1 /* |
1 /* |
2 This file is part of CanFestival, a library implementing CanOpen Stack. |
2 This file is part of CanFestival, a library implementing CanOpen Stack. |
3 |
3 |
4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
5 Copyright (C) Win32 Port Leonid Tochinski |
5 Copyright (C) Win32 Port Leonid Tochinski |
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6 Modified by: Jaroslav Fojtik |
6 |
7 |
7 See COPYING file for copyrights details. |
8 See COPYING file for copyrights details. |
8 |
9 |
9 This library is free software; you can redistribute it and/or |
10 This library is free software; you can redistribute it and/or |
10 modify it under the terms of the GNU Lesser General Public |
11 modify it under the terms of the GNU Lesser General Public |
116 m_canReceive = (CANRECEIVE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canReceive_driver")); |
117 m_canReceive = (CANRECEIVE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canReceive_driver")); |
117 m_canSend = (CANSEND_DRIVER_PROC)GetProcAddress(handle, myTEXT("canSend_driver")); |
118 m_canSend = (CANSEND_DRIVER_PROC)GetProcAddress(handle, myTEXT("canSend_driver")); |
118 m_canOpen = (CANOPEN_DRIVER_PROC)GetProcAddress(handle, myTEXT("canOpen_driver")); |
119 m_canOpen = (CANOPEN_DRIVER_PROC)GetProcAddress(handle, myTEXT("canOpen_driver")); |
119 m_canClose = (CANCLOSE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canClose_driver")); |
120 m_canClose = (CANCLOSE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canClose_driver")); |
120 m_canChangeBaudRate = (CANCHANGEBAUDRATE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canChangeBaudRate_driver")); |
121 m_canChangeBaudRate = (CANCHANGEBAUDRATE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canChangeBaudRate_driver")); |
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122 |
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123 if(m_canReceive==NULL || m_canSend==NULL || m_canOpen==NULL || m_canClose==NULL || m_canChangeBaudRate==NULL) |
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124 { |
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125 m_canReceive = NULL; |
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126 m_canSend = NULL; |
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127 m_canOpen = NULL; |
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128 m_canClose = NULL; |
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129 m_canChangeBaudRate = NULL; |
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130 FreeLibrary(handle); |
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131 handle = NULL; |
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132 } |
121 #else |
133 #else |
122 //compiled in... |
134 //compiled in... |
123 handle = 1; //TODO: remove this hack |
135 handle = 1; //TODO: remove this hack |
124 |
136 |
125 m_canReceive = canReceive_driver; |
137 m_canReceive = canReceive_driver; |
138 { |
150 { |
139 if (port && (m_canSend != NULL)) |
151 if (port && (m_canSend != NULL)) |
140 { |
152 { |
141 return m_canSend(((CANPort*)port)->fd, m); |
153 return m_canSend(((CANPort*)port)->fd, m); |
142 } |
154 } |
143 return 1; |
155 return 1; /* NOT OK */ |
144 } |
156 } |
145 |
157 |
146 /***************************************************************************/ |
158 /***************************************************************************/ |
147 void canReceiveLoop(CAN_PORT port) |
159 DWORD canReceiveLoop(CAN_PORT port) |
148 { |
160 { |
149 Message m; |
161 Message m; |
150 while(((CANPort*)port)->used) |
162 while(((CANPort*)port)->used) |
151 { |
163 { |
152 if(m_canReceive(((CANPort*)port)->fd, &m) != 0) break; |
164 if(m_canReceive(((CANPort*)port)->fd, &m) != 0) continue; |
153 EnterMutex(); |
165 EnterMutex(); |
154 canDispatch(((CANPort*)port)->d, &m); |
166 canDispatch(((CANPort*)port)->d, &m); |
155 LeaveMutex(); |
167 LeaveMutex(); |
156 } |
168 } |
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169 return 0; |
157 } |
170 } |
158 |
171 |
159 /***************************************************************************/ |
172 /***************************************************************************/ |
160 CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d) |
173 CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d) |
161 { |
174 { |
162 int i; |
175 int i; |
163 CAN_HANDLE fd0; |
176 CAN_HANDLE fd0; |
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177 |
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178 |
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179 /* Fix of multiple opening one data set, added by J.Fojtik. */ |
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180 if(d->canHandle) |
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181 { |
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182 canClose(d); |
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183 } |
164 |
184 |
165 for(i=0; i < MAX_NB_CAN_PORTS; i++) |
185 for(i=0; i < MAX_NB_CAN_PORTS; i++) |
166 { |
186 { |
167 if(!canports[i].used) |
187 if(!canports[i].used) |
168 break; |
188 break; |
194 } |
214 } |
195 |
215 |
196 /***************************************************************************/ |
216 /***************************************************************************/ |
197 int canClose(CO_Data * d) |
217 int canClose(CO_Data * d) |
198 { |
218 { |
199 UNS8 res = 1; |
219 UNS8 res; |
200 CANPort* tmp; |
220 CANPort* tmp; |
201 |
221 |
202 if((CANPort*)d->canHandle) |
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203 { |
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204 ((CANPort*)d->canHandle)->used = 0; |
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205 } |
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206 |
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207 tmp = (CANPort*)d->canHandle; |
222 tmp = (CANPort*)d->canHandle; |
208 |
223 |
209 if(tmp) |
224 if(tmp) |
210 { |
225 { |
211 // kill receiver task before port is closed and handle set to NULL |
226 d->canHandle = NULL; |
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227 |
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228 // close CAN port |
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229 res = m_canClose(tmp->fd); |
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230 |
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231 // kill receiver task |
212 WaitReceiveTaskEnd(&tmp->receiveTask); |
232 WaitReceiveTaskEnd(&tmp->receiveTask); |
213 |
233 |
214 // close CAN port |
234 // release used flag as a last step. |
215 res = m_canClose(tmp->fd); |
235 tmp->used = 0; |
216 } |
236 } |
217 |
237 else res = 255; |
218 d->canHandle = NULL; |
238 |
219 |
239 return res; |
220 return res; |
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221 } |
240 } |
222 |
241 |
223 UNS8 canChangeBaudRate(CAN_PORT port, char* baud) |
242 UNS8 canChangeBaudRate(CAN_PORT port, char* baud) |
224 { |
243 { |
225 if(port){ |
244 if(port){ |