author | greg |
Fri, 14 Nov 2008 15:50:08 +0100 | |
changeset 523 | 8db762eb756b |
parent 454 | bc000083297a |
child 563 | 394440e3b6e4 |
permissions | -rw-r--r-- |
38 | 1 |
/* |
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2 |
This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
|
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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|
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6 |
See COPYING file for copyrights details. |
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7 |
|
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8 |
This library is free software; you can redistribute it and/or |
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9 |
modify it under the terms of the GNU Lesser General Public |
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10 |
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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12 |
|
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13 |
This library is distributed in the hope that it will be useful, |
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14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 |
Lesser General Public License for more details. |
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17 |
|
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18 |
You should have received a copy of the GNU Lesser General Public |
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19 |
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 |
38 | 21 |
*/ |
22 |
||
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#if defined(WIN32) && !defined(__CYGWIN__) |
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#define usleep(micro) Sleep(micro%1000 ? (micro/1000) + 1 : (micro/1000)) |
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#else |
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#include <stdio.h> |
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#include <string.h> |
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#include <errno.h> |
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#include <fcntl.h> |
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#endif |
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|
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#include "cancfg.h" |
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#include "can_driver.h" |
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#include "def.h" |
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#ifndef extra_PCAN_init_params |
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#define extra_PCAN_init_params /**/ |
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#else |
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#define extra_PCAN_init_params\ |
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,getenv("PCANHwType") ? strtol(getenv("PCANHwType"),NULL,0):0\ |
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,getenv("PCANIO_Port") ? strtol(getenv("PCANIO_Port"),NULL,0):0\ |
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,getenv("PCANInterupt") ? strtol(getenv("PCANInterupt"),NULL,0):0 |
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#endif |
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|
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static s_BOARD *first_board = NULL; |
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#ifdef PCAN2_HEADER_ |
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static s_BOARD *second_board = NULL; |
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#endif |
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|
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//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER; |
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|
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// Define for rtr CAN message |
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#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR |
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|
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/***************************************************************************/ |
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int TranslateBaudeRate(char* optarg){ |
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if(!strcmp( optarg, "1M")) return CAN_BAUD_1M; |
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if(!strcmp( optarg, "500K")) return CAN_BAUD_500K; |
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if(!strcmp( optarg, "250K")) return CAN_BAUD_250K; |
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if(!strcmp( optarg, "125K")) return CAN_BAUD_125K; |
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if(!strcmp( optarg, "100K")) return CAN_BAUD_100K; |
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if(!strcmp( optarg, "50K")) return CAN_BAUD_50K; |
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if(!strcmp( optarg, "20K")) return CAN_BAUD_20K; |
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if(!strcmp( optarg, "10K")) return CAN_BAUD_10K; |
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if(!strcmp( optarg, "5K")) return CAN_BAUD_5K; |
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if(!strcmp( optarg, "none")) return 0; |
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return 0x0000; |
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} |
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68 |
|
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void |
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canInit (s_BOARD *board) |
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{ |
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int baudrate; |
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329 | 74 |
#ifdef PCAN2_HEADER_ |
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// if not the first handler |
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if(second_board == (s_BOARD *)board) |
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if(baudrate = TranslateBaudeRate(board->baudrate)) |
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CAN2_Init (baudrate, |
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CAN_INIT_TYPE_ST extra_PCAN_init_params); |
329 | 80 |
#endif |
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if(first_board == (s_BOARD *)board) |
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if(baudrate = TranslateBaudeRate(board->baudrate)) |
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CAN_Init (baudrate, |
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CAN_INIT_TYPE_ST extra_PCAN_init_params); |
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} |
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|
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/*********functions which permit to communicate with the board****************/ |
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88 |
UNS8 |
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canReceive_driver (CAN_HANDLE fd0, Message * m) |
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{ |
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UNS8 data; |
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TPCANMsg peakMsg; |
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DWORD Res; |
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do{ |
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// We read the queue looking for messages. |
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// |
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//pthread_mutex_lock (&PeakCan_mutex); |
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#ifdef PCAN2_HEADER_ |
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// if not the first handler |
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if(second_board == (s_BOARD *)fd0) |
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Res = CAN2_Read (&peakMsg); |
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else |
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103 |
#endif |
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if(first_board == (s_BOARD *)fd0) |
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Res = CAN_Read (&peakMsg); |
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106 |
else |
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Res = CAN_ERR_BUSOFF; |
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// A message was received |
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// We process the message(s) |
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110 |
// |
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111 |
if (Res == CAN_ERR_OK) |
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112 |
{ |
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// if something different that 11bit or rtr... problem |
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114 |
if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR)) |
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115 |
{ |
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116 |
if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF) |
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117 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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diff
changeset
|
118 |
printf ("!!! Peak board read : re-init\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
119 |
canInit((s_BOARD*) fd0); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
changeset
|
120 |
usleep (10000); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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42
diff
changeset
|
121 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
122 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
123 |
// If status, return status if 29bit, return overrun |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
124 |
//pthread_mutex_unlock (&PeakCan_mutex); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
125 |
return peakMsg.MSGTYPE == |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
126 |
MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
127 |
} |
365 | 128 |
m->cob_id = peakMsg.ID; |
267
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Add win32 target (--can=win32) to compile with msys and mingw32
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parents:
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diff
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|
129 |
|
145
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
130 |
if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
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|
131 |
m->rtr = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
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|
132 |
else |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
133 |
m->rtr = 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
134 |
m->len = peakMsg.LEN; /* count of data bytes (0..8) */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
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|
135 |
for (data = 0; data < peakMsg.LEN; data++) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
136 |
m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */ |
341 | 137 |
#if defined DEBUG_MSG_CONSOLE_ON |
454 | 138 |
MSG("in : "); |
341 | 139 |
print_message(m); |
140 |
#endif |
|
145
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
changeset
|
141 |
}else{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
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|
142 |
//pthread_mutex_unlock (&PeakCan_mutex); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
changeset
|
143 |
//if (Res != CAN_ERR_OK) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
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|
144 |
//{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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42
diff
changeset
|
145 |
if (! |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
146 |
(Res & CAN_ERR_QRCVEMPTY || Res & CAN_ERR_BUSLIGHT |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
147 |
|| Res & CAN_ERR_BUSHEAVY)) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
148 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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42
diff
changeset
|
149 |
printf ("canReceive returned error (%d)\n", Res); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
150 |
return 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
151 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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42
diff
changeset
|
152 |
usleep (1000); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
153 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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diff
changeset
|
154 |
}while(Res != CAN_ERR_OK); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
155 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
156 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
157 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
158 |
/***************************************************************************/ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
159 |
UNS8 |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
160 |
canSend_driver (CAN_HANDLE fd0, Message * m) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
161 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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diff
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|
162 |
UNS8 data; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
163 |
TPCANMsg peakMsg; |
365 | 164 |
peakMsg.ID = m->cob_id; /* 11/29 bit code */ |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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changeset
|
165 |
if (m->rtr == 0) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
166 |
peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_ */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
167 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
168 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
169 |
peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_ */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
170 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
171 |
peakMsg.LEN = m->len; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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diff
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|
172 |
/* count of data bytes (0..8) */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
173 |
for (data = 0; data < m->len; data++) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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diff
changeset
|
174 |
peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */ |
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
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parents:
145
diff
changeset
|
175 |
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
176 |
do |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
177 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
178 |
#ifdef PCAN2_HEADER_ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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diff
changeset
|
179 |
// if not the first handler |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
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|
180 |
if(second_board == (s_BOARD *)fd0) |
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
181 |
{ |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
182 |
errno = CAN2_Write (&peakMsg); |
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
183 |
} |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
184 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
185 |
#endif |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
186 |
if(first_board == (s_BOARD *)fd0) |
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
187 |
{ |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
188 |
errno = CAN_Write (&peakMsg); |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
189 |
} |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
190 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
191 |
goto fail; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
192 |
if (errno) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
193 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
194 |
if (errno == CAN_ERR_BUSOFF) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
195 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
196 |
printf ("!!! Peak board write : re-init\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
197 |
canInit((s_BOARD*)fd0); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
198 |
usleep (10000); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
199 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
200 |
usleep (1000); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
201 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
202 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
203 |
while (errno != CAN_ERR_OK); |
341 | 204 |
#if defined DEBUG_MSG_CONSOLE_ON |
454 | 205 |
MSG("out : "); |
341 | 206 |
print_message(m); |
207 |
#endif |
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
208 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
209 |
fail: |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
210 |
return 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
211 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
212 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
213 |
/***************************************************************************/ |
384 | 214 |
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud) |
215 |
{ |
|
216 |
printf("canChangeBaudRate not yet supported by this driver\n"); |
|
217 |
return 0; |
|
218 |
} |
|
219 |
||
220 |
/***************************************************************************/ |
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
221 |
CAN_HANDLE |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
222 |
canOpen_driver (s_BOARD * board) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
223 |
{ |
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
224 |
char busname[64]; |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
225 |
char* pEnd; |
329 | 226 |
|
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
227 |
//printf ("Board Busname=%d.\n",strtol(board->busname, &pEnd,0)); |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
228 |
if (strtol(board->busname, &pEnd,0) == 0) |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
229 |
{ |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
230 |
first_board = board; |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
231 |
printf ("First Board selected\n"); |
329 | 232 |
canInit(board); |
233 |
return (CAN_HANDLE)board; |
|
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
234 |
} |
329 | 235 |
#ifdef PCAN2_HEADER_ |
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
236 |
if (strtol(board->busname, &pEnd,0) == 1) |
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
237 |
{ |
329 | 238 |
second_board = board; |
239 |
printf ("Second Board selected\n"); |
|
240 |
canInit(board); |
|
241 |
return (CAN_HANDLE)board; |
|
267
96c688ebcde7
Add win32 target (--can=win32) to compile with msys and mingw32
greg
parents:
145
diff
changeset
|
242 |
} |
329 | 243 |
#endif |
244 |
return NULL; |
|
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
245 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
246 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
247 |
/***************************************************************************/ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
248 |
int |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
249 |
canClose_driver (CAN_HANDLE fd0) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
250 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
251 |
#ifdef PCAN2_HEADER_ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
252 |
// if not the first handler |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
253 |
if(second_board == (s_BOARD *)fd0) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
254 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
255 |
CAN2_Close (); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
256 |
second_board = (s_BOARD *)NULL; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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257 |
}else |
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258 |
#endif |
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259 |
if(first_board == (s_BOARD *)fd0) |
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{ |
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CAN_Close (); |
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first_board = (s_BOARD *)NULL; |
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263 |
} |
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return 0; |
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} |