author | Christian Taedcke <hacking@taedcke.com> |
Tue, 22 May 2012 09:17:19 +0200 | |
changeset 731 | c4793e10e04f |
parent 723 | c33da109a4c8 |
child 773 | c10def4bfbde |
permissions | -rwxr-xr-x |
556 | 1 |
/* |
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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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Modified by: Jaroslav Fojtik |
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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(LPCSTR 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 = LoadLibraryA(driver_name); |
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} |
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if (!handle) |
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{ |
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add timeout for waitreceivetaskend for the win32, fix GetLastError print
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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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if(m_canReceive==NULL || m_canSend==NULL || m_canOpen==NULL || m_canClose==NULL || m_canChangeBaudRate==NULL) |
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{ |
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m_canReceive = NULL; |
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m_canSend = NULL; |
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m_canOpen = NULL; |
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m_canClose = NULL; |
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m_canChangeBaudRate = NULL; |
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FreeLibrary(handle); |
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handle = NULL; |
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} |
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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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if (port && (m_canSend != NULL)) |
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{ |
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return m_canSend(((CANPort*)port)->fd, m); |
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} |
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return 1; /* NOT OK */ |
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} |
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/***************************************************************************/ |
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DWORD 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) continue; |
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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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return 0; |
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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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/* Fix of multiple opening one data set, added by J.Fojtik. */ |
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if(d->canHandle) |
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{ |
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canClose(d); |
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} |
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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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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; |
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CANPort* tmp; |
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tmp = (CANPort*)d->canHandle; |
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if(tmp) |
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{ |
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d->canHandle = NULL; |
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// close CAN port |
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res = m_canClose(tmp->fd); |
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// kill receiver task |
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WaitReceiveTaskEnd(&tmp->receiveTask); |
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// release used flag as a last step. |
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tmp->used = 0; |
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} |
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else res = 255; |
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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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577 | 250 |
} |
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return 1; // NOT OK |
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} |
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