Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_masternode

Can_open_masternode

Dependencies:   mbed

framework/include/can_driver.h@7:537bae5a6fc6, 2012-09-26 (annotated)

Committer:
sam_grove
Date:
Wed Sep 26 05:48:14 2012 +0000
Revision:
7:537bae5a6fc6
Parent:
0:9dd7c6129683
Child:
6:ec29c552a054
Pushing the project into the new repo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:9dd7c6129683 1 /*
sam_grove 0:9dd7c6129683 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:9dd7c6129683 3
sam_grove 0:9dd7c6129683 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 5
sam_grove 0:9dd7c6129683 6 See COPYING file for copyrights details.
sam_grove 0:9dd7c6129683 7
sam_grove 0:9dd7c6129683 8 This library is free software; you can redistribute it and/or
sam_grove 0:9dd7c6129683 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 10 License as published by the Free Software Foundation; either
sam_grove 0:9dd7c6129683 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:9dd7c6129683 12
sam_grove 0:9dd7c6129683 13 This library is distributed in the hope that it will be useful,
sam_grove 0:9dd7c6129683 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:9dd7c6129683 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:9dd7c6129683 16 Lesser General Public License for more details.
sam_grove 0:9dd7c6129683 17
sam_grove 0:9dd7c6129683 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 19 License along with this library; if not, write to the Free Software
sam_grove 0:9dd7c6129683 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:9dd7c6129683 21 */
sam_grove 0:9dd7c6129683 22
sam_grove 0:9dd7c6129683 23 #ifndef __can_driver_h__
sam_grove 0:9dd7c6129683 24 #define __can_driver_h__
sam_grove 0:9dd7c6129683 25
sam_grove 0:9dd7c6129683 26 struct struct_s_BOARD;
sam_grove 0:9dd7c6129683 27
sam_grove 0:9dd7c6129683 28 typedef struct struct_s_BOARD s_BOARD;
sam_grove 0:9dd7c6129683 29
sam_grove 0:9dd7c6129683 30 #include "applicfg.h"
sam_grove 0:9dd7c6129683 31 #include "can.h"
sam_grove 0:9dd7c6129683 32
sam_grove 0:9dd7c6129683 33 /**
sam_grove 0:9dd7c6129683 34 * @brief The CAN board configuration
sam_grove 0:9dd7c6129683 35 * @ingroup can
sam_grove 0:9dd7c6129683 36 */
sam_grove 0:9dd7c6129683 37
sam_grove 0:9dd7c6129683 38 //struct struct_s_BOARD {
sam_grove 0:9dd7c6129683 39 // char busname[100]; /**< The bus name on which the CAN board is connected */
sam_grove 0:9dd7c6129683 40 // char baudrate[4]; /**< The board baudrate */
sam_grove 0:9dd7c6129683 41 //};
sam_grove 0:9dd7c6129683 42
sam_grove 0:9dd7c6129683 43 struct struct_s_BOARD {
sam_grove 0:9dd7c6129683 44 char * busname; /**< The bus name on which the CAN board is connected */
sam_grove 0:9dd7c6129683 45 char * baudrate; /**< The board baudrate */
sam_grove 0:9dd7c6129683 46 };
sam_grove 0:9dd7c6129683 47
sam_grove 0:9dd7c6129683 48 #ifndef DLL_CALL
sam_grove 0:9dd7c6129683 49 #if !defined(WIN32) || defined(__CYGWIN__)
sam_grove 0:9dd7c6129683 50 #define DLL_CALL(funcname) funcname##_driver
sam_grove 0:9dd7c6129683 51 #else
sam_grove 0:9dd7c6129683 52 //Windows was missing the definition of the calling convention
sam_grove 0:9dd7c6129683 53 #define DLL_CALL(funcname) __stdcall funcname##_driver
sam_grove 0:9dd7c6129683 54 #endif
sam_grove 0:9dd7c6129683 55 #endif //DLL_CALL
sam_grove 0:9dd7c6129683 56
sam_grove 0:9dd7c6129683 57 #ifndef FCT_PTR_INIT
sam_grove 0:9dd7c6129683 58 #define FCT_PTR_INIT
sam_grove 0:9dd7c6129683 59 #endif
sam_grove 0:9dd7c6129683 60
sam_grove 0:9dd7c6129683 61
sam_grove 0:9dd7c6129683 62 UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT;
sam_grove 0:9dd7c6129683 63 UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message const *)FCT_PTR_INIT;
sam_grove 0:9dd7c6129683 64 CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT;
sam_grove 0:9dd7c6129683 65 int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT;
sam_grove 0:9dd7c6129683 66 UNS8 DLL_CALL(canChangeBaudRate)(CAN_HANDLE, char *)FCT_PTR_INIT;
sam_grove 0:9dd7c6129683 67
sam_grove 0:9dd7c6129683 68 #if defined DEBUG_MSG_CONSOLE_ON || defined NEED_PRINT_MESSAGE
sam_grove 0:9dd7c6129683 69 #include "def.h"
sam_grove 0:9dd7c6129683 70
sam_grove 0:9dd7c6129683 71 #define _P(fc) case fc: MSG(#fc" ");break;
sam_grove 0:9dd7c6129683 72
sam_grove 0:9dd7c6129683 73 static inline void print_message(Message const *m)
sam_grove 0:9dd7c6129683 74 {
sam_grove 0:9dd7c6129683 75 int i;
sam_grove 0:9dd7c6129683 76 UNS8 fc;
sam_grove 0:9dd7c6129683 77 MSG("id:%02x ", m->cob_id & 0x7F);
sam_grove 0:9dd7c6129683 78 fc = m->cob_id >> 7;
sam_grove 0:9dd7c6129683 79 switch(fc)
sam_grove 0:9dd7c6129683 80 {
sam_grove 0:9dd7c6129683 81 case SYNC:
sam_grove 0:9dd7c6129683 82 if(m->cob_id == 0x080)
sam_grove 0:9dd7c6129683 83 MSG("SYNC ");
sam_grove 0:9dd7c6129683 84 else
sam_grove 0:9dd7c6129683 85 MSG("EMCY ");
sam_grove 0:9dd7c6129683 86 break;
sam_grove 0:9dd7c6129683 87 #ifdef CO_ENABLE_LSS
sam_grove 0:9dd7c6129683 88 case LSS:
sam_grove 0:9dd7c6129683 89 if(m->cob_id == 0x7E5)
sam_grove 0:9dd7c6129683 90 MSG("MLSS ");
sam_grove 0:9dd7c6129683 91 else
sam_grove 0:9dd7c6129683 92 MSG("SLSS ");
sam_grove 0:9dd7c6129683 93 break;
sam_grove 0:9dd7c6129683 94 #endif
sam_grove 0:9dd7c6129683 95 _P(TIME_STAMP)
sam_grove 0:9dd7c6129683 96 _P(PDO1tx)
sam_grove 0:9dd7c6129683 97 _P(PDO1rx)
sam_grove 0:9dd7c6129683 98 _P(PDO2tx)
sam_grove 0:9dd7c6129683 99 _P(PDO2rx)
sam_grove 0:9dd7c6129683 100 _P(PDO3tx)
sam_grove 0:9dd7c6129683 101 _P(PDO3rx)
sam_grove 0:9dd7c6129683 102 _P(PDO4tx)
sam_grove 0:9dd7c6129683 103 _P(PDO4rx)
sam_grove 0:9dd7c6129683 104 _P(SDOtx)
sam_grove 0:9dd7c6129683 105 _P(SDOrx)
sam_grove 0:9dd7c6129683 106 _P(NODE_GUARD)
sam_grove 0:9dd7c6129683 107 _P(NMT)
sam_grove 0:9dd7c6129683 108 }
sam_grove 0:9dd7c6129683 109 if( fc == SDOtx)
sam_grove 0:9dd7c6129683 110 {
sam_grove 0:9dd7c6129683 111 switch(m->data[0] >> 5)
sam_grove 0:9dd7c6129683 112 {
sam_grove 0:9dd7c6129683 113 /* scs: server command specifier */
sam_grove 0:9dd7c6129683 114 _P(UPLOAD_SEGMENT_RESPONSE)
sam_grove 0:9dd7c6129683 115 _P(DOWNLOAD_SEGMENT_RESPONSE)
sam_grove 0:9dd7c6129683 116 _P(INITIATE_DOWNLOAD_RESPONSE)
sam_grove 0:9dd7c6129683 117 _P(INITIATE_UPLOAD_RESPONSE)
sam_grove 0:9dd7c6129683 118 _P(ABORT_TRANSFER_REQUEST)
sam_grove 0:9dd7c6129683 119 }
sam_grove 0:9dd7c6129683 120 }else if( fc == SDOrx)
sam_grove 0:9dd7c6129683 121 {
sam_grove 0:9dd7c6129683 122 switch(m->data[0] >> 5)
sam_grove 0:9dd7c6129683 123 {
sam_grove 0:9dd7c6129683 124 /* ccs: client command specifier */
sam_grove 0:9dd7c6129683 125 _P(DOWNLOAD_SEGMENT_REQUEST)
sam_grove 0:9dd7c6129683 126 _P(INITIATE_DOWNLOAD_REQUEST)
sam_grove 0:9dd7c6129683 127 _P(INITIATE_UPLOAD_REQUEST)
sam_grove 0:9dd7c6129683 128 _P(UPLOAD_SEGMENT_REQUEST)
sam_grove 0:9dd7c6129683 129 _P(ABORT_TRANSFER_REQUEST)
sam_grove 0:9dd7c6129683 130 }
sam_grove 0:9dd7c6129683 131 }
sam_grove 0:9dd7c6129683 132 MSG(" rtr:%d", m->rtr);
sam_grove 0:9dd7c6129683 133 MSG(" len:%d", m->len);
sam_grove 0:9dd7c6129683 134 for (i = 0 ; i < m->len ; i++)
sam_grove 0:9dd7c6129683 135 MSG(" %02x", m->data[i]);
sam_grove 0:9dd7c6129683 136 MSG("\n");
sam_grove 0:9dd7c6129683 137 }
sam_grove 0:9dd7c6129683 138
sam_grove 0:9dd7c6129683 139 #endif
sam_grove 0:9dd7c6129683 140
sam_grove 0:9dd7c6129683 141 #endif