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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 Copyright (C) Win32 Port Leonid Tochinski |
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6 |
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7 See COPYING file for copyrights details. |
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8 |
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9 This library is free software; you can redistribute it and/or |
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10 modify it under the terms of the GNU Lesser General Public |
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11 License as published by the Free Software Foundation; either |
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12 version 2.1 of the License, or (at your option) any later version. |
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13 |
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14 This library is distributed in the hope that it will be useful, |
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15 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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17 Lesser General Public License for more details. |
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18 |
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19 You should have received a copy of the GNU Lesser General Public |
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20 License along with this library; if not, write to the Free Software |
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21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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22 */ |
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23 |
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24 /* |
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25 CAN driver interface. |
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26 */ |
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27 |
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28 #include <windows.h> |
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29 |
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30 extern "C" |
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31 { |
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32 #define DLL_CALL(funcname) (*_##funcname) |
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33 #define FCT_PTR_INIT =NULL |
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34 #include "canfestival.h" |
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35 #include "timer.h" |
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36 |
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37 #include "nvram_driver.h" |
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38 #include "lss_driver.h" |
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39 #include "timers_driver.h" |
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40 }; |
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41 |
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42 typedef UNS8 (*CANRECEIVE_DRIVER_PROC)(void* inst, Message *m); |
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43 typedef UNS8 (*CANSEND_DRIVER_PROC)(void* inst, const Message *m); |
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44 typedef void* (*CANOPEN_DRIVER_PROC)(s_BOARD *board); |
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45 typedef int (*CANCLOSE_DRIVER_PROC)(void* inst); |
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46 |
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47 typedef int (*NVRAM_OPEN_PROC)(void); |
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48 typedef void (*NVRAM_CLOSE_PROC)(void); |
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49 typedef char (*NVRAM_WRITE_PROC)(int type, int access_attr, void *data); |
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50 typedef char (*NVRAM_READ_PROC)(int type, int access_attr, void *data); |
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51 |
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52 typedef void (*LED_SET_REDGREEN_PROC)(CO_Data *d, unsigned char bits); |
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53 |
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54 typedef UNS8 (*BAUDRATE_VALID_PROC)(UNS32 table_index); |
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55 typedef void (*BAUDRATE_SET_PROC)(UNS8 table_index); |
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56 |
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57 class driver_procs |
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58 { |
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59 public: |
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60 driver_procs(); |
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61 ~driver_procs(); |
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62 |
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63 HMODULE load_canfestival_driver(LPCTSTR driver_name); |
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64 bool can_driver_valid() const; |
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65 |
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66 public: |
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67 // can driver |
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68 CANRECEIVE_DRIVER_PROC m_canReceive; |
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69 CANSEND_DRIVER_PROC m_canSend; |
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70 CANOPEN_DRIVER_PROC m_canOpen; |
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71 CANCLOSE_DRIVER_PROC m_canClose; |
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72 |
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73 // nvram driver |
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74 NVRAM_OPEN_PROC m_nvram_open; |
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75 NVRAM_CLOSE_PROC m_nvram_close; |
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76 NVRAM_WRITE_PROC m_nvram_write; |
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77 NVRAM_READ_PROC m_nvram_read; |
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78 // led driver |
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79 LED_SET_REDGREEN_PROC m_led_set_redgreen; |
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80 // lss driver |
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81 BAUDRATE_VALID_PROC m_baudrate_valid; |
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82 BAUDRATE_SET_PROC m_baudrate_set; |
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83 |
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84 // driver module habndle |
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85 HMODULE m_driver_handle; |
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86 }; |
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87 |
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88 driver_procs::driver_procs() : m_canReceive(0), |
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89 m_canSend(0), |
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90 m_canOpen(0), |
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91 m_canClose(0), |
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92 m_nvram_open(0), |
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93 m_nvram_close(0), |
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94 m_nvram_write(0), |
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95 m_nvram_read(0), |
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96 m_led_set_redgreen(), |
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97 m_baudrate_valid(0), |
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98 m_baudrate_set(0), |
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99 m_driver_handle(0) |
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100 {} |
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101 |
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102 driver_procs::~driver_procs() |
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103 { |
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104 if (m_driver_handle) |
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105 ::FreeLibrary(m_driver_handle); |
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106 } |
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107 |
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108 bool driver_procs::can_driver_valid() const |
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109 { |
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110 return ((m_canReceive != NULL) && |
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111 (m_canSend != NULL) && |
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112 (m_canOpen != NULL) && |
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113 (m_canClose != NULL)); |
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114 } |
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115 |
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116 // GetProcAddress doesn't have an UNICODE version for NT |
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117 #ifdef UNDER_CE |
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118 #define myTEXT(str) TEXT(str) |
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119 #else |
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120 #define myTEXT(str) str |
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121 #endif |
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122 |
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123 HMODULE driver_procs::load_canfestival_driver(LPCTSTR driver_name) |
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124 { |
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125 if (can_driver_valid()) |
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126 return m_driver_handle; |
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127 m_driver_handle = ::LoadLibrary(driver_name); |
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128 if (m_driver_handle == NULL) |
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129 return NULL; |
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130 |
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131 m_canReceive = (CANRECEIVE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canReceive_driver")); |
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132 m_canSend = (CANSEND_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canSend_driver")); |
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133 m_canOpen = (CANOPEN_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canOpen_driver")); |
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134 m_canClose = (CANCLOSE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canClose_driver")); |
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135 |
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136 m_nvram_open = (NVRAM_OPEN_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_open_driver")); |
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137 m_nvram_close = (NVRAM_CLOSE_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_close_driver")); |
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138 m_nvram_write = (NVRAM_WRITE_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_write_driver")); |
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139 m_nvram_read = (NVRAM_READ_PROC)::GetProcAddress(m_driver_handle, myTEXT("nvram_read_driver")); |
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140 |
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141 m_led_set_redgreen = (LED_SET_REDGREEN_PROC)::GetProcAddress(m_driver_handle, myTEXT("led_set_redgreen_driver")); |
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142 |
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143 m_baudrate_valid = (BAUDRATE_VALID_PROC)::GetProcAddress(m_driver_handle, myTEXT("baudrate_valid_driver")); |
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144 m_baudrate_set = (BAUDRATE_SET_PROC)::GetProcAddress(m_driver_handle, myTEXT("baudrate_set_driver")); |
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145 |
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146 return can_driver_valid()?m_driver_handle:NULL; |
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147 } |
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148 |
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149 struct driver_data |
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150 { |
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151 CO_Data * d; |
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152 HANDLE receive_thread; |
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153 void* inst; |
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154 volatile bool continue_receive_thread; |
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155 }; |
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156 |
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157 driver_procs s_driver_procs; |
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158 |
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159 LIB_HANDLE LoadCanDriver(char* driver_name) |
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160 { |
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161 return s_driver_procs.load_canfestival_driver((LPCTSTR)driver_name); |
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162 } |
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163 |
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164 UNS8 canReceive(CAN_PORT fd0, Message *m) |
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165 { |
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166 if (fd0 != NULL && s_driver_procs.m_canReceive != NULL) |
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167 { |
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168 driver_data* data = (driver_data*)fd0; |
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169 return (*s_driver_procs.m_canReceive)(data->inst, m); |
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170 } |
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171 return 1; |
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172 } |
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173 |
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174 void* canReceiveLoop(CAN_PORT fd0) |
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175 { |
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176 driver_data* data = (driver_data*)fd0; |
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177 Message m; |
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178 while (data->continue_receive_thread) |
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179 { |
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180 if (!canReceive(fd0, &m)) |
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181 { |
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182 EnterMutex(); |
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183 canDispatch(data->d, &m); |
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184 LeaveMutex(); |
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185 } |
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186 else |
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187 { |
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188 break; |
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189 ::Sleep(1); |
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190 } |
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191 } |
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192 return 0; |
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193 } |
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194 |
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195 /***************************************************************************/ |
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196 UNS8 canSend(CAN_PORT fd0, Message *m) |
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197 { |
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198 if (fd0 != NULL && s_driver_procs.m_canSend != NULL) |
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199 { |
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200 driver_data* data = (driver_data*)fd0; |
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201 if ((*s_driver_procs.m_canSend)(data->inst, m)) |
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202 return 0; |
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203 } |
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204 return 1; |
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205 } |
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206 |
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207 /***************************************************************************/ |
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208 CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d) |
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209 { |
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210 if (board != NULL && s_driver_procs.m_canOpen != NULL) |
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211 { |
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212 void* inst = (*s_driver_procs.m_canOpen)(board); |
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213 if (inst != NULL) |
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214 { |
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215 driver_data* data = new driver_data; |
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216 data->d = d; |
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217 data->inst = inst; |
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218 data->continue_receive_thread = true; |
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219 CreateReceiveTask(data, &data->receive_thread, &canReceiveLoop); |
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220 return data; |
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221 } |
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222 } |
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223 return NULL; |
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224 } |
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225 |
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226 /***************************************************************************/ |
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227 int canClose(CAN_PORT fd0) |
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228 { |
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229 if (fd0 != NULL && s_driver_procs.m_canClose != NULL) |
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230 { |
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231 driver_data* data = (driver_data*)fd0; |
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232 data->continue_receive_thread = false; |
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233 WaitReceiveTaskEnd(&data->receive_thread); |
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234 (*s_driver_procs.m_canClose)(data->inst); |
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235 delete data; |
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236 return 0; |
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237 } |
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238 return 0; |
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239 } |
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240 |
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241 /***************************************************************************/ |
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242 int nvram_open(void) |
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243 { |
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244 if (s_driver_procs.m_nvram_read != NULL) |
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245 return (*s_driver_procs.m_nvram_open)(); |
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246 return -1; |
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247 } |
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248 |
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249 void nvram_close(void) |
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250 { |
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251 if (s_driver_procs.m_nvram_close != NULL) |
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252 (*s_driver_procs.m_nvram_close)(); |
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253 } |
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254 |
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255 char nvram_write(int type, int access_attr, void *data) |
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256 { |
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257 if (s_driver_procs.m_nvram_write != NULL) |
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258 return (*s_driver_procs.m_nvram_write)(type, access_attr, data); |
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259 return 0; |
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260 } |
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261 |
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262 char nvram_read(int type, int access_attr, void *data) |
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263 { |
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264 if (s_driver_procs.m_nvram_read != NULL) |
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265 return (*s_driver_procs.m_nvram_read)(type, access_attr, data); |
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266 return 0; |
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267 } |
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268 |
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269 /***************************************************************************/ |
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270 |
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271 void led_set_redgreen(CO_Data *d, unsigned char bits) |
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272 { |
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273 if (s_driver_procs.m_led_set_redgreen != NULL) |
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274 (*s_driver_procs.m_led_set_redgreen)(d, bits); |
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275 } |
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276 |
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277 /***************************************************************************/ |
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278 |
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279 UNS8 baudrate_valid(UNS32 table_index) |
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280 { |
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281 if (s_driver_procs.m_baudrate_valid != NULL) |
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282 return (*s_driver_procs.m_baudrate_valid)(table_index); |
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283 return 0; |
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284 } |
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285 |
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286 void baudrate_set(UNS8 table_index) |
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287 { |
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288 if (s_driver_procs.m_baudrate_set != NULL) |
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289 (*s_driver_procs.m_baudrate_set)(table_index); |
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290 } |