/** \file canlib.c


   Function (mini) lib for applications 
 
   \author Cristiano Brudna
   \date 2003 

   University of Ulm, Germany
 

   This program 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 2 of the License, or (at your
   option) any later version.

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


#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <signal.h>
#include <errno.h>
#include <sys/ioctl.h>   

#include "can.h"
#include "canlib.h"

typedef struct error_code {
  int code;
  char name[25];
} error_code_t;


/** \brief Error codes + descriptions */
error_code_t errorCodes[] = {
  {3,  "start of frame"},
  {2,  "ID.28 to ID.21"},
  {6,  "ID.20 to ID.18"},
  {4,  "bit SRTR"},
  {5,  "bit IDE"},
  {7,  "ID.17 to ID.13"},
  {15, "ID.12 to ID.5"},
  {14, "ID.4 to ID.0"},
  {2,  "bit RTR"},
  {13, "reserved bit 1"},
  {9,  "reserved bit 0"},
  {11, "data length code"},
  {10, "data field"},
  {8,  "CRC sequence"},
  {24, "CRC delimiter"},
  {25, "acknowledge slot"},
  {27, "acknowledge delimiter"},
  {26, "end of frame"},
  {18, "intermission"},
  {17, "active error flag"},
  {22, "passive error flag"},
  {19, "tolerate dominant bits"},
  {23, "error delimiter"},
  {28, "overload flag"}
};


/** \brief Decode the error code capture value 
 *
 *  \param ecc the error code value
 */
void printError (int ecc)
{
  int i;
  int ecc_low;
  
  printf("ERROR_CODE_CAPTURE = %dd  (", ecc);
  if(ecc & 0x20)
    printf("RX error, ");
  else printf("TX error, ");
  
  ecc_low = ecc & 0x1f;
  for(i=0; i<24; i++) {
    if(errorCodes[i].code == ecc_low) {
      printf("%s)\n", errorCodes[i].name);
      return;
    }
  }
  printf("?)\n");
  
}


/** \brief Print SJA1000 status 
 *
 *  \param fd file descriptor of the CAN device
 */
void showStatus (int fd)
{
  unsigned long reg;
  int ecc;
  
  reg = ERROR_CODE_CAPTURE;
  ecc = ioctl(fd, CAN_IOCRREG, &reg);
  printError(ecc);
  
  reg = RX_ERROR_COUNTER;
  printf("RX_ERROR_COUNTER = %dd\n", ioctl(fd, CAN_IOCRREG, &reg));
  
  reg = TX_ERROR_COUNTER;
  printf("TX_ERROR_COUNTER = %dd\n\n", ioctl(fd, CAN_IOCRREG, &reg));
}