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

Modified by: Jaroslav Fojtik

     7

     8

See COPYING file for copyrights details.

     9

    10

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

    11

modify it under the terms of the GNU Lesser General Public

    12

License as published by the Free Software Foundation; either

    13

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

    14

    15

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

    16

but WITHOUT ANY WARRANTY; without even the implied warranty of

    17

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    18

Lesser General Public License for more details.

    19

    20

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

    21

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

    22

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

    23

*/

    24

    25

/*

    26

 CAN driver interface.

    27

*/

    28

    29

#include <windows.h>

    30

    31

#ifdef __cplusplus

    32

extern "C" {

    33

#endif

    34

    35

#include "canfestival.h"

    36

#include "timer.h"

    37

#include "timers_driver.h"

    38

    39

#ifdef __cplusplus

    40

};

    41

#endif

    42

    43

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

    44

#ifdef UNDER_CE

    45

  #define myTEXT(str) TEXT(str)

    46

#else

    47

  #define myTEXT(str) str

    48

#endif

    49

    50

#define MAX_NB_CAN_PORTS 16

    51

    52

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

    53

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

    54

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

    55

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

    56

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

    57

    58

CANRECEIVE_DRIVER_PROC m_canReceive;

    59

CANSEND_DRIVER_PROC m_canSend;

    60

CANOPEN_DRIVER_PROC m_canOpen;

    61

CANCLOSE_DRIVER_PROC m_canClose;

    62

CANCHANGEBAUDRATE_DRIVER_PROC m_canChangeBaudRate;

    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;

    72

    73

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

    74

    75

    76

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

    77

UNS8 UnLoadCanDriver(LIB_HANDLE handle)

    78

{

    79

#ifndef NOT_USE_DYNAMIC_LOADING

    80

	if(handle != NULL)

    81

	{

    82

		FreeLibrary(handle);

    83

		handle=NULL;

    84

		return 0;

    85

	}

    86

	return -1;

    87

#else

    88

  handle = NULL;

    89

  return 0;

    90

#endif //NOT_USE_DYNAMIC_LOADING

    91

}

    92

    93

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

    94

/**

    95

 * Loads the dll and get funcs ptr

    96

 *

    97

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

    98

 * @return Library handle

    99

 */

   101

{

   102

	// driver module handle

   103

	LIB_HANDLE handle = NULL;

   104

   105

#ifndef NOT_USE_DYNAMIC_LOADING

   106

	if(handle == NULL)

   107

	{

   109

	}

   110

   111

	if (!handle)

   112

	{

   113

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

   114

    	return NULL;

   115

	}

   116

   117

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

   118

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

   119

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

   120

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

   121

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

   122

   123

	if(m_canReceive==NULL || m_canSend==NULL || m_canOpen==NULL || m_canClose==NULL || m_canChangeBaudRate==NULL)

   124

	{

   125

	  m_canReceive = NULL;

   126

	  m_canSend = NULL;

   127

	  m_canOpen = NULL;

   128

	  m_canClose = NULL;

   129

	  m_canChangeBaudRate = NULL;

   130

	  FreeLibrary(handle);

   131

	  handle = NULL;

   132

	}

   133

#else

   134

  //compiled in...

   135

  handle = 1; //TODO: remove this hack

   136

   137

  m_canReceive = canReceive_driver;

   138

	m_canSend = canSend_driver;

   139

	m_canOpen = canOpen_driver;

   140

	m_canClose = canClose_driver;

   141

	m_canChangeBaudRate = canChangeBaudRate_driver;

   142

#endif

   143

   144

   145

	return handle;

   146

}

   147

   148

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

   149

UNS8 canSend(CAN_PORT port, Message *m)

   150

{

   151

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

   152

	{

   153

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

   154

	}

   155

	return 1; /* NOT OK */	

   156

}

   157

   158

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

   159

DWORD canReceiveLoop(CAN_PORT port)

   160

{

   161

	Message m;

   162

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

   163

	{

   164

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

   165

		EnterMutex();

   166

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

   167

		LeaveMutex();

   168

	}

   169

	return 0;

   170

}

   171

   172

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

   173

CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d)

   174

{

   175

	int i;

   176

	CAN_HANDLE fd0;

   177

   178

   179

	  /* Fix of multiple opening one data set, added by J.Fojtik. */

   180

	if(d->canHandle)

   181

	{

   182

	  canClose(d);

   183

	}

   184

   185

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

   186

	{

   187

		if(!canports[i].used)

   188

		break;

   189

	}

   190

   191

	#ifndef NOT_USE_DYNAMIC_LOADING

   192

	if (m_canOpen == NULL)

   193

	{

   194

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

   195

	   	return NULL;

   196

	}

   197

	#endif

   198

   199

	fd0 = m_canOpen(board);

   200

	if(fd0)

   201

	{

   202

		canports[i].used = 1;

   203

		canports[i].fd = fd0;

   204

		canports[i].d = d;

   205

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

   206

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

   207

		return (CAN_PORT)&canports[i];

   208

	}

   209

	else

   210

	{

   211

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

   212

		return NULL;

   213

	}

   214

}

   215

   216

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

   217

int canClose(CO_Data * d)

   218

{

   219

	UNS8 res;

   220

	CANPort* tmp;

   221

   222

	tmp = (CANPort*)d->canHandle;

   223

   224

	if(tmp)

   225

	{

   226

	  d->canHandle = NULL;

   227

   228

		// close CAN port

   229

	  res = m_canClose(tmp->fd);

   230

   231

		// kill receiver task

   232

	  WaitReceiveTaskEnd(&tmp->receiveTask);

   233

   234

		// release used flag as a last step.

   235

	  tmp->used = 0;

   236

	}

   237

  else res = 255;

   238

   239

return res;

   240

}

   241

   242

UNS8 canChangeBaudRate(CAN_PORT port, char* baud)

   243

{

   244

   if(port){

   245

		UNS8 res;

   246

	    //LeaveMutex();

   247

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

   248

		//EnterMutex();

   249

		return res; // OK

   250

	}

   251

	return 1; // NOT OK

   252

}

   253