author | etisserant |
Thu, 30 Aug 2007 17:01:11 +0200 | |
changeset 260 | 1eafe582b6a1 |
parent 241 | 4ecc2f3690f4 |
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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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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Copyright (C) Win32 Port Leonid Tochinski |
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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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/* |
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CAN driver interface. |
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*/ |
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#include <windows.h> |
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extern "C" |
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{ |
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#define DLL_CALL(funcname) (*_##funcname) |
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#define FCT_PTR_INIT =NULL |
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#include "canfestival.h" |
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#include "timer.h" |
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#include "timers_driver.h" |
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}; |
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typedef UNS8 (*CANRECEIVE_DRIVER_PROC)(void* inst, Message *m); |
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typedef UNS8 (*CANSEND_DRIVER_PROC)(void* inst, const Message *m); |
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typedef void* (*CANOPEN_DRIVER_PROC)(s_BOARD *board); |
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typedef int (*CANCLOSE_DRIVER_PROC)(void* inst); |
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class driver_procs |
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{ |
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public: |
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driver_procs(); |
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~driver_procs(); |
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HMODULE load_canfestival_driver(LPCTSTR driver_name); |
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bool can_driver_valid() const; |
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public: |
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// can driver |
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CANRECEIVE_DRIVER_PROC m_canReceive; |
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CANSEND_DRIVER_PROC m_canSend; |
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CANOPEN_DRIVER_PROC m_canOpen; |
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CANCLOSE_DRIVER_PROC m_canClose; |
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// driver module habndle |
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HMODULE m_driver_handle; |
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}; |
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driver_procs::driver_procs() : m_canReceive(0), |
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m_canSend(0), |
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m_canOpen(0), |
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m_canClose(0), |
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m_driver_handle(0) |
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{} |
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driver_procs::~driver_procs() |
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{ |
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if (m_driver_handle) |
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::FreeLibrary(m_driver_handle); |
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} |
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bool driver_procs::can_driver_valid() const |
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{ |
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return ((m_canReceive != NULL) && |
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(m_canSend != NULL) && |
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(m_canOpen != NULL) && |
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(m_canClose != NULL)); |
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} |
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// GetProcAddress doesn't have an UNICODE version for NT |
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#ifdef UNDER_CE |
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#define myTEXT(str) TEXT(str) |
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#else |
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#define myTEXT(str) str |
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#endif |
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HMODULE driver_procs::load_canfestival_driver(LPCTSTR driver_name) |
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{ |
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if (can_driver_valid()) |
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return m_driver_handle; |
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m_driver_handle = ::LoadLibrary(driver_name); |
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if (m_driver_handle == NULL) |
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return NULL; |
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m_canReceive = (CANRECEIVE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canReceive_driver")); |
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m_canSend = (CANSEND_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canSend_driver")); |
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m_canOpen = (CANOPEN_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canOpen_driver")); |
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m_canClose = (CANCLOSE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canClose_driver")); |
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return can_driver_valid()?m_driver_handle:NULL; |
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} |
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struct driver_data |
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{ |
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CO_Data * d; |
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HANDLE receive_thread; |
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void* inst; |
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volatile bool continue_receive_thread; |
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}; |
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driver_procs s_driver_procs; |
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LIB_HANDLE LoadCanDriver(char* driver_name) |
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{ |
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return s_driver_procs.load_canfestival_driver((LPCTSTR)driver_name); |
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changeset
|
122 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
123 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
124 |
UNS8 canReceive(CAN_PORT fd0, Message *m) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
125 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
126 |
if (fd0 != NULL && s_driver_procs.m_canReceive != NULL) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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|
127 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
128 |
driver_data* data = (driver_data*)fd0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
129 |
return (*s_driver_procs.m_canReceive)(data->inst, m); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
130 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
131 |
return 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
132 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
133 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
134 |
void* canReceiveLoop(CAN_PORT fd0) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
135 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
136 |
driver_data* data = (driver_data*)fd0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
137 |
Message m; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
138 |
while (data->continue_receive_thread) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
139 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
140 |
if (!canReceive(fd0, &m)) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
141 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
142 |
EnterMutex(); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
143 |
canDispatch(data->d, &m); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
144 |
LeaveMutex(); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
145 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
146 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
147 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
148 |
break; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
149 |
::Sleep(1); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
150 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
151 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
152 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
153 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
154 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
155 |
/***************************************************************************/ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
156 |
UNS8 canSend(CAN_PORT fd0, Message *m) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
157 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
158 |
if (fd0 != NULL && s_driver_procs.m_canSend != NULL) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
159 |
{ |
149 | 160 |
UNS8 res; |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
161 |
driver_data* data = (driver_data*)fd0; |
149 | 162 |
res = (*s_driver_procs.m_canSend)(data->inst, m); |
163 |
if (res) |
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
164 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
165 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
166 |
return 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
167 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
168 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
169 |
/***************************************************************************/ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
170 |
CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
171 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
172 |
if (board != NULL && s_driver_procs.m_canOpen != NULL) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
173 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
174 |
void* inst = (*s_driver_procs.m_canOpen)(board); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
175 |
if (inst != NULL) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
176 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
177 |
driver_data* data = new driver_data; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
178 |
data->d = d; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
179 |
data->inst = inst; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
180 |
data->continue_receive_thread = true; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
181 |
CreateReceiveTask(data, &data->receive_thread, &canReceiveLoop); |
149 | 182 |
EnterMutex(); |
183 |
d->canHandle = data; |
|
184 |
LeaveMutex(); |
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
185 |
return data; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
186 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
187 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
188 |
return NULL; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
189 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
190 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
191 |
/***************************************************************************/ |
149 | 192 |
int canClose(CO_Data * d) |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
193 |
{ |
150
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
194 |
if (s_driver_procs.m_canClose != NULL) |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
195 |
{ |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
196 |
driver_data* data; |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
197 |
EnterMutex(); |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
198 |
if(d->canHandle != NULL){ |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
199 |
data = (driver_data*)d->canHandle; |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
200 |
d->canHandle = NULL; |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
201 |
data->continue_receive_thread = false;} |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
202 |
LeaveMutex(); |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
203 |
WaitReceiveTaskEnd(&data->receive_thread); |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
204 |
(*s_driver_procs.m_canClose)(data->inst); |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
205 |
delete data; |
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
206 |
return 0; |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
207 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
208 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
209 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
210 |
|
150
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
|
211 |