|
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 |
|
7 See COPYING file for copyrights details. |
|
8 |
|
9 This library is free software; you can redistribute it and/or |
|
10 modify it under the terms of the GNU Lesser General Public |
|
11 License as published by the Free Software Foundation; either |
|
12 version 2.1 of the License, or (at your option) any later version. |
|
13 |
|
14 This library is distributed in the hope that it will be useful, |
|
15 but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
|
17 Lesser General Public License for more details. |
|
18 |
|
19 You should have received a copy of the GNU Lesser General Public |
|
20 License along with this library; if not, write to the Free Software |
|
21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
|
22 */ |
|
23 |
|
24 /* |
|
25 CAN driver interface. |
|
26 */ |
|
27 |
|
28 #include <windows.h> |
|
29 |
|
30 #include "canfestival.h" |
|
31 #include "timer.h" |
|
32 #include "timers_driver.h" |
|
33 |
|
34 // GetProcAddress doesn't have an UNICODE version for NT |
|
35 #ifdef UNDER_CE |
|
36 #define myTEXT(str) TEXT(str) |
|
37 #else |
|
38 #define myTEXT(str) str |
|
39 #endif |
|
40 |
|
41 #define MAX_NB_CAN_PORTS 16 |
|
42 |
|
43 typedef UNS8 (CALLBACK* CANRECEIVE_DRIVER_PROC)(void* inst, Message *m); |
|
44 typedef UNS8 (CALLBACK* CANSEND_DRIVER_PROC)(void* inst, const Message *m); |
|
45 typedef void* (CALLBACK* CANOPEN_DRIVER_PROC)(s_BOARD *board); |
|
46 typedef int (CALLBACK* CANCLOSE_DRIVER_PROC)(void* inst); |
|
47 typedef UNS8 (CALLBACK* CANCHANGEBAUDRATE_DRIVER_PROC)(void* fd, char* baud); |
|
48 |
|
49 CANRECEIVE_DRIVER_PROC m_canReceive; |
|
50 CANSEND_DRIVER_PROC m_canSend; |
|
51 CANOPEN_DRIVER_PROC m_canOpen; |
|
52 CANCLOSE_DRIVER_PROC m_canClose; |
|
53 CANCHANGEBAUDRATE_DRIVER_PROC m_canChangeBaudRate; |
|
54 |
|
55 /* CAN port structure */ |
|
56 typedef struct |
|
57 { |
|
58 char used; /**< flag indicating CAN port usage, will be used to abort Receiver task*/ |
|
59 CAN_HANDLE fd; /**< CAN port file descriptor*/ |
|
60 TASK_HANDLE receiveTask; /**< CAN Receiver task*/ |
|
61 CO_Data* d; /**< CAN object data*/ |
|
62 }CANPort; |
|
63 |
|
64 CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}}; |
|
65 |
|
66 |
|
67 /***************************************************************************/ |
|
68 UNS8 UnLoadCanDriver(LIB_HANDLE handle) |
|
69 { |
|
70 if(handle != NULL) |
|
71 { |
|
72 FreeLibrary(handle); |
|
73 handle=NULL; |
|
74 return 0; |
|
75 } |
|
76 return -1; |
|
77 } |
|
78 |
|
79 /***************************************************************************/ |
|
80 /** |
|
81 * Loads the dll and get funcs ptr |
|
82 * |
|
83 * @param driver_name String containing driver's dynamic library name |
|
84 * @return Library handle |
|
85 */ |
|
86 LIB_HANDLE LoadCanDriver(LPCTSTR driver_name) |
|
87 { |
|
88 // driver module handle |
|
89 LIB_HANDLE handle = NULL; |
|
90 |
|
91 if(handle == NULL) |
|
92 { |
|
93 handle = LoadLibrary(driver_name); |
|
94 } |
|
95 |
|
96 if (!handle) |
|
97 { |
|
98 fprintf (stderr, "%s\n", GetLastError()); |
|
99 return NULL; |
|
100 } |
|
101 |
|
102 m_canReceive = (CANRECEIVE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canReceive_driver")); |
|
103 m_canSend = (CANSEND_DRIVER_PROC)GetProcAddress(handle, myTEXT("canSend_driver")); |
|
104 m_canOpen = (CANOPEN_DRIVER_PROC)GetProcAddress(handle, myTEXT("canOpen_driver")); |
|
105 m_canClose = (CANCLOSE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canClose_driver")); |
|
106 m_canChangeBaudRate = (CANCHANGEBAUDRATE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canChangeBaudRate_driver")); |
|
107 |
|
108 return handle; |
|
109 } |
|
110 |
|
111 /***************************************************************************/ |
|
112 UNS8 canSend(CAN_PORT port, Message *m) |
|
113 { |
|
114 UNS8 res; |
|
115 if (port && (m_canSend != NULL)) |
|
116 { |
|
117 res = m_canSend(((CANPort*)port)->fd, m); |
|
118 if (res) return 1; // OK |
|
119 } |
|
120 return 0; // NOT OK |
|
121 } |
|
122 |
|
123 /***************************************************************************/ |
|
124 void canReceiveLoop(CAN_PORT port) |
|
125 { |
|
126 Message m; |
|
127 while(((CANPort*)port)->used) |
|
128 { |
|
129 if(m_canReceive(((CANPort*)port)->fd, &m) != 0) break; |
|
130 EnterMutex(); |
|
131 canDispatch(((CANPort*)port)->d, &m); |
|
132 LeaveMutex(); |
|
133 } |
|
134 } |
|
135 |
|
136 /***************************************************************************/ |
|
137 CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d) |
|
138 { |
|
139 int i; |
|
140 for(i=0; i < MAX_NB_CAN_PORTS; i++) |
|
141 { |
|
142 if(!canports[i].used) |
|
143 break; |
|
144 } |
|
145 |
|
146 #ifndef NOT_USE_DYNAMIC_LOADING |
|
147 if (m_canOpen == NULL) |
|
148 { |
|
149 fprintf(stderr,"CanOpen : Can Driver dll not loaded\n"); |
|
150 return NULL; |
|
151 } |
|
152 #endif |
|
153 |
|
154 CAN_HANDLE fd0 = m_canOpen(board); |
|
155 if(fd0) |
|
156 { |
|
157 canports[i].used = 1; |
|
158 canports[i].fd = fd0; |
|
159 canports[i].d = d; |
|
160 d->canHandle = (CAN_PORT)&canports[i]; |
|
161 CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop); |
|
162 return (CAN_PORT)&canports[i]; |
|
163 } |
|
164 else |
|
165 { |
|
166 MSG("CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate); |
|
167 return NULL; |
|
168 } |
|
169 } |
|
170 |
|
171 /***************************************************************************/ |
|
172 int canClose(CO_Data * d) |
|
173 { |
|
174 UNS8 res; |
|
175 |
|
176 ((CANPort*)d->canHandle)->used = 0; |
|
177 CANPort* tmp = (CANPort*)d->canHandle; |
|
178 d->canHandle = NULL; |
|
179 |
|
180 // close CAN port |
|
181 res = m_canClose(tmp->fd); |
|
182 |
|
183 // kill receiver task |
|
184 WaitReceiveTaskEnd(&tmp->receiveTask); |
|
185 |
|
186 return res; |
|
187 } |
|
188 |
|
189 UNS8 canChangeBaudRate(CAN_PORT port, char* baud) |
|
190 { |
|
191 if(port){ |
|
192 UNS8 res; |
|
193 //LeaveMutex(); |
|
194 res = m_canChangeBaudRate(((CANPort*)port)->fd, baud); |
|
195 //EnterMutex(); |
|
196 return res; // OK |
|
197 } |
|
198 return 1; // NOT OK |
|
199 } |
|
200 |