1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack.

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

AVR Port: Andreas GLAUSER and Peter CHRISTEN

     6

     7

See COPYING file for copyrights details.

     8

     9

This library is free software; you can redistribute it and/or

    10

modify it under the terms of the GNU Lesser General Public

    11

License as published by the Free Software Foundation; either

    12

version 2.1 of the License, or (at your option) any later version.

    13

    14

This library is distributed in the hope that it will be useful,

    15

but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    17

Lesser General Public License for more details.

    18

    19

You should have received a copy of the GNU Lesser General Public

    20

License along with this library; if not, write to the Free Software

    21

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    22

*/

    23

    24

#ifndef __CAN_AVR__

    25

#define __CAN_AVR__

    26

    27

// AVR implementation of the CANopen driver includes

    28

// Hardware related macros and ATMEL lib can_drv

    29

#include "config.h"

    30

#include "can_drv.h"

    31

    32

// Canfestivals includes

    33

#include "can.h"

    34

    35

// Number of receive MOb

    36

#define NB_RX_MOB                       13	// minimal 8

    37

// Number of transmit MOb

    38

#define NB_TX_MOB                       (NB_MOB - NB_RX_MOB)

    39

    40

#if (NB_TX_MOB < 1)

    41

#error define less RX Mobs, you must have at least 1 TX MOb!

    42

#elif (NB_RX_MOB < 8)

    43

#error define at least 8 RX MObs!

    44

#endif

    45

    46

#define START_TX_MOB                    NB_RX_MOB

    47

#define TX_INT_MSK			((0x7F << (7 - NB_TX_MOB)) & 0x7F)

    48

    49

/************************* To be called by user app ***************************/

    50

    51

unsigned char canInit(unsigned int bitrate);

    52

unsigned char canSend(CAN_PORT notused, Message *m);

    53

unsigned char canReceive(Message *m);

    54

unsigned char canChangeBaudRate_driver( CAN_HANDLE fd, char* baud);

    55

#endif