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#ifndef CANFESTIVAL_H_
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#define CANFESTIVAL_H_
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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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/** @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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* @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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#endif
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