etisserant@145: /*
etisserant@145: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@145: 
etisserant@145: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@145: 
etisserant@145: See COPYING file for copyrights details.
etisserant@145: 
etisserant@145: This library is free software; you can redistribute it and/or
etisserant@145: modify it under the terms of the GNU Lesser General Public
etisserant@145: License as published by the Free Software Foundation; either
etisserant@145: version 2.1 of the License, or (at your option) any later version.
etisserant@145: 
etisserant@145: This library is distributed in the hope that it will be useful,
etisserant@145: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@145: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@145: Lesser General Public License for more details.
etisserant@145: 
etisserant@145: You should have received a copy of the GNU Lesser General Public
etisserant@145: License along with this library; if not, write to the Free Software
etisserant@145: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@145: */
etisserant@145: #include <unistd.h>
etisserant@145: #include <stdio.h>
etisserant@145: #include <stdlib.h>
etisserant@145: 
etisserant@145: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@145: #define DLL_CALL(funcname) (* funcname##_driver)
etisserant@145: #define FCT_PTR_INIT =NULL
etisserant@145: 
etisserant@145: #define DLSYM(name)\
etisserant@145: 	*(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
etisserant@145: 	if ((error = dlerror()) != NULL)  {\
etisserant@145: 		fprintf (stderr, "%s\n", error);\
etisserant@145: 		UnLoadCanDriver(handle);\
etisserant@145: 		return NULL;\
etisserant@145: 	}
etisserant@145: 
etisserant@145: #else /*NOT_USE_DYNAMIC_LOADING*/
etisserant@145: 
etisserant@145: /*Function call is direct*/
etisserant@145: #define DLL_CALL(funcname) funcname##_driver
etisserant@145: 
etisserant@145: #endif /*NOT_USE_DYNAMIC_LOADING*/
etisserant@145: 
etisserant@145: #include "data.h"
etisserant@145: #include "canfestival.h"
etisserant@145: #include "timers_driver.h"
etisserant@145: 
etisserant@145: #define MAX_NB_CAN_PORTS 16
etisserant@145: 
etisserant@145: typedef struct {
etisserant@145:   char used;
etisserant@145:   CAN_HANDLE fd;
etisserant@145:   TASK_HANDLE receiveTask;
etisserant@145:   CO_Data* d;
etisserant@145: } CANPort;
etisserant@145: 
etisserant@145: #include "can_driver.h"
etisserant@145: 
etisserant@145: /*Declares the funtion pointers for dll binding or simple protos*/
etisserant@145: /*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);
etisserant@145: UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);
etisserant@145: CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);
etisserant@145: int DLL_CALL(canClose)(CAN_HANDLE);
etisserant@145: */
etisserant@145: CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
etisserant@145: 
etisserant@145: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@145: 
etisserant@145: /*UnLoads the dll*/
etisserant@145: UNS8 UnLoadCanDriver(LIB_HANDLE handle)
etisserant@145: {
etisserant@145: 	if(handle!=NULL)
etisserant@145: 	{
etisserant@145: 		dlclose(handle);
etisserant@151: 
etisserant@145: 		handle=NULL;
etisserant@145: 		return 0;
etisserant@145: 	}
etisserant@145: 	return -1;
etisserant@145: }
etisserant@145: 
etisserant@145: /*Loads the dll and get funcs ptr*/
etisserant@145: LIB_HANDLE LoadCanDriver(char* driver_name)
etisserant@145: {
etisserant@145: 	LIB_HANDLE handle = NULL;
etisserant@145: 	char *error;
etisserant@145: 	
etisserant@145: 
etisserant@145: 	if(handle==NULL)
etisserant@145: 	{
etisserant@145: 		handle = dlopen(driver_name, RTLD_LAZY);
etisserant@145: 	}
etisserant@145: 
etisserant@145: 	if (!handle) {
etisserant@145: 		fprintf (stderr, "%s\n", dlerror());
etisserant@145:         	return NULL;
etisserant@145: 	}
etisserant@145:  
etisserant@145: 	/*Get function ptr*/
etisserant@145: 	DLSYM(canReceive)
etisserant@145: 	DLSYM(canSend)
etisserant@145: 	DLSYM(canOpen)
groke6@384: 	DLSYM(canChangeBaudRate)
etisserant@145: 	DLSYM(canClose)
etisserant@145: 
etisserant@197: 	return handle;
etisserant@145: }
etisserant@145: 
etisserant@145: #endif
etisserant@145: 
etisserant@145: 
etisserant@145: 
etisserant@145: /*Not needed -- canReceiveLoop calls _canReceive directly *//*
etisserant@145: UNS8 canReceive(CAN_PORT port, Message *m)
etisserant@145: {
etisserant@145: 	return DLL_CALL(canReceive)(port->fd, Message *m);
etisserant@145: }
etisserant@145: */
etisserant@145: 
etisserant@145: UNS8 canSend(CAN_PORT port, Message *m)
etisserant@145: {
etisserant@149: 	if(port){
etisserant@149: 		UNS8 res;
etisserant@155: 	        //LeaveMutex();
etisserant@149: 		res = DLL_CALL(canSend)(((CANPort*)port)->fd, m);
etisserant@155: 		//EnterMutex();
greg@267: 		return res; // OK
etisserant@149: 	}               
greg@267: 	return 1; // NOT OK
etisserant@145: }
etisserant@145: 
etisserant@145: void canReceiveLoop(CAN_PORT port)
etisserant@145: {
etisserant@145:        Message m;
etisserant@145: 
etisserant@145:        while (1) {
etisserant@145:                if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
etisserant@145:                        break;
etisserant@145: 
etisserant@145:                EnterMutex();
etisserant@145:                canDispatch(((CANPort*)port)->d, &m);
etisserant@145:                LeaveMutex();
etisserant@145:        }
etisserant@145: }
etisserant@145: CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
etisserant@145: {
etisserant@145: 	int i;
etisserant@145: 	for(i=0; i < MAX_NB_CAN_PORTS; i++)
etisserant@145: 	{
etisserant@145: 		if(!canports[i].used)
etisserant@145: 		break;
etisserant@145: 	}
etisserant@145: 	
etisserant@145: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@145: 	if (&DLL_CALL(canOpen)==NULL) {
etisserant@145:         	fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
etisserant@145:         	return NULL;
etisserant@145: 	}
etisserant@145: #endif	
etisserant@145: 	CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
etisserant@162: 	if(fd0){
etisserant@162: 		canports[i].used = 1;
etisserant@162: 		canports[i].fd = fd0;
etisserant@162: 		canports[i].d = d;
etisserant@149: 	
etisserant@162: 		CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
etisserant@162: 		
etisserant@162: 		EnterMutex();
etisserant@162: 		d->canHandle = (CAN_PORT)&canports[i];
etisserant@162: 		LeaveMutex();
etisserant@162: 		return (CAN_PORT)&canports[i];
etisserant@162: 	}else{
etisserant@162:         	fprintf(stderr,"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate);
etisserant@162: 		return NULL;
etisserant@162: 	}
etisserant@145: }
etisserant@145: 
etisserant@149: int canClose(CO_Data * d)
etisserant@149: {
etisserant@149: 	EnterMutex();
etisserant@149: 	((CANPort*)d->canHandle)->used = 0;
etisserant@149: 	CANPort* tmp = (CANPort*)d->canHandle;
etisserant@149: 	d->canHandle = NULL;
etisserant@149: 	LeaveMutex();
etisserant@149: 	
etisserant@149: 	int res = DLL_CALL(canClose)(tmp->fd);
etisserant@149: 	
etisserant@149: 	WaitReceiveTaskEnd(tmp->receiveTask);
etisserant@145: 	return res;
etisserant@145: }
groke6@384: 
groke6@384: 
groke6@384: UNS8 canChangeBaudRate(CAN_PORT port, char* baud)
groke6@384: {
groke6@384:    if(port){
groke6@384: 		UNS8 res;
groke6@384: 	        //LeaveMutex();
groke6@384: 		res = DLL_CALL(canChangeBaudRate)(((CANPort*)port)->fd, baud);
groke6@384: 		//EnterMutex();
groke6@384: 		return res; // OK
groke6@384: 	}               
groke6@384: 	return 1; // NOT OK
groke6@384: }