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: Copyright (C) Win32 Port Leonid Tochinski
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: 
etisserant@145: /*
etisserant@145:  CAN driver interface.
etisserant@145: */
etisserant@145: 
etisserant@145: #include <windows.h>
etisserant@145: 
etisserant@145: extern "C"
etisserant@145:    {
etisserant@145: #define DLL_CALL(funcname) (*_##funcname)
etisserant@145: #define FCT_PTR_INIT =NULL
etisserant@145: #include "canfestival.h"
etisserant@145: #include "timer.h"
etisserant@145: 
etisserant@145: #include "timers_driver.h"
etisserant@145:    };
etisserant@145: 
etisserant@145: typedef UNS8 (*CANRECEIVE_DRIVER_PROC)(void* inst, Message *m);
etisserant@145: typedef UNS8 (*CANSEND_DRIVER_PROC)(void* inst, const Message *m);
etisserant@145: typedef void* (*CANOPEN_DRIVER_PROC)(s_BOARD *board);
etisserant@145: typedef int (*CANCLOSE_DRIVER_PROC)(void* inst);
etisserant@145: 
etisserant@145: 
etisserant@145: class driver_procs
etisserant@145:    {
etisserant@145:    public:
etisserant@145:       driver_procs();
etisserant@145:       ~driver_procs();
etisserant@145: 
etisserant@145:       HMODULE load_canfestival_driver(LPCTSTR driver_name);
etisserant@145:       bool can_driver_valid() const;
etisserant@145: 
etisserant@145:    public:
etisserant@145:       // can driver
etisserant@145:       CANRECEIVE_DRIVER_PROC m_canReceive;
etisserant@145:       CANSEND_DRIVER_PROC m_canSend;
etisserant@145:       CANOPEN_DRIVER_PROC m_canOpen;
etisserant@145:       CANCLOSE_DRIVER_PROC m_canClose;
etisserant@145: 
etisserant@145:       // driver module habndle
etisserant@145:       HMODULE m_driver_handle;
etisserant@145:    };
etisserant@145: 
etisserant@145: driver_procs::driver_procs() : m_canReceive(0),
etisserant@145:       m_canSend(0),
etisserant@145:       m_canOpen(0),
etisserant@145:       m_canClose(0),
etisserant@145:       m_driver_handle(0)
etisserant@145:    {}
etisserant@145: 
etisserant@145: driver_procs::~driver_procs()
etisserant@145:    {
etisserant@145:    if (m_driver_handle)
etisserant@145:       ::FreeLibrary(m_driver_handle);
etisserant@145:    }
etisserant@145: 
etisserant@145: bool driver_procs::can_driver_valid() const
etisserant@145:    {
etisserant@145:    return ((m_canReceive != NULL) &&
etisserant@145:            (m_canSend != NULL) &&
etisserant@145:            (m_canOpen != NULL) &&
etisserant@145:            (m_canClose != NULL));
etisserant@145:    }
etisserant@145: 
etisserant@145: // GetProcAddress doesn't have an UNICODE version for NT
etisserant@145: #ifdef UNDER_CE
etisserant@145:   #define myTEXT(str) TEXT(str)
etisserant@145: #else
etisserant@145:   #define myTEXT(str) str
etisserant@145: #endif
etisserant@145: 
etisserant@145: HMODULE driver_procs::load_canfestival_driver(LPCTSTR driver_name)
etisserant@145:    {
etisserant@145:    if (can_driver_valid())
etisserant@145:       return m_driver_handle;
etisserant@145:    m_driver_handle = ::LoadLibrary(driver_name);
etisserant@145:    if (m_driver_handle == NULL)
etisserant@145:       return NULL;
etisserant@145: 
etisserant@145:    m_canReceive = (CANRECEIVE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canReceive_driver"));
etisserant@145:    m_canSend = (CANSEND_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canSend_driver"));
etisserant@145:    m_canOpen = (CANOPEN_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canOpen_driver"));
etisserant@145:    m_canClose = (CANCLOSE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canClose_driver"));
etisserant@145:    return can_driver_valid()?m_driver_handle:NULL;
etisserant@145:    }
etisserant@145: 
etisserant@145: struct driver_data
etisserant@145:    {
etisserant@145:    CO_Data * d;
etisserant@145:    HANDLE receive_thread;
etisserant@145:    void* inst;
etisserant@145:    volatile bool continue_receive_thread;
etisserant@145:    };
etisserant@145: 
etisserant@145: driver_procs s_driver_procs;
etisserant@145: 
etisserant@145: LIB_HANDLE LoadCanDriver(char* driver_name)
etisserant@145:    {
etisserant@145: 		return s_driver_procs.load_canfestival_driver((LPCTSTR)driver_name);
etisserant@145:    }
etisserant@145: 
etisserant@145: UNS8 canReceive(CAN_PORT fd0, Message *m)
etisserant@145:    {
etisserant@145:    if (fd0 != NULL && s_driver_procs.m_canReceive != NULL)
etisserant@145: 	   {
etisserant@145: 		  driver_data* data = (driver_data*)fd0;
etisserant@145: 		  return (*s_driver_procs.m_canReceive)(data->inst, m);
etisserant@145: 	   }
etisserant@145:    return 1;
etisserant@145:    }
etisserant@145: 
etisserant@145: void* canReceiveLoop(CAN_PORT fd0)
etisserant@145:    {
etisserant@145:    driver_data* data = (driver_data*)fd0;
etisserant@145:    Message m;
etisserant@145:    while (data->continue_receive_thread)
etisserant@145:       {
etisserant@145:       if (!canReceive(fd0, &m))
etisserant@145:          {
etisserant@145:          EnterMutex();
etisserant@145:          canDispatch(data->d, &m);
etisserant@145:          LeaveMutex();
etisserant@145:          }
etisserant@145:       else
etisserant@145:          {
etisserant@145: 		 break;
etisserant@145:          ::Sleep(1);
etisserant@145:          }
etisserant@145:       }
etisserant@145:    return 0;
etisserant@145:    }
etisserant@145: 
etisserant@145: /***************************************************************************/
etisserant@145: UNS8 canSend(CAN_PORT fd0, Message *m)
etisserant@145:    {
etisserant@145:    if (fd0 != NULL && s_driver_procs.m_canSend != NULL)
etisserant@145:       {
etisserant@149:       UNS8 res;
etisserant@145:       driver_data* data = (driver_data*)fd0;
etisserant@149:       LeaveMutex();
etisserant@149:       res = (*s_driver_procs.m_canSend)(data->inst, m);      
etisserant@149:       EnterMutex();
etisserant@149:       if (res)
etisserant@145:          return 0;
etisserant@145:       }
etisserant@145:    return 1;
etisserant@145:    }
etisserant@145: 
etisserant@145: /***************************************************************************/
etisserant@145: CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d)
etisserant@145:    {
etisserant@145:    if (board != NULL && s_driver_procs.m_canOpen != NULL)
etisserant@145:       {
etisserant@145:       void* inst = (*s_driver_procs.m_canOpen)(board);
etisserant@145:       if (inst != NULL)
etisserant@145:          {
etisserant@145:          driver_data* data = new driver_data;
etisserant@145:          data->d = d;
etisserant@145:          data->inst = inst;
etisserant@145:          data->continue_receive_thread = true;
etisserant@145:          CreateReceiveTask(data, &data->receive_thread, &canReceiveLoop);
etisserant@149: 	 EnterMutex();
etisserant@149:          d->canHandle = data;
etisserant@149:          LeaveMutex();
etisserant@145:          return data;
etisserant@145:          }
etisserant@145:       }
etisserant@145:    return NULL;
etisserant@145:    }
etisserant@145: 
etisserant@145: /***************************************************************************/
etisserant@149: int canClose(CO_Data * d)
etisserant@145:    {
etisserant@150:    if (s_driver_procs.m_canClose != NULL)
etisserant@150:       {
etisserant@150: 		  driver_data* data;
etisserant@150: 		  EnterMutex();
etisserant@150: 		  if(d->canHandle != NULL){
etisserant@150: 			data = (driver_data*)d->canHandle;
etisserant@150: 			d->canHandle = NULL;
etisserant@150: 			data->continue_receive_thread = false;}
etisserant@150: 		  LeaveMutex();
etisserant@150: 		  WaitReceiveTaskEnd(&data->receive_thread);
etisserant@150: 		  (*s_driver_procs.m_canClose)(data->inst);
etisserant@150: 		  delete data;
etisserant@150: 		  return 0;
etisserant@145:       }
etisserant@145:    return 0;
etisserant@145:    }
etisserant@145: 
etisserant@150: