author | Edouard Tisserant |
Sat, 12 Oct 2013 09:09:04 +0900 | |
changeset 788 | 6121ebff4da6 |
parent 777 | bbbfd27c1bd1 |
child 801 | 32d146b64a35 |
permissions | -rwxr-xr-x |
556 | 1 |
/* |
2 |
This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 |
Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
Copyright (C) Win32 Port Leonid Tochinski |
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ID: 3459307 - Async problem in drivers/win32/win32.c
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696
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6 |
Modified by: Jaroslav Fojtik |
556 | 7 |
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8 |
See COPYING file for copyrights details. |
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10 |
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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13 |
version 2.1 of the License, or (at your option) any later version. |
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15 |
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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20 |
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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22 |
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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24 |
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25 |
/* |
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26 |
CAN driver interface. |
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27 |
*/ |
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28 |
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29 |
#include <windows.h> |
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591 | 30 |
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31 |
#ifdef __cplusplus |
|
32 |
extern "C" { |
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33 |
#endif |
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34 |
||
556 | 35 |
#include "canfestival.h" |
36 |
#include "timer.h" |
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37 |
#include "timers_driver.h" |
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591 | 38 |
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39 |
#ifdef __cplusplus |
|
577 | 40 |
}; |
591 | 41 |
#endif |
42 |
||
556 | 43 |
// GetProcAddress doesn't have an UNICODE version for NT |
44 |
#ifdef UNDER_CE |
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45 |
#define myTEXT(str) TEXT(str) |
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46 |
#else |
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47 |
#define myTEXT(str) str |
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48 |
#endif |
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49 |
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50 |
#define MAX_NB_CAN_PORTS 16 |
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51 |
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52 |
typedef UNS8 (CALLBACK* CANRECEIVE_DRIVER_PROC)(void* inst, Message *m); |
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53 |
typedef UNS8 (CALLBACK* CANSEND_DRIVER_PROC)(void* inst, const Message *m); |
|
54 |
typedef void* (CALLBACK* CANOPEN_DRIVER_PROC)(s_BOARD *board); |
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55 |
typedef int (CALLBACK* CANCLOSE_DRIVER_PROC)(void* inst); |
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56 |
typedef UNS8 (CALLBACK* CANCHANGEBAUDRATE_DRIVER_PROC)(void* fd, char* baud); |
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57 |
||
58 |
CANRECEIVE_DRIVER_PROC m_canReceive; |
|
59 |
CANSEND_DRIVER_PROC m_canSend; |
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60 |
CANOPEN_DRIVER_PROC m_canOpen; |
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61 |
CANCLOSE_DRIVER_PROC m_canClose; |
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62 |
CANCHANGEBAUDRATE_DRIVER_PROC m_canChangeBaudRate; |
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63 |
||
64 |
/* CAN port structure */ |
|
65 |
typedef struct |
|
66 |
{ |
|
67 |
char used; /**< flag indicating CAN port usage, will be used to abort Receiver task*/ |
|
68 |
CAN_HANDLE fd; /**< CAN port file descriptor*/ |
|
69 |
TASK_HANDLE receiveTask; /**< CAN Receiver task*/ |
|
70 |
CO_Data* d; /**< CAN object data*/ |
|
71 |
}CANPort; |
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72 |
||
73 |
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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75 |
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76 |
/***************************************************************************/ |
|
77 |
UNS8 UnLoadCanDriver(LIB_HANDLE handle) |
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78 |
{ |
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638
00bc03cb5606
CHANGED: - option to integrate a can driver statically (hack)
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diff
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79 |
#ifndef NOT_USE_DYNAMIC_LOADING |
556 | 80 |
if(handle != NULL) |
81 |
{ |
|
82 |
FreeLibrary(handle); |
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83 |
handle=NULL; |
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84 |
return 0; |
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85 |
} |
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86 |
return -1; |
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638
00bc03cb5606
CHANGED: - option to integrate a can driver statically (hack)
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629
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87 |
#else |
00bc03cb5606
CHANGED: - option to integrate a can driver statically (hack)
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629
diff
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|
88 |
handle = NULL; |
00bc03cb5606
CHANGED: - option to integrate a can driver statically (hack)
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629
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changeset
|
89 |
return 0; |
00bc03cb5606
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|
90 |
#endif //NOT_USE_DYNAMIC_LOADING |
556 | 91 |
} |
92 |
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93 |
/***************************************************************************/ |
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94 |
/** |
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95 |
* Loads the dll and get funcs ptr |
|
96 |
* |
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97 |
* @param driver_name String containing driver's dynamic library name |
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98 |
* @return Library handle |
|
99 |
*/ |
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723 | 100 |
LIB_HANDLE LoadCanDriver(LPCSTR driver_name) |
556 | 101 |
{ |
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Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
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// driver module handle |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
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LIB_HANDLE handle = NULL; |
556 | 104 |
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638
00bc03cb5606
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629
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changeset
|
105 |
#ifndef NOT_USE_DYNAMIC_LOADING |
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773
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handle = LoadLibrary(driver_name); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
107 |
|
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
108 |
if (!handle) |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
109 |
{ |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
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110 |
fprintf (stderr, "LoadLibrary error : %d\n", GetLastError()); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
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111 |
return NULL; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
112 |
} |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
113 |
|
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
114 |
m_canReceive = (CANRECEIVE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canReceive_driver")); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
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115 |
m_canSend = (CANSEND_DRIVER_PROC)GetProcAddress(handle, myTEXT("canSend_driver")); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
116 |
m_canOpen = (CANOPEN_DRIVER_PROC)GetProcAddress(handle, myTEXT("canOpen_driver")); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
117 |
m_canClose = (CANCLOSE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canClose_driver")); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
118 |
m_canChangeBaudRate = (CANCHANGEBAUDRATE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canChangeBaudRate_driver")); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
119 |
|
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
120 |
if(m_canReceive==NULL || m_canSend==NULL || m_canOpen==NULL || m_canClose==NULL || m_canChangeBaudRate==NULL) |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
121 |
{ |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
122 |
m_canReceive = NULL; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
123 |
m_canSend = NULL; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
124 |
m_canOpen = NULL; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
125 |
m_canClose = NULL; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
126 |
m_canChangeBaudRate = NULL; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
127 |
FreeLibrary(handle); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
128 |
fprintf (stderr, "GetProc error : %d\n", GetLastError()); |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
129 |
return NULL; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
130 |
} |
638
00bc03cb5606
CHANGED: - option to integrate a can driver statically (hack)
Christian Taedcke
parents:
629
diff
changeset
|
131 |
#else |
774
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
132 |
//compiled in... |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
133 |
handle = 1; //TODO: remove this hack |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
134 |
|
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
135 |
m_canReceive = canReceive_driver; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
136 |
m_canSend = canSend_driver; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
137 |
m_canOpen = canOpen_driver; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
138 |
m_canClose = canClose_driver; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
139 |
m_canChangeBaudRate = canChangeBaudRate_driver; |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
140 |
#endif |
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
141 |
|
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
142 |
|
91d708a2cb4e
Fixed DLL calling convention when build with mingw32 + some re-indenting in can_tcp_win32
Edouard Tisserant
parents:
773
diff
changeset
|
143 |
return handle; |
556 | 144 |
} |
145 |
||
146 |
/***************************************************************************/ |
|
147 |
UNS8 canSend(CAN_PORT port, Message *m) |
|
148 |
{ |
|
149 |
if (port && (m_canSend != NULL)) |
|
150 |
{ |
|
691
17d9c0736935
[ canfestival-Patches-3481330 ] Useless structure SHORT_CAN
Edouard Tisserant
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687
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changeset
|
151 |
return m_canSend(((CANPort*)port)->fd, m); |
17d9c0736935
[ canfestival-Patches-3481330 ] Useless structure SHORT_CAN
Edouard Tisserant
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687
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changeset
|
152 |
} |
696 | 153 |
return 1; /* NOT OK */ |
556 | 154 |
} |
155 |
||
156 |
/***************************************************************************/ |
|
697
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
157 |
DWORD canReceiveLoop(CAN_PORT port) |
556 | 158 |
{ |
159 |
Message m; |
|
160 |
while(((CANPort*)port)->used) |
|
161 |
{ |
|
777
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
162 |
if(m_canReceive(((CANPort*)port)->fd, &m) != 0) |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
163 |
break; |
556 | 164 |
EnterMutex(); |
165 |
canDispatch(((CANPort*)port)->d, &m); |
|
166 |
LeaveMutex(); |
|
167 |
} |
|
697
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
168 |
return 0; |
556 | 169 |
} |
170 |
||
171 |
/***************************************************************************/ |
|
172 |
CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d) |
|
173 |
{ |
|
174 |
int i; |
|
697
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
175 |
CAN_HANDLE fd0; |
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
176 |
|
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
177 |
|
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
178 |
/* Fix of multiple opening one data set, added by J.Fojtik. */ |
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
179 |
if(d->canHandle) |
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
180 |
{ |
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
181 |
canClose(d); |
24a2aec61731
ID: 3459307 - Async problem in drivers/win32/win32.c
JaFojtik
parents:
696
diff
changeset
|
182 |
} |
591 | 183 |
|
556 | 184 |
for(i=0; i < MAX_NB_CAN_PORTS; i++) |
185 |
{ |
|
186 |
if(!canports[i].used) |
|
187 |
break; |
|
188 |
} |
|
189 |
||
577 | 190 |
#ifndef NOT_USE_DYNAMIC_LOADING |
556 | 191 |
if (m_canOpen == NULL) |
192 |
{ |
|
193 |
fprintf(stderr,"CanOpen : Can Driver dll not loaded\n"); |
|
194 |
return NULL; |
|
195 |
} |
|
196 |
#endif |
|
577 | 197 |
|
591 | 198 |
fd0 = m_canOpen(board); |
556 | 199 |
if(fd0) |
200 |
{ |
|
201 |
canports[i].used = 1; |
|
202 |
canports[i].fd = fd0; |
|
203 |
canports[i].d = d; |
|
204 |
d->canHandle = (CAN_PORT)&canports[i]; |
|
577 | 205 |
CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, (void *)canReceiveLoop); |
556 | 206 |
return (CAN_PORT)&canports[i]; |
207 |
} |
|
208 |
else |
|
209 |
{ |
|
687 | 210 |
MSG("CanOpen : Cannot open board {busname='%S',baudrate='%S'}\n",board->busname, board->baudrate); |
556 | 211 |
return NULL; |
212 |
} |
|
213 |
} |
|
214 |
||
215 |
/***************************************************************************/ |
|
216 |
int canClose(CO_Data * d) |
|
217 |
{ |
|
777
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
218 |
int res = 0; |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
219 |
|
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
220 |
CANPort* port = (CANPort*)d->canHandle; |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
221 |
if(port){ |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
222 |
((CANPort*)d->canHandle)->used = 0; |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
223 |
|
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
224 |
res = m_canClose(port->fd); |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
225 |
|
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
226 |
WaitReceiveTaskEnd(&port->receiveTask); |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
227 |
|
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
228 |
d->canHandle = NULL; |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
229 |
} |
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
230 |
|
bbbfd27c1bd1
Harmonized unix and win32 canClose_driver, fixed crash on close under win32
Edouard Tisserant
parents:
774
diff
changeset
|
231 |
return res; |
556 | 232 |
} |
233 |
||
234 |
UNS8 canChangeBaudRate(CAN_PORT port, char* baud) |
|
235 |
{ |
|
236 |
if(port){ |
|
237 |
UNS8 res; |
|
238 |
//LeaveMutex(); |
|
239 |
res = m_canChangeBaudRate(((CANPort*)port)->fd, baud); |
|
240 |
//EnterMutex(); |
|
241 |
return res; // OK |
|
577 | 242 |
} |
556 | 243 |
return 1; // NOT OK |
244 |
} |
|
245 |