author | etisserant |
Thu, 30 Aug 2007 17:01:11 +0200 | |
changeset 260 | 1eafe582b6a1 |
parent 197 | 182008694a32 |
child 267 | 96c688ebcde7 |
permissions | -rw-r--r-- |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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|
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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|
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See COPYING file for copyrights details. |
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|
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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|
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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|
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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#include <unistd.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#ifndef NOT_USE_DYNAMIC_LOADING |
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#define DLL_CALL(funcname) (* funcname##_driver) |
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#define FCT_PTR_INIT =NULL |
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#define DLSYM(name)\ |
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*(void **) (&name##_driver) = dlsym(handle, #name"_driver");\ |
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if ((error = dlerror()) != NULL) {\ |
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fprintf (stderr, "%s\n", error);\ |
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UnLoadCanDriver(handle);\ |
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return NULL;\ |
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} |
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#else /*NOT_USE_DYNAMIC_LOADING*/ |
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/*Function call is direct*/ |
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#define DLL_CALL(funcname) funcname##_driver |
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#endif /*NOT_USE_DYNAMIC_LOADING*/ |
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#include "data.h" |
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#include "canfestival.h" |
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#include "timers_driver.h" |
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#define MAX_NB_CAN_PORTS 16 |
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typedef struct { |
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char used; |
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CAN_HANDLE fd; |
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TASK_HANDLE receiveTask; |
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CO_Data* d; |
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} CANPort; |
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#include "can_driver.h" |
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/*Declares the funtion pointers for dll binding or simple protos*/ |
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/*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *); |
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UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *); |
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CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *); |
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int DLL_CALL(canClose)(CAN_HANDLE); |
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*/ |
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CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}}; |
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#ifndef NOT_USE_DYNAMIC_LOADING |
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/*UnLoads the dll*/ |
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UNS8 UnLoadCanDriver(LIB_HANDLE handle) |
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{ |
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if(handle!=NULL) |
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{ |
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dlclose(handle); |
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handle=NULL; |
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return 0; |
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} |
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return -1; |
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} |
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/*Loads the dll and get funcs ptr*/ |
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LIB_HANDLE LoadCanDriver(char* driver_name) |
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{ |
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LIB_HANDLE handle = NULL; |
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char *error; |
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if(handle==NULL) |
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{ |
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handle = dlopen(driver_name, RTLD_LAZY); |
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} |
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if (!handle) { |
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fprintf (stderr, "%s\n", dlerror()); |
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return NULL; |
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} |
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/*Get function ptr*/ |
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DLSYM(canReceive) |
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DLSYM(canSend) |
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DLSYM(canOpen) |
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DLSYM(canClose) |
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return handle; |
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} |
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#endif |
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/*Not needed -- canReceiveLoop calls _canReceive directly *//* |
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UNS8 canReceive(CAN_PORT port, Message *m) |
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{ |
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return DLL_CALL(canReceive)(port->fd, Message *m); |
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} |
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*/ |
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UNS8 canSend(CAN_PORT port, Message *m) |
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{ |
149 | 122 |
if(port){ |
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UNS8 res; |
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//LeaveMutex(); |
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res = DLL_CALL(canSend)(((CANPort*)port)->fd, m); |
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126 |
//EnterMutex(); |
149 | 127 |
return res; |
128 |
} |
|
129 |
return -1; |
|
145
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130 |
} |
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131 |
|
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132 |
void canReceiveLoop(CAN_PORT port) |
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133 |
{ |
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134 |
Message m; |
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|
135 |
|
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|
136 |
while (1) { |
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137 |
if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0) |
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138 |
break; |
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|
139 |
|
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140 |
EnterMutex(); |
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141 |
canDispatch(((CANPort*)port)->d, &m); |
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142 |
LeaveMutex(); |
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|
143 |
} |
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|
144 |
} |
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145 |
CAN_PORT canOpen(s_BOARD *board, CO_Data * d) |
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146 |
{ |
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147 |
int i; |
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148 |
for(i=0; i < MAX_NB_CAN_PORTS; i++) |
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|
149 |
{ |
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150 |
if(!canports[i].used) |
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|
151 |
break; |
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|
152 |
} |
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|
153 |
|
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154 |
#ifndef NOT_USE_DYNAMIC_LOADING |
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155 |
if (&DLL_CALL(canOpen)==NULL) { |
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156 |
fprintf(stderr,"CanOpen : Can Driver dll not loaded\n"); |
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157 |
return NULL; |
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|
158 |
} |
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|
159 |
#endif |
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|
160 |
CAN_HANDLE fd0 = DLL_CALL(canOpen)(board); |
162 | 161 |
if(fd0){ |
162 |
canports[i].used = 1; |
|
163 |
canports[i].fd = fd0; |
|
164 |
canports[i].d = d; |
|
149 | 165 |
|
162 | 166 |
CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop); |
167 |
||
168 |
EnterMutex(); |
|
169 |
d->canHandle = (CAN_PORT)&canports[i]; |
|
170 |
LeaveMutex(); |
|
171 |
return (CAN_PORT)&canports[i]; |
|
172 |
}else{ |
|
173 |
fprintf(stderr,"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate); |
|
174 |
return NULL; |
|
175 |
} |
|
145
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|
176 |
} |
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|
177 |
|
149 | 178 |
int canClose(CO_Data * d) |
179 |
{ |
|
180 |
EnterMutex(); |
|
181 |
((CANPort*)d->canHandle)->used = 0; |
|
182 |
CANPort* tmp = (CANPort*)d->canHandle; |
|
183 |
d->canHandle = NULL; |
|
184 |
LeaveMutex(); |
|
185 |
||
186 |
int res = DLL_CALL(canClose)(tmp->fd); |
|
187 |
||
188 |
WaitReceiveTaskEnd(tmp->receiveTask); |
|
145
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
189 |
return res; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
190 |
} |