2 This file is part of CanFestival, a library implementing CanOpen Stack.
4 Copyright (C): Edouard TISSERANT and Francis DUPIN
6 See COPYING file for copyrights details.
8 This library is free software; you can redistribute it and/or
9 modify it under the terms of the GNU Lesser General Public
10 License as published by the Free Software Foundation; either
11 version 2.1 of the License, or (at your option) any later version.
13 This library is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 Lesser General Public License for more details.
18 You should have received a copy of the GNU Lesser General Public
19 License along with this library; if not, write to the Free Software
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
23 #ifndef __can_driver_h__
24 #define __can_driver_h__
26 struct struct_s_BOARD;
28 typedef struct struct_s_BOARD s_BOARD;
34 * @brief The CAN board configuration
38 struct struct_s_BOARD {
45 #define DLL_CALL(funcname) funcname##_driver
53 UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT;
54 UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *)FCT_PTR_INIT;
55 CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT;
56 int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT;
57 UNS8 DLL_CALL(canChangeBaudRate)(CAN_HANDLE, char *)FCT_PTR_INIT;
59 #if defined DEBUG_MSG_CONSOLE_ON || defined NEED_PRINT_MESSAGE
62 #define _P(fc) case fc: MSG(#fc" ");break;
64 static inline void print_message(Message *m)
68 MSG("id:%02x ", m->cob_id & 0x7F);
73 if(m->cob_id == 0x080)
80 if(m->cob_id == 0x7E5)
102 switch(m->data[0] >> 5)
104 /* scs: server command specifier */
105 _P(UPLOAD_SEGMENT_RESPONSE)
106 _P(DOWNLOAD_SEGMENT_RESPONSE)
107 _P(INITIATE_DOWNLOAD_RESPONSE)
108 _P(INITIATE_UPLOAD_RESPONSE)
109 _P(ABORT_TRANSFER_REQUEST)
111 }else if( fc == SDOrx)
113 switch(m->data[0] >> 5)
115 /* ccs: client command specifier */
116 _P(DOWNLOAD_SEGMENT_REQUEST)
117 _P(INITIATE_DOWNLOAD_REQUEST)
118 _P(INITIATE_UPLOAD_REQUEST)
119 _P(UPLOAD_SEGMENT_REQUEST)
120 _P(ABORT_TRANSFER_REQUEST)
123 MSG(" rtr:%d", m->rtr);
124 MSG(" len:%d", m->len);
125 for (i = 0 ; i < m->len ; i++)
126 MSG(" %02x", m->data[i]);