00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
@@ -45,10 +45,10 @@
 00024 #include <stdlib.h>
 00025 
 00026 #ifndef NOT_USE_DYNAMIC_LOADING
-00027 #define DLL_CALL(funcname) (* funcname##_driver)
-00028 #define FCT_PTR_INIT =NULL
+00027 #define DLL_CALL(funcname) (* funcname##_driver)
+00028 #define FCT_PTR_INIT =NULL
 00029 
-00030 #define DLSYM(name)\
+00030 #define DLSYM(name)\
 00031         *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
 00032         if ((error = dlerror()) != NULL)  {\
 00033                 fprintf (stderr, "%s\n", error);\
@@ -67,13 +67,13 @@
 00046 #include "canfestival.h"
 00047 #include "timers_driver.h"
 00048 
-00049 #define MAX_NB_CAN_PORTS 16
+00049 #define MAX_NB_CAN_PORTS 16
 00050 
 00051 typedef struct {
-00052   char used;
-00053   CAN_HANDLE fd;
-00054   TASK_HANDLE receiveTask;
-00055   CO_Data* d;
+00052   char used;
+00053   CAN_HANDLE fd;
+00054   TASK_HANDLE receiveTask;
+00055   CO_Data* d;
 00056 } CANPort;
 00057 
 00058 #include "can_driver.h"
@@ -84,12 +84,12 @@
 00063 CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);
 00064 int DLL_CALL(canClose)(CAN_HANDLE);
 00065 */
-00066 CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
+00066 CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
 00067 
 00068 #ifndef NOT_USE_DYNAMIC_LOADING
 00069 
 00070 /*UnLoads the dll*/
-00071 UNS8 UnLoadCanDriver(LIB_HANDLE handle)
+00071 UNS8 UnLoadCanDriver(LIB_HANDLE handle)
 00072 {
 00073         if(handle!=NULL)
 00074         {
@@ -102,9 +102,9 @@
 00081 }
 00082 
 00083 /*Loads the dll and get funcs ptr*/
-00084 LIB_HANDLE LoadCanDriver(char* driver_name)
+00084 LIB_HANDLE LoadCanDriver(char* driver_name)
 00085 {
-00086         LIB_HANDLE handle = NULL;
+00086         LIB_HANDLE handle = NULL;
 00087         char *error;
 00088         
 00089 
@@ -119,10 +119,10 @@
 00098         }
 00099  
 00100         /*Get function ptr*/
-00101         DLSYM(canReceive)
-00102         DLSYM(canSend)
-00103         DLSYM(canOpen)
-00104         DLSYM(canClose)
+00101         DLSYM(canReceive)
+00102         DLSYM(canSend)
+00103         DLSYM(canOpen)
+00104         DLSYM(canClose)
 00105 
 00106         return handle;
 00107 }
@@ -138,78 +138,78 @@
 00117 }
 00118 */
 00119 
-00120 UNS8 canSend(CAN_PORT port, Message *m)
+00120 UNS8 canSend(CAN_PORT port, Message *m)
 00121 {
 00122         if(port){
-00123                 UNS8 res;
+00123                 UNS8 res;
 00124                 //LeaveMutex();
-00125                 res = DLL_CALL(canSend)(((CANPort*)port)->fd, m);
+00125                 res = DLL_CALL(canSend)(((CANPort*)port)->fd, m);
 00126                 //EnterMutex();
 00127                 return res;
 00128         }               
 00129         return -1;
 00130 }
 00131 
-00132 void canReceiveLoop(CAN_PORT port)
+00132 void canReceiveLoop(CAN_PORT port)
 00133 {
 00134        Message m;
 00135 
 00136        while (1) {
-00137                if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
+00137                if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
 00138                        break;
 00139 
-00140                EnterMutex();
-00141                canDispatch(((CANPort*)port)->d, &m);
-00142                LeaveMutex();
+00140                EnterMutex();
+00141                canDispatch(((CANPort*)port)->d, &m);
+00142                LeaveMutex();
 00143        }
 00144 }
-00145 CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
+00145 CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
 00146 {
 00147         int i;
-00148         for(i=0; i < MAX_NB_CAN_PORTS; i++)
+00148         for(i=0; i < MAX_NB_CAN_PORTS; i++)
 00149         {
-00150                 if(!canports[i].used)
+00150                 if(!canports[i].used)
 00151                 break;
 00152         }
 00153         
 00154 #ifndef NOT_USE_DYNAMIC_LOADING
-00155         if (&DLL_CALL(canOpen)==NULL) {
+00155         if (&DLL_CALL(canOpen)==NULL) {
 00156                 fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
 00157                 return NULL;
 00158         }
 00159 #endif  
-00160         CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
+00160         CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
 00161         if(fd0){
-00162                 canports[i].used = 1;
-00163                 canports[i].fd = fd0;
-00164                 canports[i].d = d;
+00162                 canports[i].used = 1;
+00163                 canports[i].fd = fd0;
+00164                 canports[i].d = d;
 00165         
-00166                 CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
+00166                 CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
 00167                 
-00168                 EnterMutex();
-00169                 d->canHandle = (CAN_PORT)&canports[i];
-00170                 LeaveMutex();
-00171                 return (CAN_PORT)&canports[i];
+00168                 EnterMutex();
+00169                 d->canHandle = (CAN_PORT)&canports[i];
+00170                 LeaveMutex();
+00171                 return (CAN_PORT)&canports[i];
 00172         }else{
-00173                 fprintf(stderr,"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate);
+00173                 fprintf(stderr,"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate);
 00174                 return NULL;
 00175         }
 00176 }
 00177 
-00178 int canClose(CO_Data * d)
+00178 int canClose(CO_Data * d)
 00179 {
-00180         EnterMutex();
-00181         ((CANPort*)d->canHandle)->used = 0;
-00182         CANPort* tmp = (CANPort*)d->canHandle;
-00183         d->canHandle = NULL;
-00184         LeaveMutex();
+00180         EnterMutex();
+00181         ((CANPort*)d->canHandle)->used = 0;
+00182         CANPort* tmp = (CANPort*)d->canHandle;
+00183         d->canHandle = NULL;
+00184         LeaveMutex();
 00185         
-00186         int res = DLL_CALL(canClose)(tmp->fd);
+00186         int res = DLL_CALL(canClose)(tmp->fd);
 00187         
-00188         WaitReceiveTaskEnd(tmp->receiveTask);
+00188         WaitReceiveTaskEnd(tmp->receiveTask);
 00189         return res;
 00190 }
-
unix.c
