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#ifndef UNIX_H_

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#define UNIX_H_

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#ifdef __cplusplus

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extern "C" {

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#endif

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#include "timerscfg.h"

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#include "can_driver.h"

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#include "data.h"

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#include "timers_driver.h"

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#ifndef __KERNEL__

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#include <dlfcn.h>

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#endif

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typedef void* LIB_HANDLE;

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/** @defgroup userapi User API */

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/** @defgroup can CAN management

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 *  @ingroup userapi

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 */

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/**

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 * @ingroup can

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 * @brief Unload CAN driver interface

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 * @param handle The library handle

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 * @return

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 *       -  0 is returned upon success.

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 *       - -1 is returned if the CAN driver interface can't be unloaded.

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 */

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UNS8 UnLoadCanDriver(LIB_HANDLE handle);

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/**

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 * @ingroup can

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 * @brief Load CAN driver interface.

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 * @param *driver_name The location of the library to load

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 * @return

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 *       - handle of the CAN driver interface is returned upon success.

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 *       - NULL is returned if the CAN driver interface can't be loaded.

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 */

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LIB_HANDLE LoadCanDriver(const char* driver_name);

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/**

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 * @brief Send a CAN message

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 * @param port CanFestival file descriptor

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 * @param *m The CAN message to send

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 * @return 0 if succes

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 */

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UNS8 canSend(CAN_PORT port, Message *m);

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/**

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 * @ingroup can

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 * @brief Open a CANOpen device

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 * @param *board Pointer to the board structure that contains busname and baudrate 

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 * @param *d Pointer to the CAN object data structure

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 * @return

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 *       - CanFestival file descriptor is returned upon success.

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 *       - NULL is returned if the CANOpen board can't be opened.

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 */

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CAN_PORT canOpen(s_BOARD *board, CO_Data * d);

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/**

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 * @ingroup can

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 * @brief Close a CANOpen device

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 * @param *d Pointer to the CAN object data structure

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 * @return

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 *       - 0 is returned upon success.

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 *       - errorcode if error. (if implemented)  

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 */

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int canClose(CO_Data * d);

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/**

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 * @ingroup can

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 * @brief Change the CANOpen device baudrate 

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 * @param port CanFestival file descriptor 

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 * @param *baud The new baudrate to assign

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 * @return

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 *       - 0 is returned upon success or if not supported by the CAN driver.

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 *       - errorcode from the CAN driver is returned if an error occurs. (if implemented in the CAN driver)

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 */

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UNS8 canChangeBaudRate(CAN_PORT port, char* baud);

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#ifdef __cplusplus

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};

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#endif

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#endif /*UNIX_H_*/