iatr@787: /*
iatr@787: This file is part of CanFestival, a library implementing CanOpen Stack.
iatr@787: 
iatr@787: Copyright (C): Edouard TISSERANT and Francis DUPIN
iatr@787: 
iatr@787: See COPYING file for copyrights details.
iatr@787: 
iatr@787: This library is free software; you can redistribute it and/or
iatr@787: modify it under the terms of the GNU Lesser General Public
iatr@787: License as published by the Free Software Foundation; either
iatr@787: version 2.1 of the License, or (at your option) any later version.
iatr@787: 
iatr@787: This library is distributed in the hope that it will be useful,
iatr@787: but WITHOUT ANY WARRANTY; without even the implied warranty of
iatr@787: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
iatr@787: Lesser General Public License for more details.
iatr@787: 
iatr@787: You should have received a copy of the GNU Lesser General Public
iatr@787: License along with this library; if not, write to the Free Software
iatr@787: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
iatr@787: */
iatr@787: 
iatr@787: 
iatr@787: /*
iatr@787: 	Wrapper Layer for CANFestival to interact with IXXAT VCI V3.X.X Drivers (vcisdk.lib)
iatr@787: 	Provides external references for win32 library see win32.c (CanFestival-3)
iatr@787: 
iatr@787: 	http://www.ixxat.com/download_vci_v3_en.html
iatr@787: 
iatr@787: 	Currently the VCI CAN driver for Windows supports the following IXXAT interfaces:
iatr@787: 
iatr@787: 	PC-I 04/PCI
iatr@787: 	iPC-I 320/PCI II
iatr@787: 	iPC-I 165/PCI
iatr@787: 	iPC-I XC16/PCI
iatr@787: 	iPC-I XC16/PMC
iatr@787: 	iPC-I XC16/PCIe
iatr@787: 	USB-to-CAN compact
iatr@787: 	USB-to-CAN II
iatr@787: 	CAN-IB100/PCIe
iatr@787: 	CAN-IB200/PCIe
iatr@787: 	CAN-IB120/PCIe Mini
iatr@787: 	CAN-IB130/PCIe 104
iatr@787: 	CAN-IB230/PCIe 104
iatr@787: 	CAN@net II/VCI
iatr@787: 	CANblue II
iatr@787: 	FR-IB100/PCIe (only in combination with VCI V2.20)
iatr@787: 	tinCAN 161
iatr@787: 
iatr@787: */
iatr@787: 
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **    
iatr@787: **************************************************************************
iatr@787: **
iatr@787: **    File: can_ixxat_win32.c
iatr@787: **    Summary: Wrapper to encapsulate handling of VCI3
iatr@787: **	  Include vcisdk.lib	
iatr@787: **
iatr@787: **************************************************************************
iatr@787: **************************************************************************
iatr@787: **
iatr@787: **  Functions:  canOpen_driver
iatr@787: **              canReceive_driver
iatr@787: **              TimerProc1
iatr@787: **              canClose_driver
iatr@787: **				canSend_drive
iatr@787: **				
iatr@787: **/
iatr@787: 
iatr@787: #include <stdio.h> 
iatr@787: #include "can_driver.h"
iatr@787: #include "def.h"
iatr@787: #include "winuser.h"
iatr@787: 
iatr@787: //  Include a path to the following header files provided with VCI V3.X.X
iatr@787: //      ...sdk/Microsoft_VisualC/inc
iatr@787: #include "vcinpl.h" 
iatr@787: #include "VCI3.h"  
iatr@787: #include "vcitype.h"
iatr@787: #include "vciguid.h"
iatr@787: #include "vcierr.h" 
iatr@787: 
iatr@787: 
iatr@787: 
iatr@787: /************************************************************************
iatr@787: **   bus status polling cycle  milliseconds
iatr@787: *************************************************************************/
iatr@787: #define STATUS_POLLING_CYCLE 1000
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **   function prototypes
iatr@787: *************************************************************************/
iatr@787: void CALLBACK TimerProc1(void* lpParametar, BOOL TimerOrWaitFired );
iatr@787: void Display_Error(HRESULT hResult);
iatr@787: 
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **   static variables 
iatr@787: *************************************************************************/
iatr@787: static HANDLE hDevice;       // device handle
iatr@787: static LONG   lCtrlNo;       // controller number
iatr@787: static HANDLE hCanCtl;       // controller handle 
iatr@787: static HANDLE hCanChn;       // channel handle
iatr@787: static LONG   lMustQuit = 0; // quit flag for the receive thread
iatr@787: static HANDLE hTimerHandle;  // timer handle 
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **    datatypes
iatr@787: *************************************************************************/
iatr@787:  
iatr@787: struct sLook_up_table
iatr@787: {
iatr@787: 	char baud_rate[20];
iatr@787: 	UINT8 bt0;
iatr@787: 	UINT8 bt1; 
iatr@787: };
iatr@787: 
iatr@787: struct sInterface_lookup_table
iatr@787: {
iatr@787: 	char board_num[10];
iatr@787: 	UINT8 num;
iatr@787: };
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **
iatr@787: **    Function      : canOpen_driver
iatr@787: **
iatr@787: **    Description   : Initializes the Control and Message Channels
iatr@787: **    Parameters    : s_BOARD *board		- pointer to board information
iatr@787: **    Returnvalue   : (CAN_HANDLE)board		- handle for CAN controller 
iatr@787: **   
iatr@787: *************************************************************************/
iatr@787: CAN_HANDLE __stdcall canOpen_driver(s_BOARD *board)
iatr@787: {
iatr@787:     HANDLE        hEnumerator;     // enumerator handle
iatr@787:     VCIDEVICEINFO VCIDeviceInfo;   // device info
iatr@787: 	HRESULT hResult;
iatr@787: 	int index,  boardNum; 
iatr@787: 	BOOL bResult; 
iatr@787: 
iatr@787: 	struct sLook_up_table sBitRate_lookup[9] = {
iatr@787: 		{"10K",0x31,0x1C},
iatr@787: 		{"20K",0x18,0x1C},
iatr@787: 		{"50K",0x09,0x1C},
iatr@787:         {"100K",0x04,0x1C},
iatr@787:         {"125K",0x03,0x1C},
iatr@787:         {"250K",0x01,0x1C},
iatr@787:         {"500K",0x00,0x1C},
iatr@787:         {"800K",0x00,0x16},
iatr@787:         {"1M",0x00,0x14}};
iatr@787: 
iatr@787: 	struct sInterface_lookup_table sInterfaceList[4]={
iatr@787: 		{"vcan0",0},
iatr@787: 		{"vcan1",1},
iatr@787: 		{"vcan2",2},
iatr@787: 		{"vcan3",3}};
iatr@787: 	
iatr@787: 	for (boardNum =0 ; boardNum<4;boardNum++)   // determine canline selected 
iatr@787: 	{
iatr@787: 		if (strcmp(sInterfaceList[boardNum].board_num,board->busname )==0)
iatr@787: 			break;
iatr@787: 	}
iatr@787: 
iatr@787: 	for (index = 0; index < 10; ++index)       // determine baudrate 
iatr@787: 	{
iatr@787: 		if (strcmp(sBitRate_lookup[index].baud_rate,board->baudrate)==0)
iatr@787:           break;
iatr@787: 	}
iatr@787: 
iatr@787: 	if (index == 9)
iatr@787: 	{
iatr@787: 		MSG_ERR_DRV("IXXAT::open: The given baudrate %S is invalid.", baud_rate);
iatr@787: 		return NULL ;
iatr@787: 	}
iatr@787: 
iatr@787: 
iatr@787: 	/*
iatr@787: 	**	The following can be used when the client has multiple CAN interfaces to slect from, and does not wish to use the 
iatr@787: 	**  selection dialog box
iatr@787: 	/*
iatr@787: 
iatr@787:     /*		 
iatr@787: 	hResult= vciEnumDeviceOpen(&hEnumerator);
iatr@787: 	 // This loop will increment the index of the device list and returns the decription of the CAN line chose by user
iatr@787: 	if (hResult== VCI_OK)
iatr@787: 	{
iatr@787: 		for (index1=0; index1 <= sInterfaceList[boardNum].num; index1++){
iatr@787: 			hResult=vciEnumDeviceNext(hEnumerator, &VCIDeviceInfo);
iatr@787: 		}
iatr@787: 	}
iatr@787: 	printf("Device Selected: %s %s\n",VCIDeviceInfo.Manufacturer, VCIDeviceInfo.Description); 
iatr@787: 	if (hResult== VCI_OK)
iatr@787: 		hResult=vciEnumDeviceClose(hEnumerator);
iatr@787: 	
iatr@787: 	if (hResult== VCI_OK)
iatr@787:    		hResult= vciDeviceOpen(&VCIDeviceInfo.VciObjectId, &hDevice);
iatr@787: 	*/
iatr@787: 
iatr@787: 
iatr@787: 
iatr@787: 	/* 
iatr@787: 	**  Display Interface Selection Dialog Box 
iatr@787: 	*/
iatr@787: 	hResult= vciDeviceOpenDlg(0, &hDevice);
iatr@787: 
iatr@787: 	/*
iatr@787: 	**  Establish and activate the message Channel 
iatr@787: 	*/
iatr@787: 	if (hResult== VCI_OK)
iatr@787: 		hResult= canChannelOpen(hDevice, 0, TRUE, &hCanChn);
iatr@787: 	//  Select Rx fifo size, Rx threshold, Tx fifo size, Tx threshold
iatr@787:     if (hResult== VCI_OK)
iatr@787: 		hResult=canChannelInitialize( hCanChn, 1024, 1,128,1);  
iatr@787: 
iatr@787:     if (hResult== VCI_OK)
iatr@787: 	    hResult=canChannelActivate(hCanChn, TRUE);
iatr@787: 
iatr@787: 
iatr@787: 	/* 
iatr@787: 	** Establish and Activate the Contol Channel 
iatr@787: 	*/
iatr@787:     if (hResult== VCI_OK)
iatr@787: 		 hResult=canControlOpen(hDevice, 0, &hCanCtl);
iatr@787: 	 
iatr@787: 	//  Select 11 or 29 bit IDs, Select operating mode 
iatr@787:     if (hResult== VCI_OK)
iatr@787: 		hResult=canControlInitialize( hCanCtl, CAN_OPMODE_STANDARD | CAN_OPMODE_ERRFRAME, sBitRate_lookup[index].bt0, sBitRate_lookup[index].bt1 );
iatr@787:     
iatr@787: 	
iatr@787: 	//  With VCI it is possible to filter IDs, See VCI V3 manual. The following will accept all IDs
iatr@787: 	if (hResult== VCI_OK)
iatr@787: 	     hResult= canControlSetAccFilter( hCanCtl, FALSE, CAN_ACC_CODE_ALL, CAN_ACC_MASK_ALL);
iatr@787:     
iatr@787: 	if (hResult== VCI_OK)
iatr@787: 	    hResult=canControlStart(hCanCtl, TRUE);
iatr@787:   
iatr@787: 	if (hResult!=VCI_OK)
iatr@787: 	{
iatr@787: 		Display_Error(hResult);
iatr@787: 		return NULL; 
iatr@787: 	}
iatr@787: 
iatr@787: 
iatr@787: 	/*
iatr@787: 	**   Create timer to poll bus status 
iatr@787: 	*/  
iatr@787: 	bResult= CreateTimerQueueTimer(
iatr@787: 			& hTimerHandle,
iatr@787: 			NULL,
iatr@787: 			TimerProc1,    // Callback function
iatr@787: 			NULL,
iatr@787: 		    0,
iatr@787: 			STATUS_POLLING_CYCLE,
iatr@787: 			WT_EXECUTEINIOTHREAD
iatr@787: 		    );
iatr@787: 	
iatr@787: 	return (CAN_HANDLE)board;
iatr@787: }
iatr@787: 
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **
iatr@787: **    Function      : canReceive_driver 
iatr@787: **
iatr@787: **    Description   : Transfers RX messages to Festival application
iatr@787: **    Parameters    : CAN_HANDLE inst		- handle for CAN controller 
iatr@787: 					  Message *m			- pointer to Message struct
iatr@787: **    Returnvalue   : hResult				-   VCI_OK if success
iatr@787: **   
iatr@787: *************************************************************************/
iatr@787: UNS8 __stdcall canReceive_driver(CAN_HANDLE inst, Message *m)
iatr@787: {
iatr@787:     HRESULT hResult;
iatr@787: 	CANMSG rCanMsg;
iatr@787: 	//Read message from the receive buffer 
iatr@787: 	hResult=canChannelReadMessage( hCanChn, INFINITE, &rCanMsg );
iatr@787: 	if (hResult !=VCI_OK )
iatr@787: 		return 1; 		
iatr@787: 
iatr@787: 	m->cob_id =  rCanMsg.dwMsgId;   
iatr@787: 	m->len = rCanMsg.uMsgInfo.Bits.dlc;
iatr@787: 	m->rtr = rCanMsg.uMsgInfo.Bits.rtr;
iatr@787: 	   if (m->rtr == NOT_A_REQUEST)
iatr@787: 	    	memcpy(m->data, rCanMsg.abData , m->len);
iatr@787: 	return (UNS8)hResult; 
iatr@787: }
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **
iatr@787: **    Function      : canSend_driver 
iatr@787: **
iatr@787: **    Description   : Transfers RX messages to Interface 
iatr@787: **    Parameters    : CAN_HANDLE inst		- handle for CAN controller 
iatr@787: **					  Message *m			- pointer to Message struct
iatr@787: **    Returnvalue   : hResult				-   VCI_OK if success
iatr@787: **   
iatr@787: *************************************************************************/
iatr@787: UNS8 __stdcall canSend_driver(CAN_HANDLE inst, Message const *m)
iatr@787: {
iatr@787:    	HRESULT hResult;
iatr@787: 	CANMSG sCanMsg; 
iatr@787: 
iatr@787: 	sCanMsg.uMsgInfo.Bytes.bType  = CAN_MSGTYPE_DATA;                
iatr@787: 	sCanMsg.uMsgInfo.Bytes.bFlags = CAN_MAKE_MSGFLAGS(8,0,0,0,0);
iatr@787: 	sCanMsg.uMsgInfo.Bits.srr     = 0;
iatr@787: 	sCanMsg.dwTime   = 0;
iatr@787: 	sCanMsg.dwMsgId  = m->cob_id ;                         
iatr@787: 	memcpy(sCanMsg.abData,m->data, m->len);	                     
iatr@787: 	sCanMsg.uMsgInfo.Bits.dlc = m->len;     
iatr@787: 	sCanMsg.uMsgInfo.Bits.rtr=m->rtr; 
iatr@787: 
iatr@787: 	// write the CAN message into the transmit FIFO without waiting for transmission
iatr@787: 	 hResult = canChannelPostMessage(hCanChn, &sCanMsg);
iatr@787: 
iatr@787: 	 return (UNS8)hResult; 
iatr@787: }
iatr@787: 
iatr@787: 
iatr@787: 
iatr@787: 
iatr@787: /*************************************************************************
iatr@787: **
iatr@787: **    Function      : canClose_driver 
iatr@787: **
iatr@787: **    Description   : Close the message and control channel
iatr@787: **    Parameters    : CAN_HANDLE inst		- handle for CAN controller 
iatr@787: **    Returnvalue   : 
iatr@787: **   
iatr@787: *************************************************************************/
iatr@787:  int __stdcall canClose_driver(CAN_HANDLE inst)
iatr@787:    {
iatr@787: 	printf("CAN close \n");
iatr@787: 	canControlReset(hCanCtl);
iatr@787: 	canChannelClose(hCanChn);
iatr@787: 	canControlClose(hCanCtl);
iatr@787: 	vciDeviceClose(hDevice);
iatr@787: 	DeleteTimerQueueTimer(NULL,hTimerHandle,NULL); 
iatr@787:    return 1;
iatr@787:    }
iatr@787: 
iatr@787:  
iatr@787: /*************************************************************************
iatr@787: **
iatr@787: **    Function      : canChangeBaudRate_driver 
iatr@787: **
iatr@787: **    Description   : Changes the Baudrate of the interface (not supported) 
iatr@787: **    Parameters    : 
iatr@787: **    Returnvalue   : 
iatr@787: **   
iatr@787: *************************************************************************/
iatr@787:    UNS8 __stdcall canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
iatr@787: 	{
iatr@787: 	//printf("canChangeBaudRate not yet supported by this driver\n");
iatr@787: 	return 0;
iatr@787: 	}
iatr@787: 
iatr@787: 
iatr@787:  /*************************************************************************
iatr@787: **
iatr@787: **    Function      : TimerProc1 
iatr@787: **
iatr@787: **    Description   :  Basic Polling of the  the canline status,
iatr@787: **					   print debug message for buffer overflow, and BUSOFF condition
iatr@787: **    Parameters    :  void* lpParametar, BOOL TimerOrWaitFired
iatr@787: **    Returnvalue   :  none 
iatr@787: **   
iatr@787: *************************************************************************/
iatr@787:    void CALLBACK TimerProc1(void* lpParametar, BOOL TimerOrWaitFired )
iatr@787:    {
iatr@787: 	   HRESULT hResult;
iatr@787: 	   CANLINESTATUS canStatus;
iatr@787: 	  
iatr@787: 
iatr@787: 	   /* Establish CAN controller status */
iatr@787: 	   hResult = canControlGetStatus ( hCanCtl, &canStatus);
iatr@787: 	   if (hResult!=VCI_OK)
iatr@787: 		   printf("Error did not read CAN STATUS\n"); 
iatr@787: 	   switch ( canStatus.dwStatus)
iatr@787: 	   {
iatr@787: 		   case CAN_STATUS_OVRRUN:
iatr@787: 			   printf("Overrun of the recieve buffer\n");
iatr@787: 			   break;
iatr@787: 		   case CAN_STATUS_ERRLIM:
iatr@787: 				printf("Overrun of the CAN controller error counter \n");
iatr@787: 			   break;
iatr@787: 		   case CAN_STATUS_BUSOFF:
iatr@787: 				printf("CAN status: BUSOFF");
iatr@787: 			   break; 
iatr@787: 		   case CAN_STATUS_ININIT:				
iatr@787: 			   break; 
iatr@787: 		   case (CAN_STATUS_BUSOFF)+(CAN_STATUS_ININIT):
iatr@787: 			   printf("CAN status: BUSOFF\n");
iatr@787: 			    
iatr@787: 	/* 
iatr@787: 	** Bus off recovery should come after a software reset, and 128*11 recessive bits.  
iatr@787: 	** This can only happen when an Error-Active node sends an active error flag,
iatr@787: 	** and other nodes respond with Error Echo Flag
iatr@787: 	*/
iatr@787: 			   break;
iatr@787: 		   default: 
iatr@787: 			   break; 
iatr@787: 	   }
iatr@787:    };
iatr@787: 
iatr@787: 
iatr@787:  /*************************************************************************
iatr@787: **
iatr@787: **    Function      : Display_Error
iatr@787: **
iatr@787: **    Description   :  Display the CANline Error
iatr@787: **    Parameters    :  HANDLE hResult
iatr@787: **    Returnvalue   :  none 
iatr@787: **   
iatr@787: *************************************************************************/
iatr@787: 	void Display_Error(HRESULT hResult )
iatr@787:    {
iatr@787: 	char szError[VCI_MAX_ERRSTRLEN];
iatr@787: 	if (hResult != NO_ERROR)
iatr@787: 	{
iatr@787: 		if (hResult == -1)
iatr@787: 			hResult = GetLastError();
iatr@787: 		szError[0] = 0;
iatr@787: 		vciFormatError(hResult, szError, sizeof(szError));
iatr@787: 		printf("Error Establishing CAN channel, Error Code: %s\n",szError); 
iatr@787: 	}
iatr@787:    }