include/can.h
author edouard
Fri, 10 Sep 2010 13:44:56 +0200
changeset 627 4939452b1bf1
parent 561 f9be4262c68d
child 691 17d9c0736935
permissions -rwxr-xr-x
Fixed SDO loop in some situations.
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#ifndef __can_h__
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#define __can_h__
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#include "applicfg.h"
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/*
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union SHORT_CAN {
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  struct { UNS8 b0,b1; } b;
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  UNS32 w;
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};
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*/
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/*
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typedef struct {
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  UNS32 w;
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} SHORT_CAN;
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*/
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/** 
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 * @brief The CAN message structure 
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 * @ingroup can
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 */
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typedef struct {
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  UNS16 cob_id;	/**< message's ID */
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  UNS8 rtr;		/**< remote transmission request. (0 if not rtr message, 1 if rtr message) */
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  UNS8 len;		/**< message's length (0 to 8) */
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  UNS8 data[8]; /**< message's datas */
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} Message;
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#define Message_Initializer {0,0,0,{0,0,0,0,0,0,0,0}}
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typedef UNS8 (*canSend_t)(Message *);
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#endif /* __can_h__ */