1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack.

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

Copyright (C) Win32 Port Leonid Tochinski

     6

     7

See COPYING file for copyrights details.

     8

     9

This library is free software; you can redistribute it and/or

    10

modify it under the terms of the GNU Lesser General Public

    11

License as published by the Free Software Foundation; either

    12

version 2.1 of the License, or (at your option) any later version.

    13

    14

This library is distributed in the hope that it will be useful,

    15

but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    17

Lesser General Public License for more details.

    18

    19

You should have received a copy of the GNU Lesser General Public

    20

License along with this library; if not, write to the Free Software

    21

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    22

*/

    23

    24

/*

    25

 CAN driver interface.

    26

*/

    27

    28

#include <windows.h>

    29

    30

#ifdef __cplusplus

    31

extern "C" {

    32

#endif

    33

    34

#include "canfestival.h"

    35

#include "timer.h"

    36

#include "timers_driver.h"

    37

    38

#ifdef __cplusplus

    39

};

    40

#endif

    41

    42

// GetProcAddress doesn't have an UNICODE version for NT

    43

#ifdef UNDER_CE

    44

  #define myTEXT(str) TEXT(str)

    45

#else

    46

  #define myTEXT(str) str

    47

#endif

    48

    49

#define MAX_NB_CAN_PORTS 16

    50

    51

typedef UNS8 (CALLBACK* CANRECEIVE_DRIVER_PROC)(void* inst, Message *m);

    52

typedef UNS8 (CALLBACK* CANSEND_DRIVER_PROC)(void* inst, const Message *m);

    53

typedef void* (CALLBACK* CANOPEN_DRIVER_PROC)(s_BOARD *board);

    54

typedef int (CALLBACK* CANCLOSE_DRIVER_PROC)(void* inst);

    55

typedef UNS8 (CALLBACK* CANCHANGEBAUDRATE_DRIVER_PROC)(void* fd, char* baud);

    56

    57

CANRECEIVE_DRIVER_PROC m_canReceive;

    58

CANSEND_DRIVER_PROC m_canSend;

    59

CANOPEN_DRIVER_PROC m_canOpen;

    60

CANCLOSE_DRIVER_PROC m_canClose;

    61

CANCHANGEBAUDRATE_DRIVER_PROC m_canChangeBaudRate;

    62

    63

/* CAN port structure */

    64

typedef struct

    65

{

    66

  char used;  /**< flag indicating CAN port usage, will be used to abort Receiver task*/

    67

  CAN_HANDLE fd; /**< CAN port file descriptor*/

    68

  TASK_HANDLE receiveTask; /**< CAN Receiver task*/

    69

  CO_Data* d; /**< CAN object data*/

    70

}CANPort;

    71

    72

CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};

    73

    74

    75

/***************************************************************************/

    76

UNS8 UnLoadCanDriver(LIB_HANDLE handle)

    77

{

    78

	if(handle != NULL)

    79

	{

    80

		FreeLibrary(handle);

    81

		handle=NULL;

    82

		return 0;

    83

	}

    84

	return -1;

    85

}

    86

    87

/***************************************************************************/

    88

/**

    89

 * Loads the dll and get funcs ptr

    90

 *

    91

 * @param driver_name String containing driver's dynamic library name

    92

 * @return Library handle

    93

 */

    94

LIB_HANDLE LoadCanDriver(LPCTSTR driver_name)

    95

{

    96

	// driver module handle

    97

	LIB_HANDLE handle = NULL;

    98

    99

	if(handle == NULL)

   100

	{

   101

		handle = LoadLibrary(driver_name);

   102

	}

   103

   104

	if (!handle)

   105

	{

   106

		fprintf (stderr, "%s\n", GetLastError());

   107

    	return NULL;

   108

	}

   109

   110

	m_canReceive = (CANRECEIVE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canReceive_driver"));

   111

	m_canSend = (CANSEND_DRIVER_PROC)GetProcAddress(handle, myTEXT("canSend_driver"));

   112

	m_canOpen = (CANOPEN_DRIVER_PROC)GetProcAddress(handle, myTEXT("canOpen_driver"));

   113

	m_canClose = (CANCLOSE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canClose_driver"));

   114

	m_canChangeBaudRate = (CANCHANGEBAUDRATE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canChangeBaudRate_driver"));

   115

   116

	return handle;

   117

}

   118

   119

/***************************************************************************/

   120

UNS8 canSend(CAN_PORT port, Message *m)

   121

{

   122

	UNS8 res;

   123

	if (port && (m_canSend != NULL))

   124

	{

   125

		res = m_canSend(((CANPort*)port)->fd, m);

   126

		if (res) return 1; // OK

   127

	}

   128

	return 0; // NOT OK

   129

}

   130

   131

/***************************************************************************/

   132

void canReceiveLoop(CAN_PORT port)

   133

{

   134

	Message m;

   135

	while(((CANPort*)port)->used)

   136

	{

   137

		if(m_canReceive(((CANPort*)port)->fd, &m) != 0) break;

   138

		EnterMutex();

   139

		canDispatch(((CANPort*)port)->d, &m);

   140

		LeaveMutex();

   141

	}

   142

}

   143

   144

/***************************************************************************/

   145

CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d)

   146

{

   147

	int i;

   148

    CAN_HANDLE fd0;

   149

   150

	for(i=0; i < MAX_NB_CAN_PORTS; i++)

   151

	{

   152

		if(!canports[i].used)

   153

		break;

   154

	}

   155

   156

	#ifndef NOT_USE_DYNAMIC_LOADING

   157

	if (m_canOpen == NULL)

   158

	{

   159

	   	fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");

   160

	   	return NULL;

   161

	}

   162

	#endif

   163

   164

	fd0 = m_canOpen(board);

   165

	if(fd0)

   166

	{

   167

		canports[i].used = 1;

   168

		canports[i].fd = fd0;

   169

		canports[i].d = d;

   170

		d->canHandle = (CAN_PORT)&canports[i];

   171

		CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, (void *)canReceiveLoop);

   172

		return (CAN_PORT)&canports[i];

   173

	}

   174

	else

   175

	{

   176

		MSG("CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate);

   177

		return NULL;

   178

	}

   179

}

   180

   181

/***************************************************************************/

   182

int canClose(CO_Data * d)

   183

{

   184

	UNS8 res;

   185

	CANPort* tmp;

   186

   187

	if((CANPort*)d->canHandle)

   188

	{

   189

	  ((CANPort*)d->canHandle)->used = 0;

   190

	}

   191

   192

	tmp = (CANPort*)d->canHandle;

   193

	d->canHandle = NULL;

   194

   195

	if(tmp)

   196

	{

   197

	  // close CAN port

   198

	  res = m_canClose(tmp->fd);

   199

   200

	  // kill receiver task

   201

	  WaitReceiveTaskEnd(&tmp->receiveTask);

   202

	}

   203

	return res;

   204

}

   205

   206

UNS8 canChangeBaudRate(CAN_PORT port, char* baud)

   207

{

   208

   if(port){

   209

		UNS8 res;

   210

	    //LeaveMutex();

   211

		res = m_canChangeBaudRate(((CANPort*)port)->fd, baud);

   212

		//EnterMutex();

   213

		return res; // OK

   214

	}

   215

	return 1; // NOT OK

   216

}

   217