      bBufferFull;
greg@494: };
greg@494: 
greg@494: 
greg@494: struct SAnaGatePort *pFistAnaGatePort = NULL;
greg@494: 
greg@494: 
greg@494: /********* AnaGate API CAN receive callback Funciton  ****************/
greg@494: void AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
greg@494: {
greg@494:    int i;
greg@494:    struct SAnaGatePort *pAnaGatePort = pFistAnaGatePort;
greg@494:    
greg@494:    while (pAnaGatePort->hHandle != hHandle )
greg@494:    {
greg@494:       pAnaGatePort = pAnaGatePort->pNext;
greg@494:       if (pAnaGatePort == pFistAnaGatePort )
greg@494:       {
greg@494:          pAnaGatePort = NULL;
greg@494:          printf("AnaGateReceiveCallBack (AnaGate_Linux): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
greg@494:          return;
greg@494:       }
greg@494:    }
greg@494:    while (pAnaGatePort->bBufferFull)
greg@494:    {
greg@494:       usleep(5000);
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:    pAnaGatePort->bBufferFull = 1;
greg@494:  
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:    int i;
greg@494:    struct SAnaGatePort*  pAnaGatePort = (struct SAnaGatePort*)fd0;
greg@494: 
greg@494:    while (pAnaGatePort->bBufferFull == 0)
greg@494:    {
greg@494:       usleep (5000); 
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:    pAnaGatePort->bBufferFull = 0;
greg@494:  
greg@494:    return 0;
greg@494: }
greg@494: 
greg@494: /***************************************************************************/
edouard@631: UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)
greg@494: {
greg@494:    struct SAnaGatePort*  pAnaCanPort = (struct 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_Linux) %s \n",nRetCode);
greg@494:      //printf("canSend_driver (AnaGate_Linux) %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_Linux): %s\n", cErrorMsg);
greg@494:       //printf("canChangeBaudRate_drive (AnaGate_Linux): %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 nPortNr;
greg@494:    char cErrorMsg[100];
greg@494:    int nRetCode;
greg@494:    char sIPAddress[16];
greg@494:    struct SAnaGatePort *pNewAnaGatePort;
greg@494:    unsigned int nBusnameLen;   
greg@494:    char bBusnameValid = 1;
greg@494: 
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 = 0;  // check minimum length of busname
greg@494:    if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = 0;  // 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'): nPortNr = 0; break;
greg@494:          case ('B'): nPortNr = 1; break;
greg@494:          case ('C'): nPortNr = 2; break;
greg@494:          case ('D'): nPortNr = 3; break;
greg@494:          default :   bBusnameValid = 0; break;
greg@494:       }
greg@494:       if (board->busname[nBusnameLen-2] != ':' )    bBusnameValid = 0;   // 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 = (struct SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
greg@494:    if (pFistAnaGatePort == NULL)
greg@494:    {
greg@494:       pFistAnaGatePort = pNewAnaGatePort;
greg@494:       pNewAnaGatePort->pNext =  pNewAnaGatePort;
greg@494:       pNewAnaGatePort->pPrev =  pNewAnaGatePort;
greg@494:    }
greg@494:    else
greg@494:    {   pNewAnaGatePort->pNext =  pFistAnaGatePort;
greg@494:       pNewAnaGatePort->pPrev =  pFistAnaGatePort->pPrev;
greg@494:       pFistAnaGatePort->pPrev->pNext = pNewAnaGatePort;
greg@494:       pFistAnaGatePort->pPrev = pNewAnaGatePort;
greg@494: 
greg@494:    }
greg@494: 
greg@494:    // Connect to AnaGate
greg@494:    if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle, 
greg@494:                         0,      /*confimation off*/ 
greg@494:                         1,      /*Monitor on*/ 
greg@494:                         nPortNr,
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_Linux): %s @ %s  Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
greg@494:       //printf( "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
greg@494:       return (CAN_HANDLE) NULL;
greg@494:    }
greg@494:    
greg@494:    // Inizial Baudrate
greg@494: 
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_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494:       //printf("canOpen_driver (AnaGate_Linux): %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:  
greg@494:    pNewAnaGatePort->bBufferFull = 0;
greg@494:  
greg@494:    // Install receive callback funktion
greg@494: 
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_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494:       //printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
greg@494:       return (CAN_HANDLE) NULL;
greg@494:    }
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:    struct SAnaGatePort*  pAnaGatePort = (struct SAnaGatePort*)fd0;
greg@494:    char cErrorMsg[100];
greg@494:    int nRetCode;
greg@494: 
greg@494:    pAnaGatePort->bBufferFull = 1;  
greg@494:    
greg@494:    if ( nRetCode = CANCloseDevice(pAnaGatePort->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 (pAnaGatePort->pNext == pAnaGatePort)
greg@494:    {
greg@494:        free (pAnaGatePort);
greg@494:        pFistAnaGatePort=NULL;
greg@494:    }
greg@494:    else
greg@494:    {  
greg@494:       pAnaGatePort->pNext->pPrev = pAnaGatePort->pPrev;
greg@494:       pAnaGatePort->pPrev->pNext = pAnaGatePort->pNext;
greg@494:       free (pAnaGatePort);
greg@494:    }
greg@494: 
greg@494:    return 0;
greg@494: }