/home/epimerde/documents/tc11/CanFestival-3/drivers/can_peak_win32/can_peak_win32.c

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/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#if defined(WIN32) && !defined(__CYGWIN__)
#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000))
#else
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>
#endif

#include "cancfg.h"
#include "can_driver.h"

#ifndef extra_PCAN_init_params
        #define extra_PCAN_init_params 
#else
        #define extra_PCAN_init_params\
                ,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\
                ,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\
                ,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0
#endif

static s_BOARD *first_board = NULL;
#ifdef PCAN2_HEADER_
static s_BOARD *second_board = NULL;
#endif

//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER;

// Define for rtr CAN message
#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR

/***************************************************************************/
int TranslateBaudeRate(char* optarg){
        if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
        if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
        if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
        if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
        if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
        if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
        if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
        if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
        if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
        if(!strcmp( optarg, "none")) return 0;
        return 0x0000;
}

void
canInit (s_BOARD *board)
{
        int baudrate;
        
#ifdef PCAN2_HEADER_
        // if not the first handler
        if(second_board == (s_BOARD *)board)
                if(baudrate = TranslateBaudeRate(board->baudrate))
                        CAN2_Init (baudrate,
                          CAN_INIT_TYPE_ST extra_PCAN_init_params);
#endif
        if(first_board == (s_BOARD *)board)
                if(baudrate = TranslateBaudeRate(board->baudrate))
                        CAN_Init (baudrate,
                          CAN_INIT_TYPE_ST extra_PCAN_init_params);
}

/*********functions which permit to communicate with the board****************/
UNS8
canReceive_driver (CAN_HANDLE fd0, Message * m)
{
        UNS8 data;
        TPCANMsg peakMsg;

        DWORD Res;

        do{
                // We read the queue looking for messages.
                // 
                //pthread_mutex_lock (&PeakCan_mutex);
#ifdef PCAN2_HEADER_
                // if not the first handler
                if(second_board == (s_BOARD *)fd0)
                        Res = CAN2_Read (&peakMsg);
                else
#endif
                if(first_board == (s_BOARD *)fd0)
                        Res = CAN_Read (&peakMsg);
                else
                        Res = CAN_ERR_BUSOFF;
        
                // A message was received
                // We process the message(s)
                // 
                if (Res == CAN_ERR_OK)
                {
                        // if something different that 11bit or rtr... problem
                        if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR))
                        {
                                if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF)
                                {
                                        printf ("!!! Peak board read : re-init\n");
                                        canInit((s_BOARD*) fd0);
                                        usleep (10000);
                                }
        
                                // If status, return status if 29bit, return overrun
                                //pthread_mutex_unlock (&PeakCan_mutex);
                                return peakMsg.MSGTYPE ==
                                        MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN;
                        }
                        m->cob_id.w = peakMsg.ID;
                        if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)        /* bits of MSGTYPE_ */
                                m->rtr = 0;
                        else
                                m->rtr = 1;
                        m->len = peakMsg.LEN;   /* count of data bytes (0..8) */
                        for (data = 0; data < peakMsg.LEN; data++)
                                m->data[data] = peakMsg.DATA[data];     /* data bytes, up to 8 */
        
                }else{
                //pthread_mutex_unlock (&PeakCan_mutex);
                //if (Res != CAN_ERR_OK)
                //{
                        if (!
                                (Res & CAN_ERR_QRCVEMPTY || Res & CAN_ERR_BUSLIGHT
                                 || Res & CAN_ERR_BUSHEAVY))
                        {
                                printf ("canReceive returned error (%d)\n", Res);
                                return 1;
                        }
                        usleep (1000);          
                }
        }while(Res != CAN_ERR_OK);
        return 0;
}

/***************************************************************************/
UNS8
canSend_driver (CAN_HANDLE fd0, Message * m)
{
        UNS8 data;
        TPCANMsg peakMsg;
        peakMsg.ID = m->cob_id.w;       /* 11/29 bit code */
        if (m->rtr == 0)
                peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;     /* bits of MSGTYPE_ */
        else
        {
                peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_ */
        }
        peakMsg.LEN = m->len;
        /* count of data bytes (0..8) */
        for (data = 0; data < m->len; data++)
                peakMsg.DATA[data] = m->data[data];     /* data bytes, up to 8 */
        do
        {
#ifdef PCAN2_HEADER_
                // if not the first handler
                if(second_board == (s_BOARD *)fd0)
                        errno = CAN2_Write (&peakMsg);
                else 
#endif
                if(first_board == (s_BOARD *)fd0)
                        errno = CAN_Write (&peakMsg);
                else 
                        goto fail;
                if (errno)
                {
                        if (errno == CAN_ERR_BUSOFF)
                        {
                                printf ("!!! Peak board write : re-init\n");
                                canInit((s_BOARD*)fd0);
                                usleep (10000);
                        }
                        usleep (1000);
                }
        }
        while (errno != CAN_ERR_OK);
        return 0;
fail:
        return 1;
}

/***************************************************************************/
CAN_HANDLE
canOpen_driver (s_BOARD * board)
{
#ifdef PCAN2_HEADER_
        if(first_board != NULL && second_board != NULL)
#else
        if(first_board != NULL)
#endif
        {
                fprintf (stderr, "Open failed.\n");
                fprintf (stderr,
                                 "can_peak_win32.c: no more can port available with this pcan library\n");
                fprintf (stderr,
                                 "can_peak_win32.c: please link another executable with another pcan lib\n");
                return NULL;
        }

#ifdef PCAN2_HEADER_
        if(first_board == NULL)
                first_board = board;
        else
                second_board = board; 
#else
        first_board = board;
#endif

        canInit(board);
        
        return (CAN_HANDLE)board;
}

/***************************************************************************/
int
canClose_driver (CAN_HANDLE fd0)
{
#ifdef PCAN2_HEADER_
        // if not the first handler
        if(second_board == (s_BOARD *)fd0)
        {
                CAN2_Close ();
                second_board = (s_BOARD *)NULL;
        }else   
#endif
        if(first_board == (s_BOARD *)fd0)
        {
                CAN_Close ();
                first_board = (s_BOARD *)NULL;
        }
        return 0;
}

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