drivers/win32/win32.c
author Christian Taedcke
Fri, 28 Jan 2011 14:51:18 +0100
changeset 657 c0e68a63f600
parent 652 3b5789c34499
child 687 e23df9586397
permissions -rwxr-xr-x
FIX: - if a sdo transfer timeout occurres, reset the sdo line even if the callback function does not.
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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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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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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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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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#ifdef __cplusplus
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extern "C" {
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#endif
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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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#ifdef __cplusplus
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};
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#endif
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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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#define MAX_NB_CAN_PORTS 16
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typedef UNS8 (CALLBACK* CANRECEIVE_DRIVER_PROC)(void* inst, Message *m);
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typedef UNS8 (CALLBACK* CANSEND_DRIVER_PROC)(void* inst, const Message *m);
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typedef void* (CALLBACK* CANOPEN_DRIVER_PROC)(s_BOARD *board);
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typedef int (CALLBACK* CANCLOSE_DRIVER_PROC)(void* inst);
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typedef UNS8 (CALLBACK* CANCHANGEBAUDRATE_DRIVER_PROC)(void* fd, char* baud);
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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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CANCHANGEBAUDRATE_DRIVER_PROC m_canChangeBaudRate;
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/* CAN port structure */
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typedef struct
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{
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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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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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/***************************************************************************/
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UNS8 UnLoadCanDriver(LIB_HANDLE handle)
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{
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#ifndef NOT_USE_DYNAMIC_LOADING
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	if(handle != NULL)
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	{
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		FreeLibrary(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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#else
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  handle = NULL;
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  return 0;
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#endif //NOT_USE_DYNAMIC_LOADING
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}
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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(LPCTSTR driver_name)
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{
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	// driver module handle
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	LIB_HANDLE handle = NULL;
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#ifndef NOT_USE_DYNAMIC_LOADING
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	if(handle == NULL)
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	{
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		handle = LoadLibrary(driver_name);
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	}
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	if (!handle)
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	{
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		fprintf (stderr, "%d\n", GetLastError());
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    	return NULL;
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	}
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	m_canReceive = (CANRECEIVE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canReceive_driver"));
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	m_canSend = (CANSEND_DRIVER_PROC)GetProcAddress(handle, myTEXT("canSend_driver"));
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	m_canOpen = (CANOPEN_DRIVER_PROC)GetProcAddress(handle, myTEXT("canOpen_driver"));
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	m_canClose = (CANCLOSE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canClose_driver"));
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	m_canChangeBaudRate = (CANCHANGEBAUDRATE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canChangeBaudRate_driver"));
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#else
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  //compiled in...
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  handle = 1; //TODO: remove this hack
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  m_canReceive = canReceive_driver;
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	m_canSend = canSend_driver;
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	m_canOpen = canOpen_driver;
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	m_canClose = canClose_driver;
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	m_canChangeBaudRate = canChangeBaudRate_driver;
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#endif
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	return handle;
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}
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/***************************************************************************/
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UNS8 canSend(CAN_PORT port, Message *m)
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{
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	UNS8 res = 1; //NOT OK
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	if (port && (m_canSend != NULL))
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	{
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		res = m_canSend(((CANPort*)port)->fd, m);
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	}
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	return res;
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}
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/***************************************************************************/
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void canReceiveLoop(CAN_PORT port)
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{
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	Message m;
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	while(((CANPort*)port)->used)
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	{
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		if(m_canReceive(((CANPort*)port)->fd, &m) != 0) break;
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		EnterMutex();
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		canDispatch(((CANPort*)port)->d, &m);
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		LeaveMutex();
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	}
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}
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/***************************************************************************/
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CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d)
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{
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	int i;
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    CAN_HANDLE fd0;
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	for(i=0; i < MAX_NB_CAN_PORTS; i++)
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	{
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		if(!canports[i].used)
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		break;
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	}
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	#ifndef NOT_USE_DYNAMIC_LOADING
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	if (m_canOpen == NULL)
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	{
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	   	fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
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	   	return NULL;
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	}
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	#endif
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	fd0 = m_canOpen(board);
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	if(fd0)
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	{
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		canports[i].used = 1;
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		canports[i].fd = fd0;
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		canports[i].d = d;
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		d->canHandle = (CAN_PORT)&canports[i];
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		CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, (void *)canReceiveLoop);
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		return (CAN_PORT)&canports[i];
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	}
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	else
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	{
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00bc03cb5606 CHANGED: - option to integrate a can driver statically (hack)
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		MSG(("CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate));
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		return NULL;
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	}
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}
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/***************************************************************************/
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int canClose(CO_Data * d)
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{
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	UNS8 res = 1;
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	CANPort* tmp;
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	if((CANPort*)d->canHandle)
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	{
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	  ((CANPort*)d->canHandle)->used = 0;
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	}
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	tmp = (CANPort*)d->canHandle;
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	if(tmp)
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	{
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	  // kill receiver task before port is closed and handle set to NULL
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	  WaitReceiveTaskEnd(&tmp->receiveTask);
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	  // close CAN port
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	  res = m_canClose(tmp->fd);
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	}
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	d->canHandle = NULL;
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	return res;
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}
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UNS8 canChangeBaudRate(CAN_PORT port, char* baud)
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{
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   if(port){
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		UNS8 res;
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	    //LeaveMutex();
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		res = m_canChangeBaudRate(((CANPort*)port)->fd, baud);
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		//EnterMutex();
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		return res; // OK
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	}
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	return 1; // NOT OK
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}
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