|
1 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> |
|
2 <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> |
|
3 <title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/drivers/unix/unix.c Source File</title> |
|
4 <link href="doxygen.css" rel="stylesheet" type="text/css"> |
|
5 <link href="tabs.css" rel="stylesheet" type="text/css"> |
|
6 </head><body> |
|
7 <!-- Generated by Doxygen 1.5.1 --> |
|
8 <div class="tabs"> |
|
9 <ul> |
|
10 <li><a href="main.html"><span>Main Page</span></a></li> |
|
11 <li><a href="namespaces.html"><span>Namespaces</span></a></li> |
|
12 <li><a href="annotated.html"><span>Data Structures</span></a></li> |
|
13 <li id="current"><a href="files.html"><span>Files</span></a></li> |
|
14 </ul></div> |
|
15 <div class="tabs"> |
|
16 <ul> |
|
17 <li><a href="files.html"><span>File List</span></a></li> |
|
18 <li><a href="globals.html"><span>Globals</span></a></li> |
|
19 </ul></div> |
|
20 <h1>/home/epimerde/documents/tc11/CanFestival-3/drivers/unix/unix.c</h1><a href="unix_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> |
|
21 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span> |
|
22 <a name="l00003"></a>00003 <span class="comment"></span> |
|
23 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span> |
|
24 <a name="l00005"></a>00005 <span class="comment"></span> |
|
25 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span> |
|
26 <a name="l00007"></a>00007 <span class="comment"></span> |
|
27 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span> |
|
28 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span> |
|
29 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span> |
|
30 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span> |
|
31 <a name="l00012"></a>00012 <span class="comment"></span> |
|
32 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span> |
|
33 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span> |
|
34 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> |
|
35 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span> |
|
36 <a name="l00017"></a>00017 <span class="comment"></span> |
|
37 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span> |
|
38 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span> |
|
39 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> |
|
40 <a name="l00021"></a>00021 <span class="comment">*/</span> |
|
41 <a name="l00022"></a>00022 <span class="preprocessor">#include <unistd.h></span> |
|
42 <a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span> |
|
43 <a name="l00024"></a>00024 <span class="preprocessor">#include <stdlib.h></span> |
|
44 <a name="l00025"></a>00025 |
|
45 <a name="l00026"></a>00026 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span> |
|
46 <a name="l00027"></a><a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">00027</a> <span class="preprocessor"></span><span class="preprocessor">#define DLL_CALL(funcname) (* funcname##_driver)</span> |
|
47 <a name="l00028"></a><a class="code" href="unix_8c.html#7f7ce94bf48fde67f4af7b64c7ca4c85">00028</a> <span class="preprocessor"></span><span class="preprocessor">#define FCT_PTR_INIT =NULL</span> |
|
48 <a name="l00029"></a>00029 <span class="preprocessor"></span> |
|
49 <a name="l00030"></a><a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">00030</a> <span class="preprocessor">#define DLSYM(name)\</span> |
|
50 <a name="l00031"></a>00031 <span class="preprocessor"> *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\</span> |
|
51 <a name="l00032"></a>00032 <span class="preprocessor"> if ((error = dlerror()) != NULL) {\</span> |
|
52 <a name="l00033"></a>00033 <span class="preprocessor"> fprintf (stderr, "%s\n", error);\</span> |
|
53 <a name="l00034"></a>00034 <span class="preprocessor"> UnLoadCanDriver(handle);\</span> |
|
54 <a name="l00035"></a>00035 <span class="preprocessor"> return NULL;\</span> |
|
55 <a name="l00036"></a>00036 <span class="preprocessor"> }</span> |
|
56 <a name="l00037"></a>00037 <span class="preprocessor"></span> |
|
57 <a name="l00038"></a>00038 <span class="preprocessor">#else </span><span class="comment">/*NOT_USE_DYNAMIC_LOADING*/</span> |
|
58 <a name="l00039"></a>00039 |
|
59 <a name="l00040"></a>00040 <span class="comment">/*Function call is direct*/</span> |
|
60 <a name="l00041"></a>00041 <span class="preprocessor">#define DLL_CALL(funcname) funcname##_driver</span> |
|
61 <a name="l00042"></a>00042 <span class="preprocessor"></span> |
|
62 <a name="l00043"></a>00043 <span class="preprocessor">#endif </span><span class="comment">/*NOT_USE_DYNAMIC_LOADING*/</span> |
|
63 <a name="l00044"></a>00044 |
|
64 <a name="l00045"></a>00045 <span class="preprocessor">#include "<a class="code" href="data_8h.html">data.h</a>"</span> |
|
65 <a name="l00046"></a>00046 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span> |
|
66 <a name="l00047"></a>00047 <span class="preprocessor">#include "<a class="code" href="timers__driver_8h.html">timers_driver.h</a>"</span> |
|
67 <a name="l00048"></a>00048 |
|
68 <a name="l00049"></a><a class="code" href="unix_8c.html#c2f10bc5b98269f33af8a74299236e03">00049</a> <span class="preprocessor">#define MAX_NB_CAN_PORTS 16</span> |
|
69 <a name="l00050"></a>00050 <span class="preprocessor"></span> |
|
70 <a name="l00051"></a><a class="code" href="structCANPort.html">00051</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ |
|
71 <a name="l00052"></a><a class="code" href="structCANPort.html#9282729cb1b89dd5594435fbaf162e11">00052</a> <span class="keywordtype">char</span> used; |
|
72 <a name="l00053"></a><a class="code" href="structCANPort.html#79262404ede9b4eb131a84b49454b7e7">00053</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd; |
|
73 <a name="l00054"></a><a class="code" href="structCANPort.html#c9022d9f15fbff963b1bdb1e914dc871">00054</a> <a class="code" href="timers__unix_2timerscfg_8h.html#07c1b78efc83716fac9e31b9862f7e60">TASK_HANDLE</a> receiveTask; |
|
74 <a name="l00055"></a><a class="code" href="structCANPort.html#45112279ca87924f3ecfc9fdb019cd69">00055</a> <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d; |
|
75 <a name="l00056"></a>00056 } <a class="code" href="structCANPort.html">CANPort</a>; |
|
76 <a name="l00057"></a>00057 |
|
77 <a name="l00058"></a>00058 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span> |
|
78 <a name="l00059"></a>00059 |
|
79 <a name="l00060"></a>00060 <span class="comment">/*Declares the funtion pointers for dll binding or simple protos*/</span> |
|
80 <a name="l00061"></a>00061 <span class="comment">/*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);</span> |
|
81 <a name="l00062"></a>00062 <span class="comment">UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);</span> |
|
82 <a name="l00063"></a>00063 <span class="comment">CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);</span> |
|
83 <a name="l00064"></a>00064 <span class="comment">int DLL_CALL(canClose)(CAN_HANDLE);</span> |
|
84 <a name="l00065"></a>00065 <span class="comment">*/</span> |
|
85 <a name="l00066"></a><a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">00066</a> <a class="code" href="structCANPort.html">CANPort</a> <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[<a class="code" href="unix_8c.html#c2f10bc5b98269f33af8a74299236e03">MAX_NB_CAN_PORTS</a>] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}}; |
|
86 <a name="l00067"></a>00067 |
|
87 <a name="l00068"></a>00068 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span> |
|
88 <a name="l00069"></a>00069 <span class="preprocessor"></span> |
|
89 <a name="l00070"></a>00070 <span class="comment">/*UnLoads the dll*/</span> |
|
90 <a name="l00071"></a><a class="code" href="win32_2canfestival_8h.html#cb4f394ec0e040c5962d3dc1957505fb">00071</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="unix_8c.html#cb4f394ec0e040c5962d3dc1957505fb">UnLoadCanDriver</a>(<a class="code" href="unix_2canfestival_8h.html#99960198cd610250fc7ab4c8351ad9de">LIB_HANDLE</a> handle) |
|
91 <a name="l00072"></a>00072 { |
|
92 <a name="l00073"></a>00073 <span class="keywordflow">if</span>(handle!=NULL) |
|
93 <a name="l00074"></a>00074 { |
|
94 <a name="l00075"></a>00075 dlclose(handle); |
|
95 <a name="l00076"></a>00076 |
|
96 <a name="l00077"></a>00077 handle=NULL; |
|
97 <a name="l00078"></a>00078 <span class="keywordflow">return</span> 0; |
|
98 <a name="l00079"></a>00079 } |
|
99 <a name="l00080"></a>00080 <span class="keywordflow">return</span> -1; |
|
100 <a name="l00081"></a>00081 } |
|
101 <a name="l00082"></a>00082 |
|
102 <a name="l00083"></a>00083 <span class="comment">/*Loads the dll and get funcs ptr*/</span> |
|
103 <a name="l00084"></a><a class="code" href="win32_2canfestival_8h.html#a6eed61fc15f41f772d4645d7a5edeb5">00084</a> <a class="code" href="unix_2canfestival_8h.html#99960198cd610250fc7ab4c8351ad9de">LIB_HANDLE</a> <a class="code" href="unix_8c.html#a6eed61fc15f41f772d4645d7a5edeb5">LoadCanDriver</a>(<span class="keywordtype">char</span>* driver_name) |
|
104 <a name="l00085"></a>00085 { |
|
105 <a name="l00086"></a>00086 <a class="code" href="unix_2canfestival_8h.html#99960198cd610250fc7ab4c8351ad9de">LIB_HANDLE</a> handle = NULL; |
|
106 <a name="l00087"></a>00087 <span class="keywordtype">char</span> *error; |
|
107 <a name="l00088"></a>00088 |
|
108 <a name="l00089"></a>00089 |
|
109 <a name="l00090"></a>00090 <span class="keywordflow">if</span>(handle==NULL) |
|
110 <a name="l00091"></a>00091 { |
|
111 <a name="l00092"></a>00092 handle = dlopen(driver_name, RTLD_LAZY); |
|
112 <a name="l00093"></a>00093 } |
|
113 <a name="l00094"></a>00094 |
|
114 <a name="l00095"></a>00095 <span class="keywordflow">if</span> (!handle) { |
|
115 <a name="l00096"></a>00096 fprintf (stderr, <span class="stringliteral">"%s\n"</span>, dlerror()); |
|
116 <a name="l00097"></a>00097 <span class="keywordflow">return</span> NULL; |
|
117 <a name="l00098"></a>00098 } |
|
118 <a name="l00099"></a>00099 |
|
119 <a name="l00100"></a>00100 <span class="comment">/*Get function ptr*/</span> |
|
120 <a name="l00101"></a>00101 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="drivers__win32_8cpp.html#c608a4ba478a809fd963a342a24226fd">canReceive</a>) |
|
121 <a name="l00102"></a>00102 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>) |
|
122 <a name="l00103"></a>00103 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>) |
|
123 <a name="l00104"></a>00104 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>) |
|
124 <a name="l00105"></a>00105 |
|
125 <a name="l00106"></a>00106 <span class="keywordflow">return</span> handle; |
|
126 <a name="l00107"></a>00107 } |
|
127 <a name="l00108"></a>00108 |
|
128 <a name="l00109"></a>00109 <span class="preprocessor">#endif</span> |
|
129 <a name="l00110"></a>00110 <span class="preprocessor"></span> |
|
130 <a name="l00111"></a>00111 |
|
131 <a name="l00112"></a>00112 |
|
132 <a name="l00113"></a>00113 <span class="comment">/*Not needed -- canReceiveLoop calls _canReceive directly */</span><span class="comment">/*</span> |
|
133 <a name="l00114"></a>00114 <span class="comment">UNS8 canReceive(CAN_PORT port, Message *m)</span> |
|
134 <a name="l00115"></a>00115 <span class="comment">{</span> |
|
135 <a name="l00116"></a>00116 <span class="comment"> return DLL_CALL(canReceive)(port->fd, Message *m);</span> |
|
136 <a name="l00117"></a>00117 <span class="comment">}</span> |
|
137 <a name="l00118"></a>00118 <span class="comment">*/</span> |
|
138 <a name="l00119"></a>00119 |
|
139 <a name="l00120"></a><a class="code" href="win32_2canfestival_8h.html#8d1909a09c50c750e4d8626595acd9f6">00120</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a> port, <a class="code" href="structMessage.html">Message</a> *m) |
|
140 <a name="l00121"></a>00121 { |
|
141 <a name="l00122"></a>00122 <span class="keywordflow">if</span>(port){ |
|
142 <a name="l00123"></a>00123 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> res; |
|
143 <a name="l00124"></a>00124 <span class="comment">//LeaveMutex();</span> |
|
144 <a name="l00125"></a>00125 res = <a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>)(((<a class="code" href="structCANPort.html">CANPort</a>*)port)->fd, m); |
|
145 <a name="l00126"></a>00126 <span class="comment">//EnterMutex();</span> |
|
146 <a name="l00127"></a>00127 <span class="keywordflow">return</span> res; |
|
147 <a name="l00128"></a>00128 } |
|
148 <a name="l00129"></a>00129 <span class="keywordflow">return</span> -1; |
|
149 <a name="l00130"></a>00130 } |
|
150 <a name="l00131"></a>00131 |
|
151 <a name="l00132"></a><a class="code" href="unix_8c.html#45ceca3727c2fb7ac93958a215efb827">00132</a> <span class="keywordtype">void</span> <a class="code" href="unix_8c.html#45ceca3727c2fb7ac93958a215efb827">canReceiveLoop</a>(<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a> port) |
|
152 <a name="l00133"></a>00133 { |
|
153 <a name="l00134"></a>00134 <a class="code" href="structMessage.html">Message</a> m; |
|
154 <a name="l00135"></a>00135 |
|
155 <a name="l00136"></a>00136 <span class="keywordflow">while</span> (1) { |
|
156 <a name="l00137"></a>00137 <span class="keywordflow">if</span> (<a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="drivers__win32_8cpp.html#c608a4ba478a809fd963a342a24226fd">canReceive</a>)(((<a class="code" href="structCANPort.html">CANPort</a>*)port)->fd, &m) != 0) |
|
157 <a name="l00138"></a>00138 <span class="keywordflow">break</span>; |
|
158 <a name="l00139"></a>00139 |
|
159 <a name="l00140"></a>00140 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>(); |
|
160 <a name="l00141"></a>00141 <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(((CANPort*)port)->d, &m); |
|
161 <a name="l00142"></a>00142 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>(); |
|
162 <a name="l00143"></a>00143 } |
|
163 <a name="l00144"></a>00144 } |
|
164 <a name="l00145"></a><a class="code" href="win32_2canfestival_8h.html#7476146ad15948a22e7f80a00c89c40a">00145</a> <a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a> <a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board, <a class="code" href="structstruct__CO__Data.html">CO_Data</a> * d) |
|
165 <a name="l00146"></a>00146 { |
|
166 <a name="l00147"></a>00147 <span class="keywordtype">int</span> i; |
|
167 <a name="l00148"></a>00148 <span class="keywordflow">for</span>(i=0; i < <a class="code" href="unix_8c.html#c2f10bc5b98269f33af8a74299236e03">MAX_NB_CAN_PORTS</a>; i++) |
|
168 <a name="l00149"></a>00149 { |
|
169 <a name="l00150"></a>00150 <span class="keywordflow">if</span>(!<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].used) |
|
170 <a name="l00151"></a>00151 <span class="keywordflow">break</span>; |
|
171 <a name="l00152"></a>00152 } |
|
172 <a name="l00153"></a>00153 |
|
173 <a name="l00154"></a>00154 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span> |
|
174 <a name="l00155"></a>00155 <span class="preprocessor"></span> <span class="keywordflow">if</span> (&<a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>)==NULL) { |
|
175 <a name="l00156"></a>00156 fprintf(stderr,<span class="stringliteral">"CanOpen : Can Driver dll not loaded\n"</span>); |
|
176 <a name="l00157"></a>00157 <span class="keywordflow">return</span> NULL; |
|
177 <a name="l00158"></a>00158 } |
|
178 <a name="l00159"></a>00159 <span class="preprocessor">#endif </span> |
|
179 <a name="l00160"></a>00160 <span class="preprocessor"></span> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0 = <a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(canOpen)(board); |
|
180 <a name="l00161"></a>00161 <span class="keywordflow">if</span>(fd0){ |
|
181 <a name="l00162"></a>00162 <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].<a class="code" href="structCANPort.html#9282729cb1b89dd5594435fbaf162e11">used</a> = 1; |
|
182 <a name="l00163"></a>00163 <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].<a class="code" href="structCANPort.html#79262404ede9b4eb131a84b49454b7e7">fd</a> = fd0; |
|
183 <a name="l00164"></a>00164 <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].<a class="code" href="structCANPort.html#45112279ca87924f3ecfc9fdb019cd69">d</a> = d; |
|
184 <a name="l00165"></a>00165 |
|
185 <a name="l00166"></a>00166 <a class="code" href="timers__unix_8c.html#a3a7df911baa20b01c4374a9677a154a">CreateReceiveTask</a>(&(<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i]), &<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].receiveTask, &<a class="code" href="unix_8c.html#45ceca3727c2fb7ac93958a215efb827">canReceiveLoop</a>); |
|
186 <a name="l00167"></a>00167 |
|
187 <a name="l00168"></a>00168 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>(); |
|
188 <a name="l00169"></a>00169 d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a> = (<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a>)&<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i]; |
|
189 <a name="l00170"></a>00170 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>(); |
|
190 <a name="l00171"></a>00171 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a>)&<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i]; |
|
191 <a name="l00172"></a>00172 }<span class="keywordflow">else</span>{ |
|
192 <a name="l00173"></a>00173 fprintf(stderr,<span class="stringliteral">"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n"</span>,board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, board-><a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>); |
|
193 <a name="l00174"></a>00174 <span class="keywordflow">return</span> NULL; |
|
194 <a name="l00175"></a>00175 } |
|
195 <a name="l00176"></a>00176 } |
|
196 <a name="l00177"></a>00177 |
|
197 <a name="l00178"></a><a class="code" href="win32_2canfestival_8h.html#02957f72a9b951603adb98a142bd447b">00178</a> <span class="keywordtype">int</span> <a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a> * d) |
|
198 <a name="l00179"></a>00179 { |
|
199 <a name="l00180"></a>00180 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>(); |
|
200 <a name="l00181"></a>00181 ((<a class="code" href="structCANPort.html">CANPort</a>*)d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>)->used = 0; |
|
201 <a name="l00182"></a>00182 <a class="code" href="structCANPort.html">CANPort</a>* tmp = (<a class="code" href="structCANPort.html">CANPort</a>*)d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>; |
|
202 <a name="l00183"></a>00183 d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a> = NULL; |
|
203 <a name="l00184"></a>00184 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>(); |
|
204 <a name="l00185"></a>00185 |
|
205 <a name="l00186"></a>00186 <span class="keywordtype">int</span> res = <a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>)(tmp-><a class="code" href="structCANPort.html#79262404ede9b4eb131a84b49454b7e7">fd</a>); |
|
206 <a name="l00187"></a>00187 |
|
207 <a name="l00188"></a>00188 <a class="code" href="timers__unix_8c.html#4b2486891ee01e06e2deead4cf963727">WaitReceiveTaskEnd</a>(tmp-><a class="code" href="structCANPort.html#c9022d9f15fbff963b1bdb1e914dc871">receiveTask</a>); |
|
208 <a name="l00189"></a>00189 <span class="keywordflow">return</span> res; |
|
209 <a name="l00190"></a>00190 } |
|
210 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 16:29:06 2007 for CanFestival by |
|
211 <a href="http://www.doxygen.org/index.html"> |
|
212 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
|
213 </body> |
|
214 </html> |