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Refs #316. Implemented empty framework for the Lawicel CANUSB interface. 

git-svn-id: https://svn.code.sf.net/p/openblt/code/trunk@353 5dc33758-31d5-4daf-9ae8-b24bf3d40d73
This commit is contained in:
Frank Voorburg 2017-08-24 07:54:12 +00:00
parent cd29bb84b9
commit f21ff722f8
5 changed files with 802 additions and 0 deletions
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5
Host/Source/LibOpenBLT/candriver.c
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@ -38,6 +38,7 @@
#if defined(PLATFORM_WIN32)
#include "pcanusb.h" /* Peak PCAN-USB interface */
#include "leaflight.h" /* Kvaser Leaf Light v2 interface */
#include "canusb.h" /* Lawicel CANUSB interface */
#endif
#if defined(PLATFORM_LINUX)
#include "socketcan.h" /* SocketCAN interface */
@ -89,6 +90,10 @@ void CanInit(tCanSettings const * settings)
{
canIfPtr = LeafLightGetInterface();
}
else if (strcmp(settings->devicename, "lawicel_canusb") == 0)
{
canIfPtr = CanUsbGetInterface();
}
#endif
#if defined(PLATFORM_LINUX)
/* On Linux, the device name is the name of the SocketCAN link, so always link

387
Host/Source/LibOpenBLT/port/windows/canif/lawicel/canusb.c Normal file
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@ -0,0 +1,387 @@
/************************************************************************************//**
* \file canusb.c
* \brief Lawicel CANUSB interface source file.
* \ingroup Lawicel_CanUsb
* \internal
*----------------------------------------------------------------------------------------
* C O P Y R I G H T
*----------------------------------------------------------------------------------------
* Copyright (c) 2017 by Feaser http://www.feaser.com All rights reserved
*
*----------------------------------------------------------------------------------------
* L I C E N S E
*----------------------------------------------------------------------------------------
* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
* modify it under the terms of the GNU General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any later
* version.
*
* OpenBLT 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 General Public License for more details.
*
* You have received a copy of the GNU General Public License along with OpenBLT. It
* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
*
* \endinternal
****************************************************************************************/
/****************************************************************************************
* Include files
****************************************************************************************/
#include <assert.h> /* for assertions */
#include <stdint.h> /* for standard integer types */
#include <stddef.h> /* for NULL declaration */
#include <stdbool.h> /* for boolean type */
#include <stdlib.h> /* for standard library */
#include <string.h> /* for string library */
#include "candriver.h" /* Generic CAN driver module */
#include "canusb.h" /* Lawicel CANUSB interface */
#include <windows.h> /* for Windows API */
#include "lawicel_can.h" /* for Lawicel CANUSB API */
/***************************************************************************************
* Function prototypes
****************************************************************************************/
/* CAN interface functions. */
static void CanUsbInit(tCanSettings const * settings);
static void CanUsbTerminate(void);
static bool CanUsbConnect(void);
static void CanUsbDisconnect(void);
static bool CanUsbTransmit(tCanMsg const * msg);
static bool CanUsbIsBusError(void);
static void CanUsbRegisterEvents(tCanEvents const * events);
/* CAN message reception thread. */
static DWORD WINAPI CanUsbReceptionThread(LPVOID pv);
/****************************************************************************************
* Local constant declarations
****************************************************************************************/
/** \brief CAN interface structure filled with Lawicel CANUSB specifics. */
static const tCanInterface canUsbInterface =
{
CanUsbInit,
CanUsbTerminate,
CanUsbConnect,
CanUsbDisconnect,
CanUsbTransmit,
CanUsbIsBusError,
CanUsbRegisterEvents
};
/****************************************************************************************
* Local data declarations
****************************************************************************************/
/** \brief The settings to use in this CAN interface. */
static tCanSettings canUsbSettings;
/** \brief List with callback functions that this driver should use. */
static tCanEvents * canUsbEventsList;
/** \brief Total number of event entries into the \ref canUsbEventsList list. */
static uint32_t canUsbEventsEntries;
/** \brief Handle for the event to terminate the reception thread. */
static HANDLE canUsbTerminateEvent;
/** \brief Handle for the CAN reception thread. */
static HANDLE canUsbRxThreadHandle;
/***********************************************************************************//**
** \brief Obtains a pointer to the CAN interface structure, so that it can be linked
** to the generic CAN driver module.
** \return Pointer to CAN interface structure.
**
****************************************************************************************/
tCanInterface const * CanUsbGetInterface(void)
{
return &canUsbInterface;
} /*** end of CanUsbGetInterface ***/
/************************************************************************************//**
** \brief Initializes the CAN interface.
** \param settings Pointer to the CAN interface settings.
**
****************************************************************************************/
static void CanUsbInit(tCanSettings const * settings)
{
char * canDeviceName;
/* Initialize locals. */
canUsbEventsList = NULL;
canUsbEventsEntries = 0;
canUsbTerminateEvent = NULL;
canUsbRxThreadHandle = NULL;
/* Reset CAN interface settings. */
canUsbSettings.devicename = "";
canUsbSettings.channel = 0;
canUsbSettings.baudrate = CAN_BR500K;
canUsbSettings.code = 0x00000000u;
canUsbSettings.mask = 0x00000000u;
/* Check parameters. */
assert(settings != NULL);
/* Only continue with valid parameters. */
if (settings != NULL) /*lint !e774 */
{
/* Shallow copy the CAN interface settings for later usage. */
canUsbSettings = *settings;
/* The devicename is a pointer and it is not gauranteed that it stays valid so we need
* to deep copy this one. note the +1 for '\0' in malloc.
*/
assert(settings->devicename != NULL);
if (settings->devicename != NULL) /*lint !e774 */
{
canDeviceName = malloc(strlen(settings->devicename) + 1);
assert(canDeviceName != NULL);
if (canDeviceName != NULL) /*lint !e774 */
{
strcpy(canDeviceName, settings->devicename);
canUsbSettings.devicename = canDeviceName;
}
}
/* ##Vg TODO Perform initialization of Lawicel CANUSB API. */
}
} /*** end of CanUsbInit ***/
/************************************************************************************//**
** \brief Terminates the CAN interface.
**
****************************************************************************************/
static void CanUsbTerminate(void)
{
/* ##Vg TODO Perform termination of Lawicel CANUSB API. */
/* Release memory that was allocated for storing the device name. */
if (canUsbSettings.devicename != NULL)
{
free((char *)canUsbSettings.devicename);
}
/* Reset CAN interface settings. */
canUsbSettings.devicename = "";
canUsbSettings.channel = 0;
canUsbSettings.baudrate = CAN_BR500K;
canUsbSettings.code = 0x00000000u;
canUsbSettings.mask = 0x00000000u;
/* Release memory that was allocated for CAN events and reset the entry count. */
if ( (canUsbEventsList != NULL) && (canUsbEventsEntries != 0) )
{
free(canUsbEventsList);
canUsbEventsEntries = 0;
}
} /*** end of CanUsbTerminate ***/
/************************************************************************************//**
** \brief Connects the CAN interface.
** \return True if connected, false otherwise.
**
****************************************************************************************/
static bool CanUsbConnect(void)
{
bool result = false;
bool baudrateSupported = true;
/* Note that the device name itself is not needed anymore at this point, it was only
* needed by the CAN driver to link the correct interface (this one). The channel is
* also don't care as the adapter only has one channel. Check settings.
*/
assert(baudrateSupported);
/* Invalidate handles. */
canUsbTerminateEvent = NULL;
canUsbRxThreadHandle = NULL;
/* Only continue with valid settings. */
if (baudrateSupported)
{
/* Init result code to success and only negate it on detection of error. */
result = true;
/* ##Vg TODO Process and verify settings, configure acceptance filter, connect. */
result = false; /* Temporary. */
/* Create the terminate event handle used in the reception thread. */
if (result)
{
canUsbTerminateEvent = CreateEvent(NULL, TRUE, FALSE, "");
if (canUsbTerminateEvent == NULL)
{
result = false;
}
}
/* Start the reception thread as the last step. */
if (result)
{
canUsbRxThreadHandle = CreateThread(NULL, 0, CanUsbReceptionThread,
NULL, 0, NULL);
if (canUsbRxThreadHandle == NULL)
{
result = false;
}
}
}
/* Clean-up in case an error occurred. */
if (!result)
{
if (canUsbTerminateEvent != NULL)
{
/* Close the event handle. */
(void)CloseHandle(canUsbTerminateEvent);
canUsbTerminateEvent = NULL;
}
}
/* Give the result back to the caller. */
return result;
} /*** end of CanUsbConnect ***/
/************************************************************************************//**
** \brief Disconnects the CAN interface.
**
****************************************************************************************/
static void CanUsbDisconnect(void)
{
/* Stop the reception thread. */
if (canUsbRxThreadHandle != NULL)
{
/* Trigger event to request the reception thread to stop. */
(void)SetEvent(canUsbTerminateEvent);
/* Wait for the thread to signal termination. */
(void)WaitForSingleObject(canUsbRxThreadHandle, INFINITE);
/* Close the thread handle. */
(void)CloseHandle(canUsbRxThreadHandle);
canUsbRxThreadHandle = NULL;
}
/* Close the terminate event handle. */
if (canUsbTerminateEvent != NULL)
{
(void)CloseHandle(canUsbTerminateEvent);
canUsbTerminateEvent = NULL;
}
/* ##Vg TODO Go off the bus and close the channel. */
} /*** end of CanUsbDisconnect ***/
/************************************************************************************//**
** \brief Submits a message for transmission on the CAN bus.
** \param msg Pointer to CAN message structure.
** \return True if successful, false otherwise.
**
****************************************************************************************/
static bool CanUsbTransmit(tCanMsg const * msg)
{
bool result = false;
/* Check parameters. */
assert(msg != NULL);
/* Only continue with valid parameters. */
if (msg != NULL) /*lint !e774 */
{
/* ##Vg TODO Transmit and trigger event(s). */
}
/* Give the result back to the caller. */
return result;
} /*** end of CanUsbTransmit ***/
/************************************************************************************//**
** \brief Checks if a bus off or bus heavy situation occurred.
** \return True if a bus error situation was detected, false otherwise.
**
****************************************************************************************/
static bool CanUsbIsBusError(void)
{
bool result = false;
/* ##Vg TODO Check and process status. */
/* Give the result back to the caller. */
return result;
} /*** end of CanUsbIsBusError ***/
/************************************************************************************//**
** \brief Registers the event callback functions that should be called by the CAN
** interface.
** \param events Pointer to structure with event callback function pointers.
**
****************************************************************************************/
static void CanUsbRegisterEvents(tCanEvents const * events)
{
/* Check parameters. */
assert(events != NULL);
/* Only continue with valid parameters. */
if (events != NULL) /*lint !e774 */
{
/* Increase length of the list to make space for one more event entry. Note that
* it is okay to call realloc with a NULL pointer. In this case it simply behaves
* as malloc.
*/
canUsbEventsList = realloc(canUsbEventsList,
(sizeof(tCanEvents) * (canUsbEventsEntries + 1)));
/* Assert reallocation. */
assert(canUsbEventsList != NULL);
/* Only continue if reallocation was successful. */
if (canUsbEventsList != NULL)
{
/* Increment events entry count. */
canUsbEventsEntries++;
/* Store the events in the new entry. */
canUsbEventsList[canUsbEventsEntries - 1] = *events;
}
/* Reallocation failed. */
else
{
/* Reset events entry count. */
canUsbEventsEntries = 0;
}
}
} /*** end of CanUsbRegisterEvents ***/
/************************************************************************************//**
** \brief CAN message reception thread.
** \param pv Pointer to thread parameters.
** \return Thread exit code.
**
****************************************************************************************/
static DWORD WINAPI CanUsbReceptionThread(LPVOID pv)
{
DWORD waitResult;
bool running = true;
/* Parameter not used. */
(void)pv;
/* Enter thread's infinite loop. */
while (running)
{
waitResult = WaitForSingleObject(canUsbTerminateEvent, 10);
switch (waitResult)
{
/* Termination event. */
case WAIT_OBJECT_0 + 0: /*lint !e835 */
/* Stop thread. */
running = false;
break;
default:
break;
}
}
/* Exit thread. */
return 0;
} /*** end of CanUsbReceptionThread ***/
/*********************************** end of canusb.c ***********************************/

53
Host/Source/LibOpenBLT/port/windows/canif/lawicel/canusb.h Normal file
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@ -0,0 +1,53 @@
/************************************************************************************//**
* \file canusb.h
* \brief Lawicel CANUSB interface header file.
* \ingroup Lawicel_CanUsb
* \internal
*----------------------------------------------------------------------------------------
* C O P Y R I G H T
*----------------------------------------------------------------------------------------
* Copyright (c) 2017 by Feaser http://www.feaser.com All rights reserved
*
*----------------------------------------------------------------------------------------
* L I C E N S E
*----------------------------------------------------------------------------------------
* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
* modify it under the terms of the GNU General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any later
* version.
*
* OpenBLT 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 General Public License for more details.
*
* You have received a copy of the GNU General Public License along with OpenBLT. It
* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
*
* \endinternal
****************************************************************************************/
/************************************************************************************//**
* \defgroup Lawicel_CanUsb Lawicel CANUSB interface
* \brief This module implements the CAN interface for the Lawicel CANUSB. When using
* the Lawicel CANUSB interface, the 32-bit driver for the CANUSB DLL API
* should be installed:
* http://www.can232.com/download/canusb_setup_win32_v_2_2.zip
* \ingroup CanDriver
****************************************************************************************/
#ifndef CANUSB_H
#define CANUSB_H
#ifdef __cplusplus
extern "C" {
#endif
/***************************************************************************************
* Function prototypes
****************************************************************************************/
tCanInterface const * CanUsbGetInterface(void);
#ifdef __cplusplus
}
#endif
#endif /* CANUSB_H */
/*********************************** end of canusb.h ***********************************/

357
Host/Source/LibOpenBLT/port/windows/canif/lawicel/lawicel_can.h Normal file
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@ -0,0 +1,357 @@
/*
** __ ___ ____ __ ____ __ ______ _______ __
** | | / \ \ \ / \ / / | | / || ____|| |
** | | / ^ \ \ \/ \/ / | | | ,----'| |__ | |
** | | / /_\ \ \ / | | | | | __| | |
** | `----./ _____ \ \ /\ / | | | `----.| |____ | `----.
** |_______/__/ \__\ \__/ \__/ |__| \______||_______||_______|
**
** Copyright (c) 2005-2012 LAWICEL AB, Sweden
*/
#ifndef __LAWICELCANH__
#define __LAWICELCANH__
#include <windows.h>
#ifdef __cplusplus
extern "C" {
#endif
// Types
typedef unsigned char _u8;
typedef unsigned __int16 _u16;
typedef unsigned __int32 _u32;
typedef long CANHANDLE;
typedef unsigned char CANDATA;
// Status bits
#define CANSTATUS_RECEIVE_FIFO_FULL 0x01
#define CANSTATUS_TRANSMIT_FIFO_FULL 0x02
#define CANSTATUS_ERROR_WARNING 0x04
#define CANSTATUS_DATA_OVERRUN 0x08
#define CANSTATUS_ERROR_PASSIVE 0x20
#define CANSTATUS_ARBITRATION_LOST 0x40
#define CANSTATUS_BUS_ERROR 0x80
// Filter mask settings
#define CANUSB_ACCEPTANCE_CODE_ALL 0x00000000
#define CANUSB_ACCEPTANCE_MASK_ALL 0xFFFFFFFF
// Message flags
#define CANMSG_EXTENDED 0x80 // Extended CAN id
#define CANMSG_RTR 0x40 // Remote frame
// Flush flags
#define FLUSH_WAIT 0x00
#define FLUSH_DONTWAIT 0x01
#define FLUSH_EMPTY_INQUEUE 0x02
// CAN Frame
typedef struct {
_u32 id; // Message id
_u32 timestamp; // timestamp in milliseconds
_u8 flags; // [extended_id|1][RTR:1][reserver:6]
_u8 len; // Frame size (0.8)
_u8 data[ 8 ]; // Databytes 0..7
} CANMsg;
// Alternative CAN Frame
typedef struct {
_u32 id; // Message id
_u32 timestamp; // timestamp in milliseconds
_u8 flags; // [extended_id|1][RTR:1][reserver:6]
_u8 len; // Frame size (0.8)
} CANMsgEx;
// Interface statistics
typedef struct structCANUsbStatistics {
_u32 cntReceiveFrames; // # of receive frames
_u32 cntTransmitFrames; // # of transmitted frames
_u32 cntReceiveData; // # of received data bytes
_u32 cntTransmitData; // # of transmitted data bytes
_u32 cntOverruns; // # of overruns
_u32 cntBusWarnings; // # of bys warnings
_u32 cntBusOff; // # of bus off's
} CANUsbStatistics;
// Error return codes
#define ERROR_CANUSB_OK 1
#define ERROR_CANUSB_GENERAL -1
#define ERROR_CANUSB_OPEN_SUBSYSTEM -2
#define ERROR_CANUSB_COMMAND_SUBSYSTEM -3
#define ERROR_CANUSB_NOT_OPEN -4
#define ERROR_CANUSB_TX_FIFO_FULL -5
#define ERROR_CANUSB_INVALID_PARAM -6
#define ERROR_CANUSB_NO_MESSAGE -7
#define ERROR_CANUSB_MEMORY_ERROR -8
#define ERROR_CANUSB_NO_DEVICE -9
#define ERROR_CANUSB_TIMEOUT -10
#define ERROR_CANUSB_INVALID_HARDWARE -11
// Open flags
#define CANUSB_FLAG_TIMESTAMP 0x0001 // Timestamp messages
#define CANUSB_FLAG_QUEUE_REPLACE 0x0002 // If input queue is full remove
// oldest message and insert new
// message.
#define CANUSB_FLAG_BLOCK 0x0004 // Block receive/transmit
#define CANUSB_FLAG_SLOW 0x0008 // Check ACK/NACK's
#define CANUSB_FLAG_NO_LOCAL_SEND 0x0010 // Don't send transmited frames on
// other local channels for the same
// interface
// This is the define for the received callback method
typedef void ( __stdcall * LPFNDLL_RECEIVE_CALLBACK) ( CANMsg *pMsg );
// Prototypes
///////////////////////////////////////////////////////////////////////////////
// canusb_Open
//
// Open CAN interface to device
//
// Returs handle to device if open was successfull or zero
// or negative error code on falure.
//
//
// szID
// ====
// Serial number for adapter or NULL to open the first found.
//
//
// szBitrate
// =========
// "10" for 10kbps
// "20" for 20kbps
// "50" for 50kbps
// "100" for 100kbps
// "250" for 250kbps
// "500" for 500kbps
// "800" for 800kbps
// "1000" for 1Mbps
//
// or
//
// btr0:btr1 pair ex. "0x03:0x1c" or 3:28
//
// acceptance_code
// ===============
// Set to CANUSB_ACCEPTANCE_CODE_ALL to get all messages.
//
// acceptance_mask
// ===============
// Set to CANUSB_ACCEPTANCE_MASk_ALL to get all messages.
//
// flags
// =====
// CANUSB_FLAG_TIMESTAMP - Timestamp will be set by adapter.
CANHANDLE WINAPI canusb_Open( LPCSTR szID,
LPCSTR szBitrate,
_u32 acceptance_code,
_u32 acceptance_mask,
_u32 flags );
///////////////////////////////////////////////////////////////////////////////
// canusb_Close
//
// Close channel with handle h.
//
// Returns <= 0 on failure. >0 on success.
int WINAPI canusb_Close( CANHANDLE h );
///////////////////////////////////////////////////////////////////////////////
// canusb_Read
//
// Read message from channel with handle h.
//
// Returns <= 0 on failure. >0 on success.
//
int WINAPI canusb_Read( CANHANDLE h, CANMsg *msg );
///////////////////////////////////////////////////////////////////////////////
// canusb_ReadEx
//
// Read message from channel with handle h.
//
// This is a version without a data-array in the structure to work with LabView
//
// Returns <= 0 on failure. >0 on success.
//
int WINAPI canusb_ReadEx( CANHANDLE h, CANMsgEx *msg, CANDATA *pData );
///////////////////////////////////////////////////////////////////////////////
// canusb_ReadFirst
//
// Read message from channel with handle h and id "id" which satisfy flags.
//
// Returns <= 0 on failure. >0 on success.
//
int WINAPI canusb_ReadFirst( CANHANDLE h,
_u32 id,
_u32 flags,
CANMsg *msg );
///////////////////////////////////////////////////////////////////////////////
// canusb_ReadFirstEx
//
// Read message from channel with handle h and id "id" which satisfying flags.
//
// This is a version without a data-array in the structure to work with LabView
//
// Returns <= 0 on failure. >0 on success.
//
int WINAPI canusb_ReadFirstEx( CANHANDLE h,
_u32 id,
_u32 flags,
CANMsgEx *msg,
CANDATA *pData );
///////////////////////////////////////////////////////////////////////////////
// canusb_Write
//
// Write message to channel with handle h.
//
// Returns <= 0 on failure. >0 on success.
//
int WINAPI canusb_Write( CANHANDLE h, CANMsg *msg );
///////////////////////////////////////////////////////////////////////////////
// canusb_WriteEx
//
// Write message to channel with handle h.
//
// This is a version without a data-array in the structure to work with LabView
//
// Returns <= 0 on failure. >0 on success.
//
int WINAPI canusb_WriteEx( CANHANDLE h, CANMsgEx *msg, CANDATA *pData );
///////////////////////////////////////////////////////////////////////////////
// canusb_Status
//
// Get Adaper status for channel with handle h.
int WINAPI canusb_Status( CANHANDLE h );
///////////////////////////////////////////////////////////////////////////////
// canusb_VersionInfo
//
// Get hardware/fi4rmware and driver version for channel with handle h.
//
// Returns <= 0 on failure. >0 on success.
//
//
int WINAPI canusb_VersionInfo( CANHANDLE h, LPSTR verinfo );
///////////////////////////////////////////////////////////////////////////////
// canusb_Flush
//
// Flush output buffer on channel with handle h.
//
// Returns <= 0 on failure. >0 on success.
//
// If flushflags is set to FLUSH_DONTWAIT the queue is just emptied and
// there will be no wait for any frames in it to be sent
//
int WINAPI canusb_Flush( CANHANDLE h, _u8 flushflags );
///////////////////////////////////////////////////////////////////////////////
// canusb_GetStatistics
//
// Get transmission statistics for channel with handle h.
//
// Returns <= 0 on failure. >0 on success.
//
//
int WINAPI canusb_GetStatistics( CANHANDLE h, CANUsbStatistics *pStatistics );
///////////////////////////////////////////////////////////////////////////////
// canusb_SetTimeouts
//
// Set timeouts used for blocking calls for channel with handle h.
//
// Returns <= 0 on failure. >0 on success.
//
//
int WINAPI canusb_SetTimeouts( CANHANDLE h,
_u32 receiveTimeout,
_u32 transmitTimeout );
///////////////////////////////////////////////////////////////////////////////
// canusb_getFirstAdapter
//
// Get the first found adapter that is connected to this machine.
//
// Returns <= 0 on failure. 0 if no adapter found. >0 if one or more adapters
// is found.
//
//
int WINAPI canusb_getFirstAdapter( char *szAdapter, int size );
///////////////////////////////////////////////////////////////////////////////
// canusb_getNextAdapter
//
// Get the found adapter(s) in turn that is connected to this machine.
//
// Returns <= 0 on failure. >0 for a valid adapter return.
//
//
int WINAPI canusb_getNextAdapter( char *szAdapter, int size );
///////////////////////////////////////////////////////////////////////////////
// canusb_setReceiveCallBack
//
// Set a receive call back function. Set the callback to NULL to
// reset it.
//
// Returns <= 0 on failure. >0 for a valid adapter return.
//
//
int WINAPI canusb_setReceiveCallBack( CANHANDLE handle,
LPFNDLL_RECEIVE_CALLBACK fn );
#ifdef __cplusplus
}
#endif
#endif // __LAWICELCANH__

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