www.pudn.com > CanFestival-3-1041153c5fd2.zip > can_anagate_linux.c, change:2011-04-13,size:10488b


/*
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
*/


#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>


#include "can_driver.h"

struct SAnaGatePort
{
   int      hHandle;
   Message  sMsgBuffer;
   struct   SAnaGatePort *pNext;
   struct   SAnaGatePort *pPrev;
   int      bBufferFull;
};


struct SAnaGatePort *pFistAnaGatePort = NULL;


/********* AnaGate API CAN receive callback Funciton  ****************/
void AnaGateReceiveCallBack (int nIdentifier, const char* pcBuffer, int nBufferLen, int nFlags, int hHandle)
{
   int i;
   struct SAnaGatePort *pAnaGatePort = pFistAnaGatePort;
   
   while (pAnaGatePort->hHandle != hHandle )
   {
      pAnaGatePort = pAnaGatePort->pNext;
      if (pAnaGatePort == pFistAnaGatePort )
      {
         pAnaGatePort = NULL;
         printf("AnaGateReceiveCallBack (AnaGate_Linux): ERROR: Can't find AnaGatePort-Objekt to the Received Handle %d\n",hHandle);
         return;
      }
   }
   while (pAnaGatePort->bBufferFull)
   {
      usleep(5000);
   }
   pAnaGatePort->sMsgBuffer.cob_id =   nIdentifier;
   pAnaGatePort->sMsgBuffer.len= nBufferLen;
   if (nFlags == 2)
    pAnaGatePort->sMsgBuffer.rtr = 1;
   else
    pAnaGatePort->sMsgBuffer.rtr = 0;

   for (i = 0 ; i < nBufferLen; i++)
   {
      pAnaGatePort->sMsgBuffer.data[i] = pcBuffer[i];
   }

   pAnaGatePort->bBufferFull = 1;
 
}


/*********functions which permit to communicate with the board****************/
UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
{
   int i;
   struct SAnaGatePort*  pAnaGatePort = (struct SAnaGatePort*)fd0;

   while (pAnaGatePort->bBufferFull == 0)
   {
      usleep (5000); 
   }
   
   m->cob_id = pAnaGatePort->sMsgBuffer.cob_id;
   m->len     = pAnaGatePort->sMsgBuffer.len;
   m->rtr     = pAnaGatePort->sMsgBuffer.rtr;
   for (i = 0 ; i < pAnaGatePort->sMsgBuffer.len; i++)
   {
     m->data[i] = pAnaGatePort->sMsgBuffer.data[i];
   }
   
   pAnaGatePort->bBufferFull = 0;
 
   return 0;
}

/***************************************************************************/
UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)
{
   struct SAnaGatePort*  pAnaCanPort = (struct SAnaGatePort*)fd0;
   char cErrorMsg[100];
   int nRetCode;
   int nMsgTyp;

   if (m->rtr == 0)
   {
     nMsgTyp = 0; //Normal;
   }
   else
   {
     nMsgTyp = 2; //Remote frame;
   }

   if ( (nRetCode = CANWrite(pAnaCanPort->hHandle , m->cob_id,(const char*) m->data, m->len, nMsgTyp) ) )
   {
     CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
     fprintf(stderr,"canSend_driver (AnaGate_Linux) %s \n",nRetCode);
     //printf("canSend_driver (AnaGate_Linux) %s \n",nRetCode);
     return 1;
   }

   return 0;
}


/***************************************************************************/
int TranslateBaudeRate(char* optarg){
   if(!strcmp( optarg, "1M"))   return 1000000;
   if(!strcmp( optarg, "800K")) return  800000;
   if(!strcmp( optarg, "500K")) return  500000;
   if(!strcmp( optarg, "250K")) return  250000;
   if(!strcmp( optarg, "125K")) return  125000;
   if(!strcmp( optarg, "100K")) return  100000;
   if(!strcmp( optarg, "50K"))  return   50000;
   if(!strcmp( optarg, "20K"))  return   20000;
   if(!strcmp( optarg, "10K"))  return   10000;
 
   return 0x0000;
}

/***************************************************************************/
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
{
   int nRetCode;
   char cErrorMsg[100];
   struct SAnaGatePort*  pAnaGatePort = (struct SAnaGatePort*)fd0;
   
   if (nRetCode = CANSetGlobals (pAnaGatePort->hHandle, TranslateBaudeRate(baud), 0, 0, 1) ) 
   {
      CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
      fprintf(stderr, "canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
      //printf("canChangeBaudRate_drive (AnaGate_Linux): %s\n", cErrorMsg);
      return 1;
   }
   return 0;
}

/***************************************************************************/
/* To open a connection to AnaGate CAN the s_BOARD board->busname must be 
 the AnaGate IP-Adresse followed from the CAN-Port (A or B) you want to use 
 For example "192.168.1.254:A"
*/

CAN_HANDLE canOpen_driver(s_BOARD *board)
{
   int nPortNr;
   char cErrorMsg[100];
   int nRetCode;
   char sIPAddress[16];
   struct SAnaGatePort *pNewAnaGatePort;
   unsigned int nBusnameLen;   
   char bBusnameValid = 1;


   ///////////////////////////////////////////
   // Do some checkings concerning the busname
   // format should be IP-Adress:Port
   // e.g. 192.168.1.254:A
   ///////////////////////////////////////////
   nBusnameLen = strlen(board->busname);
   
   if ( nBusnameLen < strlen( "1.2.3.4:A" ) )         bBusnameValid = 0;  // check minimum length of busname
   if ( nBusnameLen > strlen( "123.234.345.456:A" ) ) bBusnameValid = 0;  // check maximum length of busname
   if ( bBusnameValid )
   {
      switch (board->busname[nBusnameLen-1])                                 // check Portname of busname
      {
         case ('A'): nPortNr = 0; break;
         case ('B'): nPortNr = 1; break;
         case ('C'): nPortNr = 2; break;
         case ('D'): nPortNr = 3; break;
         default :   bBusnameValid = 0; break;
      }
      if (board->busname[nBusnameLen-2] != ':' )    bBusnameValid = 0;   // check Colon before Portname
   }

   if ( ! bBusnameValid )
   {
      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);
      return (CAN_HANDLE) NULL;
   }

   board->busname[nBusnameLen-2] = 0; // NULL Terminator for IP Address string
   strcpy (sIPAddress, board->busname);
   
   pNewAnaGatePort = (struct SAnaGatePort*) malloc(sizeof (struct SAnaGatePort));
   if (pFistAnaGatePort == NULL)
   {
      pFistAnaGatePort = pNewAnaGatePort;
      pNewAnaGatePort->pNext =  pNewAnaGatePort;
      pNewAnaGatePort->pPrev =  pNewAnaGatePort;
   }
   else
   {   pNewAnaGatePort->pNext =  pFistAnaGatePort;
      pNewAnaGatePort->pPrev =  pFistAnaGatePort->pPrev;
      pFistAnaGatePort->pPrev->pNext = pNewAnaGatePort;
      pFistAnaGatePort->pPrev = pNewAnaGatePort;

   }

   // Connect to AnaGate
   if ( nRetCode = CANOpenDevice (&pNewAnaGatePort->hHandle, 
                        0,      /*confimation off*/ 
                        1,      /*Monitor on*/ 
                        nPortNr,
                        sIPAddress,
                        1000   /*TimeOut*/ )  )
   {
      CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
      fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s  Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
      //printf( "canOpen_driver (AnaGate_Linux): %s @ %s Port:%d\n", cErrorMsg,sIPAddress,nPortNr);
      return (CAN_HANDLE) NULL;
   }
   
   // Inizial Baudrate

   if (nRetCode = CANSetGlobals (pNewAnaGatePort->hHandle, 
                        TranslateBaudeRate(board->baudrate), 
                        0,/*OperatingMode = normal*/ 
                        0,/*CAN-Termination = off*/ 
                        1 /*HighSpeedMode = on*/) ) 
   {
      CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
      fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
      //printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
      return (CAN_HANDLE) NULL;
   }
   
   // Creat receive and receive-acknoledge event 
   /*pNewAnaGatePort->hAnaRecEvent = CreateEvent(   
                                    NULL,  // default security attributes
                                    FALSE, // manual-reset event
                                    FALSE, // initial state is nonsignaled
                                    NULL  // object name
                                    ); 

   pNewAnaGatePort->hFesticalRecAcknowledge = CreateEvent( 
                                    NULL,  // default security attributes
                                    FALSE, // manual-reset event
                                    FALSE, // initial state is nonsignaled
                                    NULL   // object name
                                    ); 
         */
 
   pNewAnaGatePort->bBufferFull = 0;
 
   // Install receive callback funktion

   if (nRetCode = CANSetCallback(pNewAnaGatePort->hHandle,  AnaGateReceiveCallBack) ) 
   {
      canClose_driver (pNewAnaGatePort);
      CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
      fprintf(stderr, "canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
      //printf("canOpen_driver (AnaGate_Linux): %s @ %s\n", cErrorMsg,sIPAddress);
      return (CAN_HANDLE) NULL;
   }


  return (CAN_HANDLE)pNewAnaGatePort;
}

/***************************************************************************/
int canClose_driver(CAN_HANDLE fd0)
{
   struct SAnaGatePort*  pAnaGatePort = (struct SAnaGatePort*)fd0;
   char cErrorMsg[100];
   int nRetCode;

   pAnaGatePort->bBufferFull = 1;  
   
   if ( nRetCode = CANCloseDevice(pAnaGatePort->hHandle) )
   {
     CANErrorMessage( nRetCode, cErrorMsg ,100 ); // Convert returncode to error messge
     fprintf(stderr, "canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
     printf("canClose_driver (AnaGate_Linux): %s\n", cErrorMsg);
   }

   if (pAnaGatePort->pNext == pAnaGatePort)
   {
       free (pAnaGatePort);
       pFistAnaGatePort=NULL;
   }
   else
   {  
      pAnaGatePort->pNext->pPrev = pAnaGatePort->pPrev;
      pAnaGatePort->pPrev->pNext = pAnaGatePort->pNext;
      free (pAnaGatePort);
   }

   return 0;
}