drivers/unix/unix.c
author etisserant
Fri, 06 Apr 2007 16:49:28 +0200
changeset 149 fe50ada8020b
parent 145 e747d2e26af0
child 151 ebf4bd44f282
permissions -rw-r--r--
Changes in the API:
- No more mandatory callbacks declared for each node anymore
heartbeatError
SDOtimeoutError
initialisation
preOperational
operational
stopped
post_sync
post_TPDO
canSend

- Fill function ptr to declare callbacks
CO_Data.heartbeatError
CO_Data.SDOtimeoutError
CO_Data.initialisation
CO_Data.preOperational
CO_Data.operational
CO_Data.stopped
CO_Data.post_sync
CO_Data.post_TPDO

- CanClose now takes CO_Data* as parameter
- canSend is provided to the stack directly by OS interface, no specific callback.
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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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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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#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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/*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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#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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#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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/*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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#ifdef WIN32
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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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		fprintf (stderr, "%s\n", dlerror());
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        	return NULL;
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	}
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#endif
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	/*Get function ptr*/
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	DLSYM(canReceive)
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	DLSYM(canSend)
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	DLSYM(canOpen)
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	DLSYM(canClose)
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	return 0;
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}
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#endif
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/*Not needed -- canReceiveLoop calls _canReceive directly *//*
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UNS8 canReceive(CAN_PORT port, Message *m)
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{
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	return DLL_CALL(canReceive)(port->fd, Message *m);
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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){
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		UNS8 res;
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	        LeaveMutex();
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		res = DLL_CALL(canSend)(((CANPort*)port)->fd, m);
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		EnterMutex();
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		return res;
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	}               
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	return -1;
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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 (1) {
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               if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
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                       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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CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
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{
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	int i;
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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 (&DLL_CALL(canOpen)==NULL) {
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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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	CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
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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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	CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
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	EnterMutex();
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	d->canHandle = (CAN_PORT)&canports[i];
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	LeaveMutex();
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	return (CAN_PORT)&canports[i];
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}
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149
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int canClose(CO_Data * d)
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{
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	EnterMutex();
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	((CANPort*)d->canHandle)->used = 0;
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	CANPort* tmp = (CANPort*)d->canHandle;
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	d->canHandle = NULL;
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	LeaveMutex();
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	int res = DLL_CALL(canClose)(tmp->fd);
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	WaitReceiveTaskEnd(tmp->receiveTask);
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	return res;
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}