CanFestival: drivers/unix/unix.c Source File

00001 /*
nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@215: 00003 
nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@215: 00005 
nico@215: 00006 See COPYING file for copyrights details.
nico@215: 00007 
nico@215: 00008 This library is free software; you can redistribute it and/or
nico@215: 00009 modify it under the terms of the GNU Lesser General Public
nico@215: 00010 License as published by the Free Software Foundation; either
nico@215: 00011 version 2.1 of the License, or (at your option) any later version.
nico@215: 00012 
nico@215: 00013 This library is distributed in the hope that it will be useful,
nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@215: 00016 Lesser General Public License for more details.
nico@215: 00017 
nico@215: 00018 You should have received a copy of the GNU Lesser General Public
nico@215: 00019 License along with this library; if not, write to the Free Software
nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@215: 00021 */
nico@215: 00022 #include <unistd.h>
nico@215: 00023 #include <stdio.h>
nico@215: 00024 #include <stdlib.h>
nico@215: 00025 
nico@215: 00026 #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@240: 00027 #define DLL_CALL(funcname) (* funcname##_driver)
etisserant@240: 00028 #define FCT_PTR_INIT =NULL
nico@215: 00029 
etisserant@240: 00030 #define DLSYM(name)\
nico@215: 00031         *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
nico@215: 00032         if ((error = dlerror()) != NULL)  {\
nico@215: 00033                 fprintf (stderr, "%s\n", error);\
nico@215: 00034                 UnLoadCanDriver(handle);\
nico@215: 00035                 return NULL;\
nico@215: 00036         }
nico@215: 00037 
nico@215: 00038 #else /*NOT_USE_DYNAMIC_LOADING*/
nico@215: 00039 
nico@215: 00040 /*Function call is direct*/
nico@215: 00041 #define DLL_CALL(funcname) funcname##_driver
nico@215: 00042 
nico@215: 00043 #endif /*NOT_USE_DYNAMIC_LOADING*/
nico@215: 00044 
nico@215: 00045 #include "data.h"
nico@215: 00046 #include "canfestival.h"
nico@215: 00047 #include "timers_driver.h"
nico@215: 00048 
etisserant@240: 00049 #define MAX_NB_CAN_PORTS 16
nico@215: 00050 
nico@215: 00051 typedef struct {
etisserant@240: 00052   char used;
etisserant@240: 00053   CAN_HANDLE fd;
etisserant@240: 00054   TASK_HANDLE receiveTask;
etisserant@240: 00055   CO_Data* d;
nico@215: 00056 } CANPort;
nico@215: 00057 
nico@215: 00058 #include "can_driver.h"
nico@215: 00059 
nico@215: 00060 /*Declares the funtion pointers for dll binding or simple protos*/
nico@215: 00061 /*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);
nico@215: 00062 UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);
nico@215: 00063 CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);
nico@215: 00064 int DLL_CALL(canClose)(CAN_HANDLE);
nico@215: 00065 */
etisserant@240: 00066 CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
nico@215: 00067 
nico@215: 00068 #ifndef NOT_USE_DYNAMIC_LOADING
nico@215: 00069 
nico@215: 00070 /*UnLoads the dll*/
etisserant@240: 00071 UNS8 UnLoadCanDriver(LIB_HANDLE handle)
nico@215: 00072 {
nico@215: 00073         if(handle!=NULL)
nico@215: 00074         {
nico@215: 00075                 dlclose(handle);
nico@215: 00076 
nico@215: 00077                 handle=NULL;
nico@215: 00078                 return 0;
nico@215: 00079         }
nico@215: 00080         return -1;
nico@215: 00081 }
nico@215: 00082 
nico@215: 00083 /*Loads the dll and get funcs ptr*/
etisserant@240: 00084 LIB_HANDLE LoadCanDriver(char* driver_name)
nico@215: 00085 {
etisserant@240: 00086         LIB_HANDLE handle = NULL;
nico@215: 00087         char *error;
nico@215: 00088         
nico@215: 00089 
nico@215: 00090         if(handle==NULL)
nico@215: 00091         {
nico@215: 00092                 handle = dlopen(driver_name, RTLD_LAZY);
nico@215: 00093         }
nico@215: 00094 
nico@215: 00095         if (!handle) {
nico@215: 00096                 fprintf (stderr, "%s\n", dlerror());
nico@215: 00097                 return NULL;
nico@215: 00098         }
nico@215: 00099  
nico@215: 00100         /*Get function ptr*/
etisserant@240: 00101         DLSYM(canReceive)
etisserant@240: 00102         DLSYM(canSend)
etisserant@240: 00103         DLSYM(canOpen)
etisserant@240: 00104         DLSYM(canClose)
nico@215: 00105 
nico@215: 00106         return handle;
nico@215: 00107 }
nico@215: 00108 
nico@215: 00109 #endif
nico@215: 00110 
nico@215: 00111 
nico@215: 00112 
nico@215: 00113 /*Not needed -- canReceiveLoop calls _canReceive directly *//*
nico@215: 00114 UNS8 canReceive(CAN_PORT port, Message *m)
nico@215: 00115 {
nico@215: 00116         return DLL_CALL(canReceive)(port->fd, Message *m);
nico@215: 00117 }
nico@215: 00118 */
nico@215: 00119 
etisserant@240: 00120 UNS8 canSend(CAN_PORT port, Message *m)
nico@215: 00121 {
nico@215: 00122         if(port){
etisserant@240: 00123                 UNS8 res;
nico@215: 00124                 //LeaveMutex();
etisserant@240: 00125                 res = DLL_CALL(canSend)(((CANPort*)port)->fd, m);
nico@215: 00126                 //EnterMutex();
nico@215: 00127                 return res;
nico@215: 00128         }               
nico@215: 00129         return -1;
nico@215: 00130 }
nico@215: 00131 
etisserant@240: 00132 void canReceiveLoop(CAN_PORT port)
nico@215: 00133 {
nico@215: 00134        Message m;
nico@215: 00135 
nico@215: 00136        while (1) {
etisserant@240: 00137                if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
nico@215: 00138                        break;
nico@215: 00139 
etisserant@240: 00140                EnterMutex();
etisserant@240: 00141                canDispatch(((CANPort*)port)->d, &m);
etisserant@240: 00142                LeaveMutex();
nico@215: 00143        }
nico@215: 00144 }
etisserant@240: 00145 CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
nico@215: 00146 {
nico@215: 00147         int i;
etisserant@240: 00148         for(i=0; i < MAX_NB_CAN_PORTS; i++)
nico@215: 00149         {
etisserant@240: 00150                 if(!canports[i].used)
nico@215: 00151                 break;
nico@215: 00152         }
nico@215: 00153         
nico@215: 00154 #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@240: 00155         if (&DLL_CALL(canOpen)==NULL) {
nico@215: 00156                 fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
nico@215: 00157                 return NULL;
nico@215: 00158         }
nico@215: 00159 #endif  
etisserant@240: 00160         CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
nico@215: 00161         if(fd0){
etisserant@240: 00162                 canports[i].used = 1;
etisserant@240: 00163                 canports[i].fd = fd0;
etisserant@240: 00164                 canports[i].d = d;
nico@215: 00165         
etisserant@240: 00166                 CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
nico@215: 00167                 
etisserant@240: 00168                 EnterMutex();
etisserant@240: 00169                 d->canHandle = (CAN_PORT)&canports[i];
etisserant@240: 00170                 LeaveMutex();
etisserant@240: 00171                 return (CAN_PORT)&canports[i];
nico@215: 00172         }else{
etisserant@240: 00173                 fprintf(stderr,"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate);
nico@215: 00174                 return NULL;
nico@215: 00175         }
nico@215: 00176 }
nico@215: 00177 
etisserant@240: 00178 int canClose(CO_Data * d)
nico@215: 00179 {
etisserant@240: 00180         EnterMutex();
etisserant@240: 00181         ((CANPort*)d->canHandle)->used = 0;
etisserant@240: 00182         CANPort* tmp = (CANPort*)d->canHandle;
etisserant@240: 00183         d->canHandle = NULL;
etisserant@240: 00184         LeaveMutex();
nico@215: 00185         
etisserant@240: 00186         int res = DLL_CALL(canClose)(tmp->fd);
nico@215: 00187         
etisserant@240: 00188         WaitReceiveTaskEnd(tmp->receiveTask);
nico@215: 00189         return res;
nico@215: 00190 }
etisserant@240: