author | etisserant |
Wed, 04 Apr 2007 13:04:31 +0200 | |
changeset 145 | e747d2e26af0 |
child 149 | fe50ada8020b |
permissions | -rw-r--r-- |
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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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9 |
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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15 |
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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17 |
|
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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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#include <unistd.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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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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#ifdef WIN32 |
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#define DLSYM(name)\ |
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*(void **) (&_##name) = GetProcAddress(handle, TEXT(#name"_driver"));\ |
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if (name##_driver == NULL) {\ |
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fprintf (stderr, "Error loading symbol %s\n",#name"_driver");\ |
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UnLoadCanDriver(handle);\ |
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return NULL;\ |
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} |
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#else |
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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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#endif |
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#else /*NOT_USE_DYNAMIC_LOADING*/ |
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|
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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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|
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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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typedef struct { |
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char used; |
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CAN_HANDLE fd; |
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TASK_HANDLE receiveTask; |
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CO_Data* d; |
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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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|
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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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#ifdef WIN32 |
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FreeLibrary(handle); |
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#else |
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dlclose(handle); |
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#endif |
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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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LIB_HANDLE LoadCanDriver(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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|
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#ifdef WIN32 |
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|
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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 == NULL) { |
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fprintf(stderr,"Error loading Can Driver dll \n"); |
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return -1; |
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} |
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#else |
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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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122 |
fprintf (stderr, "%s\n", dlerror()); |
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123 |
return NULL; |
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124 |
} |
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125 |
#endif |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
126 |
|
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|
127 |
/*Get function ptr*/ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
128 |
DLSYM(canReceive) |
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129 |
DLSYM(canSend) |
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130 |
DLSYM(canOpen) |
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131 |
DLSYM(canClose) |
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|
132 |
|
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133 |
return 0; |
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|
134 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
135 |
|
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136 |
#endif |
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|
137 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
138 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
139 |
|
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|
140 |
/*Not needed -- canReceiveLoop calls _canReceive directly *//* |
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141 |
UNS8 canReceive(CAN_PORT port, Message *m) |
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142 |
{ |
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|
143 |
return DLL_CALL(canReceive)(port->fd, Message *m); |
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|
144 |
} |
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|
145 |
*/ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
146 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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147 |
UNS8 canSend(CAN_PORT port, Message *m) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
148 |
{ |
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149 |
return DLL_CALL(canSend)(((CANPort*)port)->fd, m); |
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|
150 |
} |
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|
151 |
|
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152 |
void canReceiveLoop(CAN_PORT port) |
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153 |
{ |
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|
154 |
Message m; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
155 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
156 |
while (1) { |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
157 |
if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
158 |
break; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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changeset
|
159 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
160 |
EnterMutex(); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
161 |
canDispatch(((CANPort*)port)->d, &m); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
162 |
LeaveMutex(); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
163 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
164 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
165 |
CAN_PORT canOpen(s_BOARD *board, CO_Data * d) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
166 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
167 |
int i; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
168 |
for(i=0; i < MAX_NB_CAN_PORTS; i++) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
169 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
170 |
if(!canports[i].used) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
171 |
break; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
changeset
|
172 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
173 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
174 |
#ifndef NOT_USE_DYNAMIC_LOADING |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
175 |
if (&DLL_CALL(canOpen)==NULL) { |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
176 |
fprintf(stderr,"CanOpen : Can Driver dll not loaded\n"); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
177 |
return NULL; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
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|
178 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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changeset
|
179 |
#endif |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
180 |
CAN_HANDLE fd0 = DLL_CALL(canOpen)(board); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
181 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
182 |
canports[i].used = 1; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
183 |
canports[i].fd = fd0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
184 |
canports[i].d = d; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
185 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
186 |
CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
187 |
|
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|
188 |
return (CAN_PORT)&canports[i]; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
189 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
190 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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|
191 |
int canClose(CAN_PORT port) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
192 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
193 |
((CANPort*)port)->used = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
194 |
int res = DLL_CALL(canClose)(((CANPort*)port)->fd); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
195 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
196 |
WaitReceiveTaskEnd(((CANPort*)port)->receiveTask); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
197 |
return res; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
198 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
199 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
200 |