author | lbessard |
Mon, 28 May 2007 18:08:24 +0200 | |
changeset 205 | dac0f9b4e3f8 |
parent 145 | e747d2e26af0 |
child 267 | 96c688ebcde7 |
permissions | -rw-r--r-- |
38 | 1 |
/* |
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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 |
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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#include "cancfg.h" |
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#include "can_driver.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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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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//pthread_mutex_t PeakCan_mutex = PTHREAD_MUTEX_INITIALIZER; |
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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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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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void |
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canInit (s_BOARD *board) |
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{ |
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int baudrate; |
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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 *)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); |
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#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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/*********functions which permit to communicate with the board****************/ |
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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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#endif |
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if(first_board == (s_BOARD *)fd0) |
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Res = CAN_Read (&peakMsg); |
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else |
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Res = CAN_ERR_BUSOFF; |
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|
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// A message was received |
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// We process the message(s) |
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// |
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if (Res == CAN_ERR_OK) |
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{ |
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// if something different that 11bit or rtr... problem |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
117 |
if (peakMsg.MSGTYPE & ~(MSGTYPE_STANDARD | MSGTYPE_RTR)) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
118 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
119 |
if (peakMsg.MSGTYPE == CAN_ERR_BUSOFF) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
120 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
121 |
printf ("!!! Peak board read : re-init\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
122 |
canInit((s_BOARD*) fd0); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
123 |
usleep (10000); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
124 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
125 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
126 |
// If status, return status if 29bit, return overrun |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
127 |
//pthread_mutex_unlock (&PeakCan_mutex); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
128 |
return peakMsg.MSGTYPE == |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
129 |
MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
130 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
131 |
m->cob_id.w = peakMsg.ID; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
132 |
if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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42
diff
changeset
|
133 |
m->rtr = 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
134 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
135 |
m->rtr = 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
136 |
m->len = peakMsg.LEN; /* count of data bytes (0..8) */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
137 |
for (data = 0; data < peakMsg.LEN; data++) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
138 |
m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
139 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
140 |
}else{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
141 |
//pthread_mutex_unlock (&PeakCan_mutex); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
142 |
//if (Res != CAN_ERR_OK) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
143 |
//{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
144 |
if (! |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
145 |
(Res & CAN_ERR_QRCVEMPTY || Res & CAN_ERR_BUSLIGHT |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
146 |
|| Res & CAN_ERR_BUSHEAVY)) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
147 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
148 |
printf ("canReceive returned error (%d)\n", Res); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
149 |
return 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
150 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
151 |
usleep (1000); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
152 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
153 |
}while(Res != CAN_ERR_OK); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
154 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
155 |
} |
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 |
UNS8 |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
159 |
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
|
160 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
161 |
UNS8 data; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
162 |
TPCANMsg peakMsg; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
163 |
peakMsg.ID = m->cob_id.w; /* 11/29 bit code */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
164 |
if (m->rtr == 0) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
165 |
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
|
166 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
167 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
168 |
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
parents:
42
diff
changeset
|
169 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
170 |
peakMsg.LEN = m->len; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
171 |
/* count of data bytes (0..8) */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
172 |
for (data = 0; data < m->len; data++) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
173 |
peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
174 |
do |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
175 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
176 |
#ifdef PCAN2_HEADER_ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
177 |
// if not the first handler |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
178 |
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
|
179 |
errno = CAN2_Write (&peakMsg); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
180 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
181 |
#endif |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
182 |
if(first_board == (s_BOARD *)fd0) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
183 |
errno = CAN_Write (&peakMsg); |
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 |
goto fail; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
186 |
if (errno) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
187 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
188 |
if (errno == CAN_ERR_BUSOFF) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
189 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
190 |
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
|
191 |
canInit((s_BOARD*)fd0); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
192 |
usleep (10000); |
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 |
usleep (1000); |
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 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
197 |
while (errno != CAN_ERR_OK); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
198 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
199 |
fail: |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
200 |
return 1; |
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 |
/***************************************************************************/ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
204 |
CAN_HANDLE |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
205 |
canOpen_driver (s_BOARD * board) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
206 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
207 |
#ifdef PCAN2_HEADER_ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
208 |
if(first_board != NULL && second_board != NULL) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
209 |
#else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
210 |
if(first_board != NULL) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
211 |
#endif |
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 |
fprintf (stderr, "Open failed.\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
214 |
fprintf (stderr, |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
215 |
"can_peak_win32.c: no more can port available with this pcan library\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
216 |
fprintf (stderr, |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
217 |
"can_peak_win32.c: please link another executable with another pcan lib\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
218 |
return NULL; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
219 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
220 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
221 |
#ifdef PCAN2_HEADER_ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
222 |
if(first_board == NULL) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
223 |
first_board = board; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
224 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
225 |
second_board = board; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
226 |
#else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
227 |
first_board = board; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
228 |
#endif |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
229 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
230 |
canInit(board); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
231 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
232 |
return (CAN_HANDLE)board; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
233 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
42
diff
changeset
|
234 |
|
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/***************************************************************************/ |
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236 |
int |
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canClose_driver (CAN_HANDLE fd0) |
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{ |
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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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{ |
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CAN2_Close (); |
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second_board = (s_BOARD *)NULL; |
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}else |
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#endif |
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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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} |
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return 0; |
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} |