1

/*

     2

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

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     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.

    12

    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.

    17

    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

    21

*/

    22

    23

#ifndef __can_h__

    24

#define __can_h__

    25

/** Used for the Can message structure */

    26

/*

    27

union SHORT_CAN {

    28

  struct { UNS8 b0,b1; } b;

    29

  UNS32 w;

    30

};

    31

*/

    32

    33

typedef struct {

    34

  UNS32 w; // 32 bits

    35

} SHORT_CAN;

    36

    37

    38

/** Can message structure */

    39

typedef struct {

    40

  SHORT_CAN cob_id;	// l'ID du mesg

    41

  UNS8 rtr;			// remote transmission request. 0 if not rtr, 

    42

                                // 1 for a rtr message

    43

  UNS8 len;			// message length (0 to 8)

    44

  UNS8 data[8];  	// data 

    45

} Message;

    46

    47

    48

typedef UNS8 (*canSend_t)(Message *);

    49

    50

#endif // __can_h__