277 lines
10 KiB
C
277 lines
10 KiB
C
/************************************************************************************//**
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* \file candriver.c
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* \brief Generic CAN driver source file.
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* \ingroup CanDriver
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* \internal
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*----------------------------------------------------------------------------------------
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* C O P Y R I G H T
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*----------------------------------------------------------------------------------------
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* Copyright (c) 2017 by Feaser http://www.feaser.com All rights reserved
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*
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*----------------------------------------------------------------------------------------
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* L I C E N S E
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*----------------------------------------------------------------------------------------
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* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by the Free
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* Software Foundation, either version 3 of the License, or (at your option) any later
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* version.
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*
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* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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*
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* You have received a copy of the GNU General Public License along with OpenBLT. It
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* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
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*
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* \endinternal
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****************************************************************************************/
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/****************************************************************************************
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* Include files
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****************************************************************************************/
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#include <assert.h> /* for assertions */
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#include <stdint.h> /* for standard integer types */
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#include <stddef.h> /* for NULL declaration */
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#include <stdbool.h> /* for boolean type */
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#include <string.h> /* for string library */
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#include "candriver.h" /* Generic CAN driver module */
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#if defined(PLATFORM_WIN32)
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#include "pcanusb.h" /* Peak PCAN-USB interface */
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#include "leaflight.h" /* Kvaser Leaf Light v2 interface */
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#include "canusb.h" /* Lawicel CANUSB interface */
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#endif
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#if defined(PLATFORM_LINUX)
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#include "socketcan.h" /* SocketCAN interface */
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#endif
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/****************************************************************************************
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* Local data declarations
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****************************************************************************************/
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/** \brief Pointer to the CAN interface that is linked. */
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static tCanInterface const * canIfPtr;
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/** \brief Flag to store the connection status. */
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static bool canConnected;
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/************************************************************************************//**
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** \brief Initializes the CAN module. Typically called once at program startup.
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** \param settings Pointer to the CAN module settings.
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**
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****************************************************************************************/
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void CanInit(tCanSettings const * settings)
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{
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/* Initialize locals. */
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canIfPtr = NULL;
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canConnected = false;
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/* Check parameters. */
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assert(settings != NULL);
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/* Only continue with valid parameters. */
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if (settings != NULL) /*lint !e774 */
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{
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/* Check device name. */
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assert(settings->devicename != NULL);
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/* Only continue with a valid device name. */
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if (settings->devicename != NULL) /*lint !e774 */
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{
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/* Determine the pointer to the correct CAN interface, based on the specified
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* device name.
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*/
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#if defined(PLATFORM_WIN32)
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if (strcmp(settings->devicename, "peak_pcanusb") == 0)
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{
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canIfPtr = PCanUsbGetInterface();
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}
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else if (strcmp(settings->devicename, "kvaser_leaflight") == 0)
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{
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canIfPtr = LeafLightGetInterface();
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}
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else if (strcmp(settings->devicename, "lawicel_canusb") == 0)
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{
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canIfPtr = CanUsbGetInterface();
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}
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#endif
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#if defined(PLATFORM_LINUX)
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/* On Linux, the device name is the name of the SocketCAN link, so always link
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* the SocketCAN interface to the CAN driver.
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*/
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canIfPtr = SocketCanGetInterface();
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#endif
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/* Check validity of the interface. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Initialize the CAN interface. */
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canIfPtr->Init(settings);
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}
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}
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}
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} /*** end of CanInit ***/
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/************************************************************************************//**
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** \brief Terminates the CAN module. Typically called once at program cleanup.
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**
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****************************************************************************************/
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void CanTerminate(void)
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{
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Make sure to disconnect first. */
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CanDisconnect();
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/* Terminate the CAN interface. */
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canIfPtr->Terminate();
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/* Unlink the CAN interface. */
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canIfPtr = NULL;
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}
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} /*** end of CanTerminate ***/
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/************************************************************************************//**
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** \brief Connects the CAN module.
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** \return True if connected, false otherwise.
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**
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****************************************************************************************/
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bool CanConnect(void)
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{
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bool result = false;
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Make sure that the CAN module is in the disconnected state. */
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CanDisconnect();
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/* Connect the CAN interface. */
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result = canIfPtr->Connect();
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/* Update the connection state. */
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canConnected = result;
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}
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/* Give the result back to the caller. */
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return result;
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} /*** end of CanConnect ***/
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/************************************************************************************//**
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** \brief Disconnects the CAN module.
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**
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****************************************************************************************/
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void CanDisconnect(void)
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{
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Only disconnect if actually connected. */
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if (canConnected)
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{
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/* Disconnect CAN interface. */
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canIfPtr->Disconnect();
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/* Update the connection state. */
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canConnected = false;
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}
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}
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} /*** end of CanDisconnect ***/
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/************************************************************************************//**
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** \brief Obtains the connection state of the CAN module.
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** \return True if connected, false otherwise.
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**
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****************************************************************************************/
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bool CanIsConnected(void)
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{
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/* Obtain and return the connection state to the caller. */
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return canConnected;
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} /*** end of CanIsConnected ***/
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/************************************************************************************//**
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** \brief Submits a message for transmission on the CAN bus.
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** \param msg Pointer to CAN message structure.
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** \return True if successful, false otherwise.
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**
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****************************************************************************************/
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bool CanTransmit(tCanMsg const * msg)
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{
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bool result = false;
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Only transmit the message if connected. */
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if (canConnected)
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{
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result = canIfPtr->Transmit(msg);
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}
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}
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/* Give the result back to the caller. */
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return result;
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} /*** end of CanTransmit ***/
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/************************************************************************************//**
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** \brief Checks if a bus off or bus heavy situation occurred.
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** \return True if a bus error situation was detected, false otherwise.
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**
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****************************************************************************************/
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bool CanIsBusError(void)
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{
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bool result = false;
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Only check for bus error if connected. */
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if (canConnected)
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{
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result = canIfPtr->IsBusError();
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}
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}
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/* Give the result back to the caller. */
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return result;
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} /*** end of CanIsBusError ***/
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/************************************************************************************//**
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** \brief Registers the event callback functions that should be called by the CAN
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** module.
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** \param events Pointer to structure with event callback function pointers.
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**
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****************************************************************************************/
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void CanRegisterEvents(tCanEvents const * events)
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{
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/* Make sure a valid CAN interface is linked. */
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assert(canIfPtr != NULL);
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/* Only continue with a valid CAN interface. */
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if (canIfPtr != NULL) /*lint !e774 */
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{
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/* Register the events with the CAN interface. */
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canIfPtr->RegisterEvents(events);
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}
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} /*** end of CanRegisterEvents ***/
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/*********************************** end of candriver.c ********************************/
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