can_driver.h

00001 /*
00002 This file is part of CanFestival, a library implementing CanOpen Stack.
00003 
00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
00005 
00006 See COPYING file for copyrights details.
00007 
00008 This library is free software; you can redistribute it and/or
00009 modify it under the terms of the GNU Lesser General Public
00010 License as published by the Free Software Foundation; either
00011 version 2.1 of the License, or (at your option) any later version.
00012 
00013 This library is distributed in the hope that it will be useful,
00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 Lesser General Public License for more details.
00017 
00018 You should have received a copy of the GNU Lesser General Public
00019 License along with this library; if not, write to the Free Software
00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021 */
00022 
00023 #ifndef __can_driver_h__
00024 #define __can_driver_h__
00025 
00026 struct struct_s_BOARD;
00027 
00028 typedef struct struct_s_BOARD s_BOARD;
00029 
00030 #include "applicfg.h"
00031 #include "can.h"
00032 
00033 /**
00034  * @brief The CAN board configuration
00035  * @ingroup can
00036  */
00037 
00038 //struct struct_s_BOARD {
00039 //  char busname[100]; /**< The bus name on which the CAN board is connected */
00040 //  char baudrate[4]; /**< The board baudrate */
00041 //};
00042 
00043 struct struct_s_BOARD {
00044   char * busname;  /**< The bus name on which the CAN board is connected */
00045   char * baudrate; /**< The board baudrate */
00046 };
00047 
00048 #ifndef DLL_CALL
00049 #if !defined(WIN32) || defined(__CYGWIN__)
00050 #define DLL_CALL(funcname) funcname##_driver
00051 #else
00052 //Windows was missing the definition of the calling convention
00053 #define DLL_CALL(funcname) __stdcall funcname##_driver
00054 #endif
00055 #endif //DLL_CALL
00056 
00057 #ifndef FCT_PTR_INIT
00058 #define FCT_PTR_INIT
00059 #endif
00060 
00061 
00062 UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT;
00063 UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message const *)FCT_PTR_INIT;
00064 CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT;
00065 int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT;
00066 UNS8 DLL_CALL(canChangeBaudRate)(CAN_HANDLE, char *)FCT_PTR_INIT;
00067 
00068 #if defined DEBUG_MSG_CONSOLE_ON || defined NEED_PRINT_MESSAGE
00069 #include "def.h"
00070 
00071 #define _P(fc) case fc: MSG(#fc" ");break;
00072 
00073 static inline void print_message(Message const *m)
00074 {
00075     int i;
00076     UNS8 fc;
00077     MSG("id:%02x ", m->cob_id & 0x7F);
00078     fc = m->cob_id >> 7;
00079     switch(fc)
00080     {
00081         case SYNC:
00082             if(m->cob_id == 0x080)
00083                 MSG("SYNC ");
00084             else
00085                 MSG("EMCY ");
00086         break;
00087 #ifdef CO_ENABLE_LSS
00088         case LSS:
00089             if(m->cob_id == 0x7E5)
00090                 MSG("MLSS ");
00091             else
00092                 MSG("SLSS ");
00093         break;
00094 #endif
00095         _P(TIME_STAMP)
00096         _P(PDO1tx)
00097         _P(PDO1rx)
00098         _P(PDO2tx)
00099         _P(PDO2rx)
00100         _P(PDO3tx)
00101         _P(PDO3rx)
00102         _P(PDO4tx)
00103         _P(PDO4rx)
00104         _P(SDOtx)
00105         _P(SDOrx)
00106         _P(NODE_GUARD)
00107         _P(NMT)
00108     }
00109     if( fc == SDOtx)
00110     {
00111         switch(m->data[0] >> 5)
00112         {
00113             /* scs: server command specifier */
00114             _P(UPLOAD_SEGMENT_RESPONSE)
00115             _P(DOWNLOAD_SEGMENT_RESPONSE)
00116             _P(INITIATE_DOWNLOAD_RESPONSE)
00117             _P(INITIATE_UPLOAD_RESPONSE)
00118             _P(ABORT_TRANSFER_REQUEST)
00119         }
00120     }else if( fc == SDOrx)
00121     {
00122         switch(m->data[0] >> 5)
00123         {
00124             /* ccs: client command specifier */
00125             _P(DOWNLOAD_SEGMENT_REQUEST)
00126             _P(INITIATE_DOWNLOAD_REQUEST)
00127             _P(INITIATE_UPLOAD_REQUEST)
00128             _P(UPLOAD_SEGMENT_REQUEST)
00129             _P(ABORT_TRANSFER_REQUEST)
00130         }
00131     }
00132     MSG(" rtr:%d", m->rtr);
00133     MSG(" len:%d", m->len);
00134     for (i = 0 ; i < m->len ; i++)
00135         MSG(" %02x", m->data[i]);
00136     MSG("\n");
00137 }
00138 
00139 #endif
00140 
00141 #endif