author | 'Laurent Bessard <laurent.bessard@lolitech.fr>' |
Fri, 07 Aug 2009 15:59:35 +0200 | |
changeset 583 | a2c74eca6bf2 |
parent 480 | d0d76932ad74 |
child 629 | b9274b595650 |
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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#ifndef __KERNEL__ |
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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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#else |
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#include <linux/module.h> |
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#endif |
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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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/** CAN port structure */ |
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typedef struct { |
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char used; /**< flag indicating CAN port usage, will be used to abort Receiver task*/ |
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CAN_HANDLE fd; /**< CAN port file descriptor*/ |
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TASK_HANDLE receiveTask; /**< CAN Receiver task*/ |
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CO_Data* d; /**< CAN object data*/ |
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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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/** |
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* Loads the dll and get funcs ptr |
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* |
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* @param driver_name String containing driver's dynamic library name |
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* @return Library handle |
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*/ |
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LIB_HANDLE LoadCanDriver(const 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(canChangeBaudRate) |
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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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|
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/** |
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* CAN send routine |
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* @param port CAN port |
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* @param m CAN message |
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* @return success or error |
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136 |
*/ |
145
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137 |
UNS8 canSend(CAN_PORT port, Message *m) |
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{ |
149 | 139 |
if(port){ |
140 |
UNS8 res; |
|
155
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141 |
//LeaveMutex(); |
149 | 142 |
res = DLL_CALL(canSend)(((CANPort*)port)->fd, m); |
155
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143 |
//EnterMutex(); |
267
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144 |
return res; // OK |
149 | 145 |
} |
267
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146 |
return 1; // NOT OK |
145
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} |
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148 |
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/** |
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* CAN Receiver Task |
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* @param port CAN port |
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152 |
*/ |
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void canReceiveLoop(CAN_PORT port) |
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{ |
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155 |
Message m; |
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156 |
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while (((CANPort*)port)->used) { |
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if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0) |
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break; |
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160 |
|
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161 |
EnterMutex(); |
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canDispatch(((CANPort*)port)->d, &m); |
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163 |
LeaveMutex(); |
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164 |
} |
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} |
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166 |
|
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167 |
/** |
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168 |
* CAN open routine |
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* @param board device name and baudrate |
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170 |
* @param d CAN object data |
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171 |
* @return valid CAN_PORT pointer or NULL |
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172 |
*/ |
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CAN_PORT canOpen(s_BOARD *board, CO_Data * d) |
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174 |
{ |
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175 |
int i; |
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176 |
for(i=0; i < MAX_NB_CAN_PORTS; i++) |
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177 |
{ |
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178 |
if(!canports[i].used) |
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179 |
break; |
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180 |
} |
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181 |
|
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182 |
#ifndef NOT_USE_DYNAMIC_LOADING |
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183 |
if (&DLL_CALL(canOpen)==NULL) { |
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fprintf(stderr,"CanOpen : Can Driver dll not loaded\n"); |
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185 |
return NULL; |
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186 |
} |
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187 |
#endif |
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188 |
CAN_HANDLE fd0 = DLL_CALL(canOpen)(board); |
162 | 189 |
if(fd0){ |
190 |
canports[i].used = 1; |
|
191 |
canports[i].fd = fd0; |
|
192 |
canports[i].d = d; |
|
454 | 193 |
d->canHandle = (CAN_PORT)&canports[i]; |
162 | 194 |
CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop); |
195 |
return (CAN_PORT)&canports[i]; |
|
196 |
}else{ |
|
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197 |
MSG("CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate); |
162 | 198 |
return NULL; |
199 |
} |
|
145
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200 |
} |
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201 |
|
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202 |
/** |
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203 |
* CAN close routine |
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204 |
* @param d CAN object data |
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* @return success or error |
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206 |
*/ |
149 | 207 |
int canClose(CO_Data * d) |
208 |
{ |
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209 |
UNS8 res; |
454 | 210 |
|
149 | 211 |
((CANPort*)d->canHandle)->used = 0; |
212 |
CANPort* tmp = (CANPort*)d->canHandle; |
|
213 |
d->canHandle = NULL; |
|
214 |
||
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215 |
// close CAN port |
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216 |
res = DLL_CALL(canClose)(tmp->fd); |
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217 |
|
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218 |
// kill receiver task |
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219 |
WaitReceiveTaskEnd(&tmp->receiveTask); |
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220 |
|
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221 |
return res; |
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222 |
} |
384 | 223 |
|
224 |
||
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225 |
/** |
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226 |
* CAN change baudrate routine |
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227 |
* @param port CAN port |
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228 |
* @param baud baudrate |
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229 |
* @return success or error |
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230 |
*/ |
384 | 231 |
UNS8 canChangeBaudRate(CAN_PORT port, char* baud) |
232 |
{ |
|
233 |
if(port){ |
|
234 |
UNS8 res; |
|
235 |
//LeaveMutex(); |
|
236 |
res = DLL_CALL(canChangeBaudRate)(((CANPort*)port)->fd, baud); |
|
237 |
//EnterMutex(); |
|
238 |
return res; // OK |
|
239 |
} |
|
240 |
return 1; // NOT OK |
|
241 |
} |
|
391
7802a7d5584f
Accepted Vladimir Chren linux kernelspace port patch.
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|
242 |
|
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Accepted Vladimir Chren linux kernelspace port patch.
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|
243 |
|
7802a7d5584f
Accepted Vladimir Chren linux kernelspace port patch.
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|
244 |
#ifdef __KERNEL__ |
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|
245 |
EXPORT_SYMBOL (canOpen); |
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Accepted Vladimir Chren linux kernelspace port patch.
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|
246 |
EXPORT_SYMBOL (canClose); |
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Accepted Vladimir Chren linux kernelspace port patch.
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247 |
EXPORT_SYMBOL (canSend); |
467 | 248 |
EXPORT_SYMBOL (canChangeBaudRate); |
391
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249 |
#endif |