greg@556: /*
greg@556: This file is part of CanFestival, a library implementing CanOpen Stack.
greg@556: 
greg@556: Copyright (C): Edouard TISSERANT and Francis DUPIN
greg@556: Copyright (C) Win32 Port Leonid Tochinski
JaFojtik@697: Modified by: Jaroslav Fojtik
greg@556: 
greg@556: See COPYING file for copyrights details.
greg@556: 
greg@556: This library is free software; you can redistribute it and/or
greg@556: modify it under the terms of the GNU Lesser General Public
greg@556: License as published by the Free Software Foundation; either
greg@556: version 2.1 of the License, or (at your option) any later version.
greg@556: 
greg@556: This library is distributed in the hope that it will be useful,
greg@556: but WITHOUT ANY WARRANTY; without even the implied warranty of
greg@556: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
greg@556: Lesser General Public License for more details.
greg@556: 
greg@556: You should have received a copy of the GNU Lesser General Public
greg@556: License along with this library; if not, write to the Free Software
greg@556: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
greg@556: */
greg@556: 
greg@556: /*
greg@556:  CAN driver interface.
greg@556: */
greg@556: 
greg@556: #include <windows.h>
greg@591: 
greg@591: #ifdef __cplusplus
greg@591: extern "C" {
greg@591: #endif
greg@591: 
greg@556: #include "canfestival.h"
greg@556: #include "timer.h"
greg@556: #include "timers_driver.h"
greg@591: 
greg@591: #ifdef __cplusplus
greg@577: };
greg@591: #endif
greg@591: 
greg@556: // GetProcAddress doesn't have an UNICODE version for NT
greg@556: #ifdef UNDER_CE
greg@556:   #define myTEXT(str) TEXT(str)
greg@556: #else
greg@556:   #define myTEXT(str) str
greg@556: #endif
greg@556: 
greg@556: #define MAX_NB_CAN_PORTS 16
greg@556: 
greg@556: typedef UNS8 (CALLBACK* CANRECEIVE_DRIVER_PROC)(void* inst, Message *m);
greg@556: typedef UNS8 (CALLBACK* CANSEND_DRIVER_PROC)(void* inst, const Message *m);
greg@556: typedef void* (CALLBACK* CANOPEN_DRIVER_PROC)(s_BOARD *board);
greg@556: typedef int (CALLBACK* CANCLOSE_DRIVER_PROC)(void* inst);
greg@556: typedef UNS8 (CALLBACK* CANCHANGEBAUDRATE_DRIVER_PROC)(void* fd, char* baud);
greg@556: 
greg@556: CANRECEIVE_DRIVER_PROC m_canReceive;
greg@556: CANSEND_DRIVER_PROC m_canSend;
greg@556: CANOPEN_DRIVER_PROC m_canOpen;
greg@556: CANCLOSE_DRIVER_PROC m_canClose;
greg@556: CANCHANGEBAUDRATE_DRIVER_PROC m_canChangeBaudRate;
greg@556: 
greg@556: /* CAN port structure */
greg@556: typedef struct
greg@556: {
greg@556:   char used;  /**< flag indicating CAN port usage, will be used to abort Receiver task*/
greg@556:   CAN_HANDLE fd; /**< CAN port file descriptor*/
greg@556:   TASK_HANDLE receiveTask; /**< CAN Receiver task*/
greg@556:   CO_Data* d; /**< CAN object data*/
greg@556: }CANPort;
greg@556: 
greg@556: CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
greg@556: 
greg@556: 
greg@556: /***************************************************************************/
greg@556: UNS8 UnLoadCanDriver(LIB_HANDLE handle)
greg@556: {
Christian@638: #ifndef NOT_USE_DYNAMIC_LOADING
greg@556: 	if(handle != NULL)
greg@556: 	{
greg@556: 		FreeLibrary(handle);
greg@556: 		handle=NULL;
greg@556: 		return 0;
greg@556: 	}
greg@556: 	return -1;
Christian@638: #else
Christian@638:   handle = NULL;
Christian@638:   return 0;
Christian@638: #endif //NOT_USE_DYNAMIC_LOADING
greg@556: }
greg@556: 
greg@556: /***************************************************************************/
greg@556: /**
greg@556:  * Loads the dll and get funcs ptr
greg@556:  *
greg@556:  * @param driver_name String containing driver's dynamic library name
greg@556:  * @return Library handle
greg@556:  */
hacking@723: LIB_HANDLE LoadCanDriver(LPCSTR driver_name)
greg@556: {
greg@556: 	// driver module handle
greg@556: 	LIB_HANDLE handle = NULL;
greg@556: 
Christian@638: #ifndef NOT_USE_DYNAMIC_LOADING
greg@556: 	if(handle == NULL)
greg@556: 	{
Edouard@773: 		handle = LoadLibrary(driver_name);
greg@556: 	}
greg@577: 
greg@577: 	if (!handle)
greg@556: 	{
gregory@600: 		fprintf (stderr, "%d\n", GetLastError());
greg@556:     	return NULL;
greg@556: 	}
greg@556: 
greg@556: 	m_canReceive = (CANRECEIVE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canReceive_driver"));
greg@556: 	m_canSend = (CANSEND_DRIVER_PROC)GetProcAddress(handle, myTEXT("canSend_driver"));
greg@556: 	m_canOpen = (CANOPEN_DRIVER_PROC)GetProcAddress(handle, myTEXT("canOpen_driver"));
greg@556: 	m_canClose = (CANCLOSE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canClose_driver"));
greg@556: 	m_canChangeBaudRate = (CANCHANGEBAUDRATE_DRIVER_PROC)GetProcAddress(handle, myTEXT("canChangeBaudRate_driver"));
JaFojtik@696: 
JaFojtik@696: 	if(m_canReceive==NULL || m_canSend==NULL || m_canOpen==NULL || m_canClose==NULL || m_canChangeBaudRate==NULL)
JaFojtik@696: 	{
JaFojtik@696: 	  m_canReceive = NULL;
JaFojtik@696: 	  m_canSend = NULL;
JaFojtik@696: 	  m_canOpen = NULL;
JaFojtik@696: 	  m_canClose = NULL;
JaFojtik@696: 	  m_canChangeBaudRate = NULL;
JaFojtik@696: 	  FreeLibrary(handle);
JaFojtik@696: 	  handle = NULL;
JaFojtik@696: 	}
Christian@638: #else
Christian@638:   //compiled in...
Christian@638:   handle = 1; //TODO: remove this hack
Christian@638: 
Christian@638:   m_canReceive = canReceive_driver;
Christian@638: 	m_canSend = canSend_driver;
Christian@638: 	m_canOpen = canOpen_driver;
Christian@638: 	m_canClose = canClose_driver;
Christian@638: 	m_canChangeBaudRate = canChangeBaudRate_driver;
Christian@638: #endif
Christian@638: 
greg@577: 
greg@556: 	return handle;
greg@556: }
greg@556: 
greg@556: /***************************************************************************/
greg@556: UNS8 canSend(CAN_PORT port, Message *m)
greg@556: {
greg@556: 	if (port && (m_canSend != NULL))
greg@556: 	{
Edouard@691: 		return m_canSend(((CANPort*)port)->fd, m);
Edouard@691: 	}
JaFojtik@696: 	return 1; /* NOT OK */	
greg@556: }
greg@556: 
greg@556: /***************************************************************************/
JaFojtik@697: DWORD canReceiveLoop(CAN_PORT port)
greg@556: {
greg@556: 	Message m;
greg@556: 	while(((CANPort*)port)->used)
greg@556: 	{
JaFojtik@697: 		if(m_canReceive(((CANPort*)port)->fd, &m) != 0) continue;
greg@556: 		EnterMutex();
greg@556: 		canDispatch(((CANPort*)port)->d, &m);
greg@556: 		LeaveMutex();
greg@556: 	}
JaFojtik@697: 	return 0;
greg@556: }
greg@556: 
greg@556: /***************************************************************************/
greg@556: CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d)
greg@556: {
greg@556: 	int i;
JaFojtik@697: 	CAN_HANDLE fd0;
JaFojtik@697: 
JaFojtik@697: 
JaFojtik@697: 	  /* Fix of multiple opening one data set, added by J.Fojtik. */
JaFojtik@697: 	if(d->canHandle)
JaFojtik@697: 	{
JaFojtik@697: 	  canClose(d);
JaFojtik@697: 	}
greg@591: 
greg@556: 	for(i=0; i < MAX_NB_CAN_PORTS; i++)
greg@556: 	{
greg@556: 		if(!canports[i].used)
greg@556: 		break;
greg@556: 	}
greg@556: 
greg@577: 	#ifndef NOT_USE_DYNAMIC_LOADING
greg@556: 	if (m_canOpen == NULL)
greg@556: 	{
greg@556: 	   	fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
greg@556: 	   	return NULL;
greg@556: 	}
greg@556: 	#endif
greg@577: 
greg@591: 	fd0 = m_canOpen(board);
greg@556: 	if(fd0)
greg@556: 	{
greg@556: 		canports[i].used = 1;
greg@556: 		canports[i].fd = fd0;
greg@556: 		canports[i].d = d;
greg@556: 		d->canHandle = (CAN_PORT)&canports[i];
greg@577: 		CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, (void *)canReceiveLoop);
greg@556: 		return (CAN_PORT)&canports[i];
greg@556: 	}
greg@556: 	else
greg@556: 	{
hacking@687: 		MSG("CanOpen : Cannot open board {busname='%S',baudrate='%S'}\n",board->busname, board->baudrate);
greg@556: 		return NULL;
greg@556: 	}
greg@556: }
greg@556: 
greg@556: /***************************************************************************/
greg@556: int canClose(CO_Data * d)
greg@556: {
JaFojtik@697: 	UNS8 res;
greg@591: 	CANPort* tmp;
greg@591: 
greg@591: 	tmp = (CANPort*)d->canHandle;
greg@577: 
greg@591: 	if(tmp)
greg@591: 	{
JaFojtik@697: 	  d->canHandle = NULL;
JaFojtik@697: 
JaFojtik@697: 		// close CAN port
JaFojtik@697: 	  res = m_canClose(tmp->fd);
JaFojtik@697: 
JaFojtik@697: 		// kill receiver task
edouard@629: 	  WaitReceiveTaskEnd(&tmp->receiveTask);
edouard@629: 
JaFojtik@697: 		// release used flag as a last step.
JaFojtik@697: 	  tmp->used = 0;
JaFojtik@697: 	}
JaFojtik@697:   else res = 255;
JaFojtik@697: 
JaFojtik@697: return res;
greg@556: }
greg@556: 
greg@556: UNS8 canChangeBaudRate(CAN_PORT port, char* baud)
greg@556: {
greg@556:    if(port){
greg@556: 		UNS8 res;
greg@556: 	    //LeaveMutex();
greg@556: 		res = m_canChangeBaudRate(((CANPort*)port)->fd, baud);
greg@556: 		//EnterMutex();
greg@556: 		return res; // OK
greg@577: 	}
greg@556: 	return 1; // NOT OK
greg@556: }
greg@556: