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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_driver_h__

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#define __can_driver_h__

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struct struct_s_BOARD;

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typedef struct struct_s_BOARD s_BOARD;

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#include "applicfg.h"

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#include "can.h"

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/** 

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 * @brief The CAN board configuration 

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 * @ingroup can

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 * @{

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 */

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struct struct_s_BOARD {

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  char * busname;

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  char * baudrate;

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};

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/** @} */

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#ifndef DLL_CALL

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#define DLL_CALL(funcname) funcname##_driver

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#endif

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#ifndef FCT_PTR_INIT

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#define FCT_PTR_INIT

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#endif

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UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *)FCT_PTR_INIT;

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UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *)FCT_PTR_INIT;

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CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *)FCT_PTR_INIT;

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int DLL_CALL(canClose)(CAN_HANDLE)FCT_PTR_INIT;

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UNS8 DLL_CALL(canChangeBaudRate)(CAN_HANDLE, char *)FCT_PTR_INIT;

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#if defined DEBUG_MSG_CONSOLE_ON || defined NEED_PRINT_MESSAGE

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#include "def.h"

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#define _P(fc) case fc: MSG(#fc" ");break;

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static inline void print_message(Message *m)

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{

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    int i;

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    UNS8 fc;

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    MSG("id:%02x ", m->cob_id & 0x7F);

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    fc = m->cob_id >> 7;

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    switch(fc)

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    {

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        case SYNC: 

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            if(m->cob_id == 0x080)

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                MSG("SYNC ");

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            else

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                MSG("EMCY ");

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        break;

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#ifdef CO_ENABLE_LSS

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        case LSS:

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        	if(m->cob_id == 0x7E5)

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                MSG("MLSS ");

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            else

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                MSG("SLSS ");

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        break;

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#endif

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        _P(TIME_STAMP)

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        _P(PDO1tx)

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        _P(PDO1rx)

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        _P(PDO2tx)

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        _P(PDO2rx)

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        _P(PDO3tx)

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        _P(PDO3rx)

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        _P(PDO4tx)

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        _P(PDO4rx)

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        _P(SDOtx)

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        _P(SDOrx)

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        _P(NODE_GUARD)

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        _P(NMT)

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    }

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    if( fc == SDOtx)

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    {

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        switch(m->data[0] >> 5)

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        {

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            /* scs: server command specifier */

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            _P(UPLOAD_SEGMENT_RESPONSE)

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            _P(DOWNLOAD_SEGMENT_RESPONSE)

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            _P(INITIATE_DOWNLOAD_RESPONSE)

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            _P(INITIATE_UPLOAD_RESPONSE)

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            _P(ABORT_TRANSFER_REQUEST)

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        }

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    }else if( fc == SDOrx)

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    {

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        switch(m->data[0] >> 5)

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        {

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            /* ccs: client command specifier */

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            _P(DOWNLOAD_SEGMENT_REQUEST)

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            _P(INITIATE_DOWNLOAD_REQUEST)

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            _P(INITIATE_UPLOAD_REQUEST)

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            _P(UPLOAD_SEGMENT_REQUEST)

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            _P(ABORT_TRANSFER_REQUEST)

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        }

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    }

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    MSG(" rtr:%d", m->rtr);

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    MSG(" len:%d", m->len);

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    for (i = 0 ; i < m->len ; i++)

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        MSG(" %02x", m->data[i]);

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    MSG("\n");

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}

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#endif

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#endif