388 lines
14 KiB
C
388 lines
14 KiB
C
/************************************************************************************//**
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* \file canusb.c
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* \brief Lawicel CANUSB interface source file.
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* \ingroup Lawicel_CanUsb
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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 <stdlib.h> /* for standard library */
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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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#include "canusb.h" /* Lawicel CANUSB interface */
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#include <windows.h> /* for Windows API */
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#include "lawicel_can.h" /* for Lawicel CANUSB API */
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/***************************************************************************************
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* Function prototypes
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****************************************************************************************/
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/* CAN interface functions. */
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static void CanUsbInit(tCanSettings const * settings);
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static void CanUsbTerminate(void);
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static bool CanUsbConnect(void);
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static void CanUsbDisconnect(void);
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static bool CanUsbTransmit(tCanMsg const * msg);
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static bool CanUsbIsBusError(void);
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static void CanUsbRegisterEvents(tCanEvents const * events);
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/* CAN message reception thread. */
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static DWORD WINAPI CanUsbReceptionThread(LPVOID pv);
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/****************************************************************************************
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* Local constant declarations
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****************************************************************************************/
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/** \brief CAN interface structure filled with Lawicel CANUSB specifics. */
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static const tCanInterface canUsbInterface =
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{
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CanUsbInit,
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CanUsbTerminate,
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CanUsbConnect,
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CanUsbDisconnect,
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CanUsbTransmit,
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CanUsbIsBusError,
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CanUsbRegisterEvents
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};
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/****************************************************************************************
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* Local data declarations
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****************************************************************************************/
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/** \brief The settings to use in this CAN interface. */
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static tCanSettings canUsbSettings;
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/** \brief List with callback functions that this driver should use. */
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static tCanEvents * canUsbEventsList;
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/** \brief Total number of event entries into the \ref canUsbEventsList list. */
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static uint32_t canUsbEventsEntries;
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/** \brief Handle for the event to terminate the reception thread. */
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static HANDLE canUsbTerminateEvent;
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/** \brief Handle for the CAN reception thread. */
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static HANDLE canUsbRxThreadHandle;
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/***********************************************************************************//**
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** \brief Obtains a pointer to the CAN interface structure, so that it can be linked
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** to the generic CAN driver module.
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** \return Pointer to CAN interface structure.
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**
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****************************************************************************************/
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tCanInterface const * CanUsbGetInterface(void)
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{
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return &canUsbInterface;
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} /*** end of CanUsbGetInterface ***/
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/************************************************************************************//**
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** \brief Initializes the CAN interface.
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** \param settings Pointer to the CAN interface settings.
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**
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****************************************************************************************/
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static void CanUsbInit(tCanSettings const * settings)
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{
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char * canDeviceName;
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/* Initialize locals. */
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canUsbEventsList = NULL;
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canUsbEventsEntries = 0;
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canUsbTerminateEvent = NULL;
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canUsbRxThreadHandle = NULL;
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/* Reset CAN interface settings. */
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canUsbSettings.devicename = "";
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canUsbSettings.channel = 0;
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canUsbSettings.baudrate = CAN_BR500K;
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canUsbSettings.code = 0x00000000u;
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canUsbSettings.mask = 0x00000000u;
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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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/* Shallow copy the CAN interface settings for later usage. */
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canUsbSettings = *settings;
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/* The devicename is a pointer and it is not gauranteed that it stays valid so we need
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* to deep copy this one. note the +1 for '\0' in malloc.
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*/
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assert(settings->devicename != NULL);
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if (settings->devicename != NULL) /*lint !e774 */
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{
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canDeviceName = malloc(strlen(settings->devicename) + 1);
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assert(canDeviceName != NULL);
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if (canDeviceName != NULL) /*lint !e774 */
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{
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strcpy(canDeviceName, settings->devicename);
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canUsbSettings.devicename = canDeviceName;
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}
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}
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/* ##Vg TODO Perform initialization of Lawicel CANUSB API. */
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}
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} /*** end of CanUsbInit ***/
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/************************************************************************************//**
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** \brief Terminates the CAN interface.
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**
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****************************************************************************************/
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static void CanUsbTerminate(void)
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{
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/* ##Vg TODO Perform termination of Lawicel CANUSB API. */
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/* Release memory that was allocated for storing the device name. */
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if (canUsbSettings.devicename != NULL)
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{
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free((char *)canUsbSettings.devicename);
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}
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/* Reset CAN interface settings. */
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canUsbSettings.devicename = "";
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canUsbSettings.channel = 0;
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canUsbSettings.baudrate = CAN_BR500K;
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canUsbSettings.code = 0x00000000u;
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canUsbSettings.mask = 0x00000000u;
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/* Release memory that was allocated for CAN events and reset the entry count. */
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if ( (canUsbEventsList != NULL) && (canUsbEventsEntries != 0) )
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{
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free(canUsbEventsList);
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canUsbEventsEntries = 0;
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}
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} /*** end of CanUsbTerminate ***/
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/************************************************************************************//**
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** \brief Connects the CAN interface.
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** \return True if connected, false otherwise.
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**
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****************************************************************************************/
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static bool CanUsbConnect(void)
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{
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bool result = false;
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bool baudrateSupported = true;
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/* Note that the device name itself is not needed anymore at this point, it was only
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* needed by the CAN driver to link the correct interface (this one). The channel is
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* also don't care as the adapter only has one channel. Check settings.
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*/
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assert(baudrateSupported);
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/* Invalidate handles. */
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canUsbTerminateEvent = NULL;
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canUsbRxThreadHandle = NULL;
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/* Only continue with valid settings. */
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if (baudrateSupported)
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{
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/* Init result code to success and only negate it on detection of error. */
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result = true;
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/* ##Vg TODO Process and verify settings, configure acceptance filter, connect. */
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result = false; /* Temporary. */
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/* Create the terminate event handle used in the reception thread. */
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if (result)
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{
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canUsbTerminateEvent = CreateEvent(NULL, TRUE, FALSE, "");
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if (canUsbTerminateEvent == NULL)
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{
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result = false;
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}
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}
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/* Start the reception thread as the last step. */
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if (result)
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{
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canUsbRxThreadHandle = CreateThread(NULL, 0, CanUsbReceptionThread,
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NULL, 0, NULL);
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if (canUsbRxThreadHandle == NULL)
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{
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result = false;
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}
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}
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}
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/* Clean-up in case an error occurred. */
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if (!result)
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{
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if (canUsbTerminateEvent != NULL)
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{
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/* Close the event handle. */
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(void)CloseHandle(canUsbTerminateEvent);
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canUsbTerminateEvent = NULL;
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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 CanUsbConnect ***/
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/************************************************************************************//**
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** \brief Disconnects the CAN interface.
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**
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****************************************************************************************/
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static void CanUsbDisconnect(void)
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{
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/* Stop the reception thread. */
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if (canUsbRxThreadHandle != NULL)
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{
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/* Trigger event to request the reception thread to stop. */
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(void)SetEvent(canUsbTerminateEvent);
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/* Wait for the thread to signal termination. */
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(void)WaitForSingleObject(canUsbRxThreadHandle, INFINITE);
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/* Close the thread handle. */
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(void)CloseHandle(canUsbRxThreadHandle);
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canUsbRxThreadHandle = NULL;
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}
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/* Close the terminate event handle. */
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if (canUsbTerminateEvent != NULL)
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{
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(void)CloseHandle(canUsbTerminateEvent);
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canUsbTerminateEvent = NULL;
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}
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/* ##Vg TODO Go off the bus and close the channel. */
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} /*** end of CanUsbDisconnect ***/
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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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static bool CanUsbTransmit(tCanMsg const * msg)
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{
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bool result = false;
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/* Check parameters. */
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assert(msg != NULL);
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/* Only continue with valid parameters. */
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if (msg != NULL) /*lint !e774 */
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{
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/* ##Vg TODO Transmit and trigger event(s). */
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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 CanUsbTransmit ***/
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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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static bool CanUsbIsBusError(void)
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{
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bool result = false;
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/* ##Vg TODO Check and process status. */
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/* Give the result back to the caller. */
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return result;
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} /*** end of CanUsbIsBusError ***/
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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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** interface.
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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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static void CanUsbRegisterEvents(tCanEvents const * events)
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{
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/* Check parameters. */
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assert(events != NULL);
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/* Only continue with valid parameters. */
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if (events != NULL) /*lint !e774 */
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{
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/* Increase length of the list to make space for one more event entry. Note that
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* it is okay to call realloc with a NULL pointer. In this case it simply behaves
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* as malloc.
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*/
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canUsbEventsList = realloc(canUsbEventsList,
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(sizeof(tCanEvents) * (canUsbEventsEntries + 1)));
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/* Assert reallocation. */
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assert(canUsbEventsList != NULL);
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/* Only continue if reallocation was successful. */
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if (canUsbEventsList != NULL)
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{
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/* Increment events entry count. */
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canUsbEventsEntries++;
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/* Store the events in the new entry. */
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canUsbEventsList[canUsbEventsEntries - 1] = *events;
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}
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/* Reallocation failed. */
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else
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{
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/* Reset events entry count. */
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canUsbEventsEntries = 0;
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}
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}
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} /*** end of CanUsbRegisterEvents ***/
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/************************************************************************************//**
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** \brief CAN message reception thread.
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** \param pv Pointer to thread parameters.
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** \return Thread exit code.
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**
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****************************************************************************************/
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static DWORD WINAPI CanUsbReceptionThread(LPVOID pv)
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{
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DWORD waitResult;
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bool running = true;
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/* Parameter not used. */
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(void)pv;
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/* Enter thread's infinite loop. */
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while (running)
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{
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waitResult = WaitForSingleObject(canUsbTerminateEvent, 10);
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switch (waitResult)
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{
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/* Termination event. */
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case WAIT_OBJECT_0 + 0: /*lint !e835 */
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/* Stop thread. */
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running = false;
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break;
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default:
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break;
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}
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}
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/* Exit thread. */
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return 0;
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} /*** end of CanUsbReceptionThread ***/
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/*********************************** end of canusb.c ***********************************/
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