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Can_open_masternode
Diff: framework/include/can_driver.h
- Revision:
- 0:9dd7c6129683
- Child:
- 6:ec29c552a054
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/include/can_driver.h Mon May 30 07:36:47 2011 +0000 @@ -0,0 +1,141 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +#ifndef __can_driver_h__ +#define __can_driver_h__ + +struct struct_s_BOARD; + +typedef struct struct_s_BOARD s_BOARD; + +#include "applicfg.h" +#include "can.h" + +/** + * @brief The CAN board configuration + * @ingroup can + */ + +//struct struct_s_BOARD { +// char busname[100]; /**< The bus name on which the CAN board is connected */ +// char baudrate[4]; /**< The board baudrate */ +//}; + +struct struct_s_BOARD { + char * busname; /**< The bus name on which the CAN board is connected */ + char * baudrate; /**< The board baudrate */ +}; + +#ifndef DLL_CALL +#if !defined(WIN32) || defined(__CYGWIN__) +#define DLL_CALL(funcname) funcname##_driver +#else +//Windows was missing the definition of the calling convention +#define DLL_CALL(funcname) __stdcall funcname##_driver +#endif +#endif //DLL_CALL + +#ifndef FCT_PTR_INIT +#define FCT_PTR_INIT +#endif + + +UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT; +UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message const *)FCT_PTR_INIT; +CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT; +int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT; +UNS8 DLL_CALL(canChangeBaudRate)(CAN_HANDLE, char *)FCT_PTR_INIT; + +#if defined DEBUG_MSG_CONSOLE_ON || defined NEED_PRINT_MESSAGE +#include "def.h" + +#define _P(fc) case fc: MSG(#fc" ");break; + +static inline void print_message(Message const *m) +{ + int i; + UNS8 fc; + MSG("id:%02x ", m->cob_id & 0x7F); + fc = m->cob_id >> 7; + switch(fc) + { + case SYNC: + if(m->cob_id == 0x080) + MSG("SYNC "); + else + MSG("EMCY "); + break; +#ifdef CO_ENABLE_LSS + case LSS: + if(m->cob_id == 0x7E5) + MSG("MLSS "); + else + MSG("SLSS "); + break; +#endif + _P(TIME_STAMP) + _P(PDO1tx) + _P(PDO1rx) + _P(PDO2tx) + _P(PDO2rx) + _P(PDO3tx) + _P(PDO3rx) + _P(PDO4tx) + _P(PDO4rx) + _P(SDOtx) + _P(SDOrx) + _P(NODE_GUARD) + _P(NMT) + } + if( fc == SDOtx) + { + switch(m->data[0] >> 5) + { + /* scs: server command specifier */ + _P(UPLOAD_SEGMENT_RESPONSE) + _P(DOWNLOAD_SEGMENT_RESPONSE) + _P(INITIATE_DOWNLOAD_RESPONSE) + _P(INITIATE_UPLOAD_RESPONSE) + _P(ABORT_TRANSFER_REQUEST) + } + }else if( fc == SDOrx) + { + switch(m->data[0] >> 5) + { + /* ccs: client command specifier */ + _P(DOWNLOAD_SEGMENT_REQUEST) + _P(INITIATE_DOWNLOAD_REQUEST) + _P(INITIATE_UPLOAD_REQUEST) + _P(UPLOAD_SEGMENT_REQUEST) + _P(ABORT_TRANSFER_REQUEST) + } + } + MSG(" rtr:%d", m->rtr); + MSG(" len:%d", m->len); + for (i = 0 ; i < m->len ; i++) + MSG(" %02x", m->data[i]); + MSG("\n"); +} + +#endif + +#endif